anthropomorphic dexterous hand

Abstract

This application discloses an anthropomorphic dexterous hand, comprising a palm and multiple fingers. Each finger includes multiple phalanges and multiple finger joints. Each phalanx includes a phalanx body. One of two adjacent phalanges further includes a rotating connecting end connected to one end of the phalanx body, and the other includes a fixed connecting end connected to one end of the phalanx body. The rotating connecting end has a first accommodating cavity, and the fixed connecting end is movably connected to the first accommodating cavity in the adjacent phalanx, and has a second accommodating cavity. Each finger joint is disposed within a second accommodating cavity and includes a drive motor and a reducer. The output end of the finger joint is used to output rotational driving force to drive the relative rotation of two adjacent phalanges. The above technical solution makes the anthropomorphic dexterous hand small in size, conforming to the size requirements of the human hand, and enabling the dexterous hand to have higher flexibility.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to an anthropomorphic dexterous hand. Background Technology

[0002] Dexterous hands are a new type of end effector for robots. As the final link and execution component in the interaction between the robot and the environment, they play an extremely important role in improving the flexibility and ease of use of robots. Their performance largely determines the overall working performance of the robot.

[0003] Humanoid robots' dexterous hands mimic the structure and function of the human hand, needing to meet human-scale requirements and constrained by practical needs such as space and weight. However, to precisely simulate the movement of the bones and joints of human fingers, dexterous hands need more flexible joints and more degrees of freedom. Each additional degree of freedom requires an additional actuation structure, thus increasing the size of the dexterous hand. Therefore, current technology struggles to simultaneously guarantee a highly human-like balance between the size and dexterity of a dexterous hand. Utility Model Content

[0004] The main technical problem this application addresses is to provide an anthropomorphic dexterous hand that is small in size, conforms to the size requirements of the whole human hand, and enables the dexterous hand to have greater flexibility.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing an anthropomorphic dexterous hand, including a palm and multiple fingers; each finger includes multiple finger joints and multiple finger phalanges, and each finger is fixedly connected to the palm through one of the finger joints; each finger joint includes a phalanx body, one of two adjacent finger joints further includes a rotating connecting end connected to one end of the phalanx body, and the other further includes a fixed connecting end connected to one end of the phalanx body, the rotating connecting end having a first accommodating cavity, the fixed connecting end being movably connected to the first accommodating cavity in the adjacent finger joint, and the fixed connecting end having a second accommodating cavity; each finger joint is disposed in each of the second accommodating cavities, and each finger joint includes a drive motor and a reducer, the reducer being connected to the output end of the drive motor, and the output end of the reducer serving as the output end of the finger joint being connected to the rotating connecting end; the output end of the finger joint is used to output rotational driving force to drive the two adjacent finger joints to rotate relative to each other.

[0006] The beneficial effects of this application are as follows: Unlike existing technologies, the anthropomorphic dexterous hand provided in this application includes multiple finger joints and multiple finger phalanges, so that each finger joint corresponds to a finger joint, and each finger joint can be driven independently, achieving full finger actuation, thereby improving the freedom and flexibility of the dexterous hand. Simultaneously, the finger joints of this application can be completely accommodated within the second accommodating cavity of the finger joint. On the one hand, this prevents the finger joints from protruding from the finger joint; the small size of the finger joint makes the finger shape closer to the shape of a human hand. On the other hand, it prevents the finger joints from extending into the joint body, thus providing more space within the joint body to accommodate circuit boards and other structures, and ensuring that the joint body and finger joint are independent structures, guaranteeing its flexibility. Attached Figure Description

[0007] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the anthropomorphic dexterous hand of this application;

[0008] Figure 2 This is a perspective view of one embodiment of the finger in this application;

[0009] Figure 3 This is a perspective view of an embodiment of the finger joint of this application;

[0010] Figure 4 This is a perspective view of another embodiment of the finger joint of this application;

[0011] Figure 5 yes Figure 4 The diagram shown is a three-dimensional representation of a finger joint after it has been fitted with a finger knuckle.

[0012] Figure 6 yes Figure 1 The diagram shows the internal structure of an anthropomorphic dexterous hand.

[0013] Figure 7 This is a three-dimensional schematic diagram of the first embodiment of the finger joint in this application;

[0014] Figure 8 yes Figure 7 A frontal view of a finger joint is shown;

[0015] Figure 9 This is a schematic diagram of the internal structure of an embodiment of the finger joint of this application;

[0016] Figure 10 This is another internal structure diagram of an embodiment of the finger joint of this application;

[0017] Figure 11 yes Figure 7 A cross-sectional view of the finger joint shown.

[0018] Figure 12 This is a perspective view of an embodiment of the mounting bracket of this application;

[0019] Figure 13 This is a three-dimensional schematic diagram of the second embodiment of the finger joint in this application;

[0020] Figure 14 yes Figure 13 The diagram shows an explosion at one angle of a finger joint.

[0021] Figure 15 yes Figure 13 The diagram shows an explosion at another angle of a finger joint.

[0022] Figure 16 yes Figure 13 A cross-sectional view of a finger joint is shown.

[0023] Figure 17 This is a perspective schematic diagram of an embodiment of the planetary carrier of this application;

[0024] Figure 18 This is a three-dimensional schematic diagram of the third embodiment of the finger joint in this application;

[0025] Figure 19 yes Figure 18 A cross-sectional view of a finger joint is shown.

[0026] Figure 20 This is a perspective view of one embodiment of the speed reducer according to Embodiment 3 of this application;

[0027] Figure 21 This is a side view schematic diagram of an embodiment of the rotor of Embodiment 3 of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] See Figure 1 and Figure 2 , Figure 1 This is a three-dimensional schematic diagram of an embodiment of the anthropomorphic dexterous hand of this application. Figure 2This is a perspective view of one embodiment of the finger described in this application. This application provides an anthropomorphic dexterous hand 100, which can be applied to robots. The anthropomorphic dexterous hand 100 includes a palm 4 and multiple fingers 2. Each finger 2 includes multiple finger joints 20 and multiple finger knuckles 10. The finger 2 is fixedly connected to the palm 4 via one of the finger joints 20. Each finger joint includes a joint body, and each finger joint 20 includes a joint body 21. One of two adjacent finger joints 20 further includes a rotatable connecting end 22 connected to one end of the joint body 21, and the other further includes a fixed connecting end 23 connected to one end of the joint body 21.

[0030] Specifically, see Figure 3 , Figure 3 This is a perspective view of an embodiment of the finger joint of this application. Figure 3 The finger joint 20 shown is the distal joint of the finger, that is, the finger joint 20 furthest from the palm. This finger joint 20 has a rotating connection end 22 only at its proximal end (that is, the end closer to the palm). This rotating connection end 22 is used to install the finger joint 10 and to rotately connect with the distal end (that is, the end furthest from the palm) of the adjacent finger joint 20. The rotating connection end 22 has a first receiving cavity 210.

[0031] Specifically, see Figure 4 , Figure 4 This is a perspective view of another embodiment of the finger joint of this application. Figure 4 The finger joints 20 shown are the proximal or middle joints of the fingers, that is, the joints 20 excluding those furthest from the palm. In addition to a rotatable connecting end 22 at the proximal end, each finger joint 20 has a fixed connecting end 23 at the distal end. The fixed connecting end 23 is specifically annular, with its axis extending along a first direction X. The interior of the annular structure is a second accommodating cavity 230 that extends along the first direction X through the fixed connecting end 23. The fixed connecting end 23 of the finger joint 20 is rotatably connected to the rotatable connecting end 22 of the adjacent distal finger joint 20. Specifically, the fixed connecting end 23 is rotatably disposed within the first accommodating cavity 210 of the rotatable connecting end 22 of the adjacent distal finger joint 20.

[0032] See Figure 2 and combined Figure 4 , Figure 5 yes Figure 4 The diagram shows a three-dimensional representation of a finger joint after it has been fitted with a finger joint. The finger joint 10 is disposed within each second receiving cavity 230, and the finger joint 10 includes a drive motor (see [link]). Figure 10 The drive motor 11) and the reducer (see Figure 10The reducer 12 is connected to the output end of the drive motor 11. The output end of the reducer 12 is connected to the rotational connection end 22 as the output end of the finger joint 10. The output end of the finger joint 10 is used to output rotational driving force to drive the finger knuckle 20 to rotate. Specifically, the finger joint 10 is adapted to the cylindrical body and is housed and fixed in the second accommodating cavity 230. This finger joint 10 is used to drive the adjacent distal finger knuckle 20 to rotate, while the finger joint 20 located in the first accommodating cavity 210 is used to drive the rotation of this finger joint 20. Specifically, the fixed connection end 23 and the finger joint 10 are respectively provided with fixing holes 312. The finger knuckle 20 is fixedly connected to the finger joint 10 radially by bolts passing through the two fixing holes 312. Multiple sets of fixing holes 312 can be provided along the circumference of the fixed connection end 23, specifically three sets can be evenly distributed along the circumference.

[0033] The anthropomorphic dexterous hand 100 of this application includes multiple fingers 2, each finger 2 including multiple phalanges 20 and multiple finger joints 10, such that each phalanx 20 corresponds to one finger joint 10, and each phalanx 20 can be independently driven, realizing full finger actuation, thereby improving the freedom and flexibility of the dexterous hand. At the same time, the finger joints 10 of this application can be completely accommodated within the second receiving cavity 230 of the phalanx 20, ensuring that the finger joints 10 are not exposed outside the phalanx 20 (for ease of demonstration). Figure 2 The portion of the finger joint 20 that protrudes from the finger knuckle 20 is an angle sensor (i.e., encoder) connected to the outside of the finger joint 10. The small size of the finger knuckle 20 makes the finger shape closer to the shape of a human hand. On the other hand, it prevents the finger joint 10 from extending into the knuckle body 21 of the finger knuckle 20, thereby allowing more space in the knuckle body 21 to accommodate other structures such as circuit boards. It also makes the knuckle body 21 and the finger joint 10 independent structures, ensuring its flexibility.

[0034] For details, please refer to [link / reference]. Figure 2The plurality of finger joints 20 include a distal joint 20a, a first middle joint 20b, a second middle joint 20c, a proximal joint 20d, and a fixed joint 20e connected sequentially. The distal joint 20a consists only of a joint body 21 and a rotating connecting end 22. The first middle joint 20b, the second middle joint 20c, and the proximal joint 20d have similar structures, each including a joint body 21, a rotating connecting end 22, and a fixed connecting end 23. The only difference between the first middle joint 20b and the second middle joint 20c is the length of their joint bodies 21. The axial direction of the fixed connecting end 23 of both the first and second middle joints 20b and 20c is parallel to the axial direction of the rotating connecting end 22, extending parallel to the first direction X. The axial direction of the fixed connecting end 23 of the proximal joint 20d is perpendicular to the axial direction of the rotating connecting end 22, meaning the axial direction of the fixed connecting end 23 of the proximal joint 20d extends along the second direction Y. The above configuration ensures that the finger joints 10 between the distal phalanx 20a and the first middle phalanx 20b, between the first middle phalanx 20b and the second middle phalanx 20c, and between the second middle phalanx 20c and the proximal phalanx 20d are all first finger joints (not shown), while the finger joint between the proximal phalanx 20d and the fixed phalanx 20e is a second finger joint. It should be noted that the structures of the first and second finger joints can be completely identical, differing only in their extension direction. Their axes are perpendicular, and the axes of multiple first finger joints are parallel. The fixed phalanx 20e includes a phalanx body 21, a fixed connecting end 23, and a palm fixing part 24. The finger 2 is fixedly connected to the palm 4 through the palm fixing part 24. Specifically, the palm fixing part 24 has at least one through hole, through which a bolt can be used to fix the palm fixing part 24 in the palm 4, thereby fixing the proximal end of the finger 2 to the palm 4.

[0035] The anthropomorphic dexterous hand 100 described above mimics human fingers. The distal phalanx 20a, the first middle phalanx 20b, and the second middle phalanx 20c can complete flexion and extension movements under the drive of the first finger joint, and the proximal phalanx 20d can complete lateral swing movements under the drive of the second finger joint. Furthermore, since the structure of this application is a fully driven structure, each phalanx can move independently, making it more flexible than human fingers and capable of performing movements that surpass those of human fingers.

[0036] Optionally, the knuckle body 21 can be a hollow structure. The hollow structure can reduce the weight of the dexterous hand, while the control circuit board or wiring can be set inside the knuckle body 21. Specifically, in some embodiments, the control circuit board or wiring can be set in the distal knuckle 20a and the second middle knuckle 20c, which have a larger internal space.

[0037] See Figure 6 and combined Figure 1 , Figure 6 This application Figure 1The diagram shows the internal structure of an anthropomorphic dexterous hand. Multiple fingers 2 include an index finger 2a, middle finger 2b, ring finger 2c, little finger 2d, and thumb 2e. The second joints of all fingers 2 are arranged parallel to each other, meaning all fingers 2 perform lateral movements within the same plane, which is parallel to the plane of the palm 4. The extension direction of the knuckle body 21 of the fixed knuckle 20e of the index finger 2a, middle finger 2b, ring finger 2c, and little finger 2d is substantially perpendicular to the extension direction of the knuckle body 21 of the fixed knuckle 20e of the thumb 2e. The fixed knuckle 20e of the thumb 2e is located on the side of the fixed knuckle 20e of the index finger 2a near the wrist 41. Specifically, the fixed knuckles 20e of the index finger 2a, middle finger 2b, ring finger 2c, and little finger 2d are all fixedly located on the upper part of the palm 4, and these four fixed knuckles 20e can be distributed left and right along a straight line, all extending upwards, so that the proximal ends of these four fingers 2 all extend upwards. The fixed knuckle 20e of the thumb 2e is located on the lower part of the palm 4, near the side of the index finger 2a. The fixed knuckle 20e of the thumb 2e extends laterally, and its extension direction is basically perpendicular to the extension direction of the aforementioned four fixed knuckles 20e. Specifically, the angle between the two is in the range of 80°-100°. The distribution and extension direction of the aforementioned fingers 2 are similar to those of a human hand, which can simulate or even surpass human hand movements and is convenient for assembly.

[0038] Optionally, please continue reading Figure 3 The rotating connection end 22 includes a first connector 221 and a second connector 222. The second connector 222 and the first connector 221 are spaced apart along the first direction X. The first connector 221, the second connector 222 and the finger joint body 21 together form a first accommodating cavity 210. The axial direction of the finger joint 10 extends along the first direction X. The output end of the reducer 12 is connected to the first connector 221.

[0039] Specifically, both the first connector 221 and the second connector 222 are plate-shaped structures. The ends of the first connector 221 and the second connector 222 away from the knuckle body 21 are arc-shaped, so that when the finger knuckle 20 rotates, the ends of the first connector 221 and the second connector 222 will not interfere with adjacent finger knuckles 20. The space formed by the first connector 221, the second connector 222, and the end faces of the knuckle body 21 facing the rotating connection end 22 is the first accommodating cavity 210, which is used to accommodate the finger joint 10. The first connector 221 and the second connector 222 are used to limit the finger joint 10, while the finger joint 10 directly drives the first connector 221 to rotate. Since the first connector 221 and the second connector 222 are spaced apart along the first direction X, and the axis of the finger joint 10 is also in the first direction X, the finger joint 10 can drive the finger knuckle 20 to perform flexion and extension movements. Specifically, the drive motor 11 in the finger joint 10 provides driving force to drive the reducer 12 to rotate. After the reducer 12 decelerates, the output end of the reducer 12 directly drives the first connector 221 to rotate as the output end of the finger joint 10, thereby driving the finger knuckle 20 to rotate.

[0040] Optionally, in one embodiment, the first connector 221 is provided with a first through hole 2211 extending along a first direction X. The first through hole 2211 is used for transmission engagement with the output end of the finger joint 10. When the finger joint 10 is inserted into the first through hole 2211, the finger joint 10 can drive the finger knuckle 20 to rotate. In one embodiment, see [reference needed]. Figure 2 The output end of the finger joint 10 includes an output gear (see...). Figure 5 The output gear 13), the inner wall of the first through hole 2211 has internal teeth, the output gear 13 meshes with the internal teeth, and the finger joint 10 drives the finger knuckle 20 to rotate through the meshing of the external teeth and the internal teeth.

[0041] In another embodiment, the output end of the reducer 12 can be a D-shaped shaft, and the first through hole 2211 is a D-shaped hole. Through the cooperation of the D-shaped shaft and the D-shaped hole, the finger joint 10 can drive the finger knuckle 20 to rotate.

[0042] Optionally, please continue reading Figure 3The second connector 222 has a groove 2221 on the side facing the first connector 221. The groove 2221 is used to receive the first end of the finger joint 10. The second connector 222 is configured to rotate around the first end of the finger joint 10. Specifically, the first end is the end that is axially away from the output end. The groove 2221 is connected to the first receiving cavity 210. The bottom of the groove 2221 has a second through hole 2222 extending in the first direction X. The second through hole 2222 is connected to the groove 2221. The second through hole 2222 can connect the groove 2221 and the outside of the finger joint 20, and can be used for wiring or installing sensors and other structures. The bottom of the groove 2221 can limit the axial movement of the finger joint 10, and the wall of the groove 2221 can limit the radial movement of the finger joint 10.

[0043] In other embodiments, a limiting member may also be provided on the side of the second connector 222 facing the first connector 221, and the limiting member and the second connector 222 together form a cavity for receiving the first end of the finger joint 10.

[0044] Optionally, the first connector 221 is integrally formed with the knuckle body 21, and the second connector 222 is detachably connected to the knuckle body 21. Since the first connector 221 is driven by the output end of the knuckle body 21, when the first connector 221 is integrally formed with the knuckle body 21, it ensures precise engagement between the first connector 221 and the finger joint 10. The detachable second connector 222 facilitates the installation and removal of the finger joint 10. Specifically, the second connector 222 can be connected to the knuckle body 21 after the finger joint 10 has been engaged with the first connector 221, or the second connector 222 can be removed to replace or repair the finger joint 10 in the first receiving cavity 210.

[0045] See Figure 7 and Figure 8 , Figure 7 This is a three-dimensional schematic diagram of the first embodiment of the finger joint of this application. Figure 8 yes Figure 7 The diagram shows a frontal view of a finger joint. In this embodiment, the finger joint 10 is cylindrical, with its axial direction aligned with the axis of the drive motor and its radial direction aligned with the axis of the drive motor. The length (i.e., the axial dimension D) and diameter (i.e., the radial dimension d) of the cylinder are both within the range of 7.2 mm to 27 mm, and more specifically, both are between 18 mm and 20 mm. The finger joint 10 of these dimensions can be accommodated in the first receiving cavity 210.

[0046] Specifically, see Figure 9 and Figure 10 The finger joint 10 includes a drive motor 11, a reducer 12, an output gear 13, and a mounting bracket 15.

[0047] The drive motor 11 includes a stator 111 and an outer rotor 112 disposed around the stator 111. Specifically, the drive motor 11 can be a brushless motor. A mounting bracket 15 is fixedly connected to the outer rotor 112, and at least a portion of the mounting bracket 15 is located on a first side of the stator 111. Figure 7 In the orientation shown, the right side of the stator 111 is defined as the first side, meaning that part of the mounting bracket 15 is located on the right side of the stator 111. The reducer 12 includes a sun gear 122 and at least one planetary gear set 123. The sun gear 122 is disposed on the first side of the stator 111 along the axial direction of the drive motor 11. At least one planetary gear set 123 is rotatably disposed on the mounting bracket 15 and meshes with the sun gear 122. The at least one planetary gear set 123 is configured to rotate with the mounting bracket 15 and drive the sun gear 122 to rotate. An output gear 13 is axially fixed on the side of the sun gear 122 away from the stator 111, serving as the output end. Optionally, the output gear 13 is coaxially disposed with the sun gear 122 and is used for connection with a knuckle. The output gear 13 can also be replaced with...

[0048] Specifically, the drive motor 11 provides driving force, and the outer rotor 112 rotates around the stator 111. The outer rotor 112 drives the planetary gear set 123 to revolve around the axis of the drive motor 11 while simultaneously rotating on its own axis. At the same time, the rotation of the planetary gear set 123 drives the sun gear 122 to rotate, ultimately driving the output gear 13 to rotate, thereby achieving deceleration and torque increase. This application provides a mounting bracket 15 connecting the outer rotor 112 and the planetary gear set 123, thus integrating the drive motor 11 and the reducer 12 into a single unit. This ensures a stable connection between the reducer 12 and the drive motor 11, and because the drive motor 11 and the reducer 12 are integrated into a single structure, the overall size of the finger joint 10 is compressed, allowing it to conform to the size of a human hand. Simultaneously, this application distributes and connects the drive motor 11 and the reducer 12 along the axial direction, reducing the radial dimension of the finger joint 10. This finger joint 10 can be applied to a robot dexterous hand, achieving a small size while ensuring a large torque output.

[0049] Optionally, the number of planetary gear sets 123 may be one or more sets. In this embodiment, there are three sets of planetary gear sets 123, which are distributed circumferentially. The three sets of planetary gears result in more even force distribution on the gears. Further, the three sets of planetary gear sets 123 are evenly distributed circumferentially. In other embodiments, the number of planetary gear sets 123 may also be two or more sets, provided that the gear matching conditions are met.

[0050] See Figure 10The planetary gear set 123 is a double gear set, comprising a planetary gear shaft 1233 and a first planetary gear 1231 and a second planetary gear 1232 fixed on the planetary gear shaft 1233. The reducer 12 also includes a center fixed gear 121, which is fixed to the first side of the stator 111, meaning it is fixed and cannot rotate. Specifically, the center fixed gear 121 is arranged along the axial direction of the stator 111 on one side of the stator 111, and can be coaxially arranged with the stator 111. The sun gear 122 is rotatably arranged on the side of the center fixed gear 121 opposite to the stator 111. Specifically, the sun gear 122 is coaxially arranged with the center fixed gear 121, and the sun gear 122 can rotate relative to the center fixed gear 121. The planetary gear shaft 1233 extends axially along the drive motor 11 and is rotatably connected to the first side of the outer rotor 112. The first planetary gear 1231 meshes with the central fixed gear 121, and the second planetary gear 1232 meshes with the sun gear 122 and drives the sun gear 122 to rotate. Specifically, the first planetary gear 1231 meshes outside the central fixed gear 121, and the second planetary gear 1232 meshes outside the sun gear 122. The first planetary gear 1231 and the second planetary gear 1232 are coaxially fixed through the planetary gear shaft 1233, that is, the first planetary gear 1231 and the second planetary gear 1232 rotate at the same speed.

[0051] Specifically, the outer rotor 112 drives the planetary gear shaft 1233 to revolve around the axis of the drive motor 11, causing the first planetary gear 1231, fixed on the planetary gear shaft 1233, to revolve around the central fixed gear 121. Since the first planetary gear 1231 meshes with the central fixed gear 121, the first planetary gear 1231 rotates on its own axis while revolving. At this time, the second planetary gear 1232 rotates synchronously with the first planetary gear 1231, driving the sun gear 122 to rotate, ultimately driving the output gear 13 to rotate. The reducer 12 in this embodiment includes two stages of gears distributed along the axial direction. The first stage of gears includes the central fixed gear 121 and the first planetary gear 1231, and the second stage of gears includes the sun gear 122 and the second planetary gear 1232, so as to achieve a significant reduction in speed and an increase in torque.

[0052] Specifically, the number of teeth Z1 of the central fixed gear 121, the number of teeth Z2 of the first planetary gear 1231, the number of teeth Z3 of the sun gear 122, and the number of teeth Z4 of the second planetary gear 1232 satisfy the following condition: (Z1*Z4)<(Z2*Z3), thus achieving a reduction effect. The aforementioned reducer 12 can achieve a large reduction ratio with a small size, thereby enabling a large torque output.

[0053] Continue reading Figure 10 and combined Figure 11 , Figure 11yes Figure 7 The diagram shows a cross-sectional view of a finger joint. The finger joint 10 also includes a central shaft 14, which passes through the stator 111 and the central fixed gear 121. The output gear 13 is configured to rotate around the central shaft 14. This application uses the central shaft 14 to make the drive motor 11 and the central fixed gear 121 coaxial. It should be noted that the central shaft 14 only serves to limit their coaxiality and is not fixed to the drive motor 11 and the central fixed gear 121; that is, the central shaft 14 can rotate relative to the stator 111 and the central fixed gear 121. Furthermore, bearings are provided between the central shaft 14 and the sun gear 122, and between the central shaft 14 and the central fixed gear 121, to reduce friction.

[0054] Optionally, please continue reading Figure 9 and Figure 11 In some embodiments, the mounting bracket 15 is provided with at least one mounting hole 151, the central shaft 14 is fixedly connected to the mounting bracket 15, the planetary gear shaft 1233 is rotatably disposed in the mounting hole 151, the first planetary gear 1231 is located between the mounting bracket 15 and the stator 111, and the second planetary gear 1232 is located on the side of the mounting bracket 15 away from the stator 111.

[0055] Specifically, see Figure 11 and combined Figure 12 , Figure 12This is a perspective view of an embodiment of the mounting bracket of this application. In one embodiment, the mounting bracket 15 includes a first sidewall 152 and a mounting plate 153. The first sidewall 152 surrounds one side of the mounting plate 153 circumferentially, and the first sidewall 152 is cylindrical in shape. The mounting plate 153 is circular in shape. Optionally, the mounting plate 153 may be disposed at the top of the first sidewall 152 away from the drive motor 11. The first sidewall 152 surrounds the outer rotor 112 and is fixedly connected to the outer rotor 112. The first sidewall 152 may include a first sub-part 1521 and a second sub-part 1522 that are axially distributed and integrally formed, both of which are cylindrical. The first sub-part 1521 is the portion of the first sidewall 152 close to the drive motor 11. The first sub-part 1521 surrounds the outer rotor 112 and is fixed to the outer rotor 112, specifically, it may be bonded to the outer rotor 112 to ensure a stable connection between the outer rotor 112 and the mounting bracket 15. The second sub-part 1522 extends towards the first side, and its first sidewall 152, together with the mounting plate 153, forms a receiving groove 154 for accommodating the first planetary gear 1231. Furthermore, the outer peripheral surfaces of the first sub-part 1521 and the second sub-part 1522 are flush, ensuring that the radial dimensions of the mounting bracket 15 remain consistent. Furthermore, the radial thickness of the second sub-part 1522 is greater than the radial thickness of the first sub-part 1521, meaning that a stepped surface is formed at the connection between the inner walls of the first and second sub-parts 1521. This stepped surface can act as a limiting surface to fit against the end face of the outer rotor 112, ensuring the installation accuracy of the mounting bracket 15 and the outer rotor 112, providing sufficient installation space for the first planetary gear 1231, and improving installation efficiency. Mounting holes 151 are provided on mounting plate 153, allowing planetary gear shaft 1233 to rotatably pass through mounting plate 153 via mounting holes 151. Mounting plate 153 overlaps with reducer 12 axially, without increasing the axial length of reducer 12, and can drive planetary gear set 123 to rotate stably. This mounting bracket 15 can be used in finished external rotor 112 motors without modifying drive motor 11, improving manufacturing efficiency.

[0056] Continue reading Figure 12 To further reduce the weight of the mounting bracket 15 and the finger joint 10, weight reduction holes 155 can be provided at other locations on the mounting plate 153. Specifically, they can be provided between adjacent mounting holes 151. Multiple weight reduction holes 155 and multiple mounting holes 151 should be evenly distributed circumferentially to ensure that the rotational center of gravity is located on the rotational axis, avoiding vibration and swaying, thereby avoiding unnecessary energy consumption and noise.

[0057] Continue reading Figure 12 and combined Figure 11The mounting bracket 15 also has a through hole 156 through which the central shaft 14 extends away from the central fixed gear 121 and inserts into the sun gear 122. The central shaft 14 is fixedly connected to the mounting plate 153, and the sun gear 122 is rotatably connected to the central shaft 14. In this embodiment, the central shaft 14 can simultaneously constrain the drive motor 11, the central fixed gear 121, the sun gear 122, and the output gear 13 to be coaxial. When the mounting bracket 15 rotates with the outer rotor 112, it can drive the central shaft 14 to rotate synchronously, ensuring that the mounting plate 153 and the reducer 12 on it can rotate coaxially. At this time, the rotational speeds of the outer rotor 112, the mounting bracket 15, and the central shaft 14 are all the same.

[0058] Continue reading Figure 10 The planetary gear set 123 also includes a first bearing 1234, which is fixedly connected to the outside of the planetary gear shaft 1233 and located between the first planetary gear 1231 and the second planetary gear 1232. The first bearing 1234 is disposed within the mounting hole 151. The first bearing 1234 is used to reduce the frictional force when the planetary gear set 123 rotates relative to the mounting bracket 15, and can also limit the distance between the first planetary gear 1231 and the second planetary gear 1232.

[0059] Continue reading Figure 7 and Figure 11 The finger joint 10 also includes a housing 16, which has a mounting cavity (not shown) within it. The drive motor 11 and reducer 12 are housed within the mounting cavity. Specifically, the housing 16 is a closed hollow cylindrical structure to protect the internal drive motor 11 and reducer 12. The housing 16 has an output hole 161, and an output gear 13 is located outside the housing 16 for connecting to and driving the rotation of an external finger joint. (See reference...) Figure 7 The output gear 13 is fixedly connected to the sun gear 122 via a connecting shaft 131, which passes through the output hole 161. The housing 16 is fixedly connected to the stator 111. The sun gear 122 is located in the mounting cavity within the housing 16, and the connecting shaft 131 connects the two gears inside and outside the housing 16. Optionally, to further reduce the weight of the reducer 12, through holes can be provided at the centers of the connecting shaft 131, the sun gear 122, and the output gear 13. Furthermore, the sun gear 122, the connecting shaft 131, and the output gear 13 are an integral structure and are coaxially arranged. In other embodiments, the output gear 13 can also be detachably connected to the sun gear 122 and the connecting shaft 131.

[0060] Further, the outer casing 16 includes an outer casing body 162 and an outer casing end cap 163. The outer casing body 162 includes a second side wall 1621 and a base plate 1622. The second side wall 1621 surrounds the drive motor 11 circumferentially and is integrally connected to the base plate 1622. The second side wall 1621 is cylindrical in shape and covers the first side wall 152. The base plate 1622 is axially disposed on the side of the drive motor 11 away from the reducer 12. The base plate 1622 is circular in shape and is fixedly connected to the stator 111, thereby fixing the stator 111 relative to the outer casing 16. The outer casing end cap 163 is fixedly connected to the side of the second side wall 1621 away from the base plate 1622. An output hole 161 is disposed on the outer casing end cap 163, and a second bearing 132 is disposed in the output hole 161. The connecting shaft 131 passes through the second bearing 132. The base plate 1622 and the outer casing end cap 163 are used to seal both ends of the second side wall 1621, respectively. The outer casing end cap 163 is detachably connected to the outer casing body 162 for easy installation and disassembly. Specifically, a threaded hole can be provided at the connection between the outer casing end cap 163 and the second side wall 1621, and a bolt can be installed in the threaded hole for locking. The second bearing 132 can reduce the frictional force of the connecting shaft 131 when it rotates relative to the outer casing end cap 163.

[0061] Further reading Figure 11 The base plate 1622 has a central hole 1623 at its center. The wall of the central hole 1623 extends toward the stator 111 and a third bearing 141 is provided inside the central hole 1623. The central shaft 14 passes through the third bearing 141 and extends to the outside of the housing 16. The third bearing 141 can reduce the friction of the central shaft 14 when it rotates relative to the stator 111. The central hole 1623 allows the central shaft 14 to extend to the outside of the housing 16.

[0062] See Figures 13-15 The second embodiment of the finger joint 10a of this application includes a drive motor 11a, a planetary reducer 12a and an output internal gear 13a.

[0063] Specifically, the drive motor 11a in this embodiment is also an external rotor motor, including a stator 111a and an external rotor 112a arranged around the stator 111a. The drive motor 11a can be a brushless motor.

[0064] The planetary reducer 12a includes a fixed internal gear 121a, a sun gear 122a, a planet carrier 123a, and at least one planet gear 124a. The sun gear 122a is disposed on the first side of the stator 111a along the axial direction of the drive motor 11a. Figure 4In the orientation shown, the right side of the stator 111a is defined as the first side, meaning the sun gear 122a is located on the right side of the stator 111a. The sun gear 122a is fixedly connected to the outer rotor 112a via a mounting bracket 14a. The fixed internal gear 121a is sleeved outside the sun gear 122a and is fixedly positioned relative to the stator 111a. The planet carrier 123a is rotatably positioned on the side of the mounting bracket 14a away from the stator 111a. At least one planet gear 124a is rotatably positioned on the mounting bracket 14a and meshes with the sun gear 122a and the fixed internal gear 121a. Specifically, the sun gear 122a, the fixed internal gear 121a, and the planet carrier 123a are all coaxially arranged and coaxially arranged with the drive motor 11a.

[0065] An output internal gear 13a is axially disposed on the side of the fixed internal gear 121a away from the stator 111a, and at least one planetary gear 124a also meshes with the output internal gear 13a. The pitch circle diameters of the output internal gear 13a and the fixed internal gear 121a are substantially the same, and the number of teeth of the output internal gear 13a is less than the number of teeth of the fixed internal gear 121a. The output internal gear 13a serves as the output end. Specifically, the pitch circle diameters of the output internal gear 13a and the fixed internal gear 121a are exactly equal or the difference is within ±5%.

[0066] In this embodiment, the drive motor 11a of the finger joint 10a provides driving force. The outer rotor 112a rotates around the stator 111a, and the outer rotor 112a drives the mounting bracket 14a to rotate around the axis of the drive motor 11a. At this time, the mounting bracket 14a drives the sun gear 122a to rotate coaxially. The fixed internal gear 121a is fixed relative to the stator, so that the sun gear 122a rotates relative to the fixed internal gear 121a within the fixed internal gear 121a. Since the planetary gear 124a meshes with the sun gear 122a and the fixed internal gear 121a respectively, when the sun gear 122a rotates, it can drive the planetary gear 124a to rotate while revolving around the sun gear 122a. The planet carrier 123a supports the planetary gear 124a and provides a rotation axis for the planetary gear 124a, ensuring that the planetary gear 124a maintains a stable meshing position with the sun gear 122a and the fixed internal gear 121a. In addition to the planetary gear 124a, it also meshes with the output internal gear 13a. The fixed internal gear 121a and the output internal gear 13a are distributed along the axial direction of the planetary gear 124a. Therefore, while the planetary gear 124a rotates, it ultimately drives the output internal gear 13a to rotate. Since the number of teeth of the output internal gear 13a is less than the number of teeth of the fixed internal gear 121a, and their pitch circles are basically the same, the output speed is reduced and the torque is increased. It should be noted that, according to the formula for calculating the number of teeth, z = π * da * m, where z is the number of teeth of the gear, da is the pitch circle diameter of the gear, and m is the module of the gear. When da is the same, z is inversely proportional to m. Therefore, when the number of teeth of the output internal gear 13a is less than the number of teeth of the fixed internal gear, the module of the output internal gear 13a is greater than the module of the fixed internal gear. That is, the planetary gear 124a meshes with internal gears with different modules at the same time. Since the planetary reducer 12a provided in this application is applied to the finger joints of a dexterous hand, and the load required here is relatively small and the rotation is less, the slight difference in module does not affect the normal operation of the reducer gear.

[0067] This embodiment of the finger joint 10a uses only a single-stage planetary reduction gear structure to minimize the overall axial dimension of the joint. This application utilizes a small module difference to create a tooth number difference; the internal gears meshing with the same planetary gear at both ends have different numbers of teeth. Therefore, during rotation, the internal gears meshing with it at both ends rotate at different speeds. Since the fixed internal gear 121a at one end is stationary, the output internal gear 13a at the other end achieves a relative rotational speed, thus realizing rotation. This application compresses the overall size of the finger joint 10a, making it conform to the size of the human hand. Furthermore, this finger joint 10a can be applied to robotic dexterity hands, achieving a small size while ensuring a large torque output.

[0068] The difference in the number of teeth between the fixed internal gear 121a and the output internal gear 13a is an integer multiple of the number of planetary gears 124a. This arrangement ensures that the planetary gears 124a correspond precisely to the fixed internal gear 121a and the output internal gear 13a they mesh with. Specifically, there can be three planetary gears 124a, distributed circumferentially. Furthermore, the three planetary gears 124a are evenly distributed circumferentially, resulting in more even force distribution on the gears. The difference in the number of teeth between the fixed internal gear 121a and the output internal gear 13a can be an integer multiple of 3, such as 3, 6, 9, etc. Further, to minimize the module difference between the fixed internal gear 121a and the output internal gear 13a and ensure the normal operation of the planetary reducer, the difference in the number of teeth between the fixed internal gear 121a and the output internal gear 13a should be as small as possible, for example, 3. Specifically, in this embodiment, the fixed internal gear 121a has z1 teeth and m1 module, the output internal gear 13a has z2 teeth and m2 module, and the difference in the number of teeth between the two, z1-z2, is 3. The planetary gear 124a has z3 teeth and m3 module, and the sun gear has z3 teeth and m4 module, where m3 = m4. z1*m1 and z2*m2 are exactly equal to z3*m3 or the difference is within ±5%. The difference in the module of the aforementioned gears is small and will not affect the normal operation of the reducer gears. In other embodiments, the number of planetary gears 124a may also be two or more.

[0069] In this embodiment, refer to Figure 16 and combined Figure 14 The mounting bracket 14a includes a first sidewall 141a and a mounting plate 142a fixedly connected to the first sidewall 141a. The first sidewall 141a surrounds the drive motor 11a circumferentially and is fixedly connected to the outer rotor 112a. Specifically, the first sidewall 141a is cylindrical in shape, and its inner wall can be bonded to the outer wall of the outer rotor 112a or connected by a key. The mounting plate 142a is axially disposed on the first side of the drive motor 11a. Specifically, the mounting plate 142a is circular in shape, and one end of the right side of the first sidewall 141a is fixedly connected to the edge of the mounting plate 142a. The end of the sun gear 122a near the drive motor 11a is fixedly connected to the mounting plate 142a. The mounting bracket 14a connects the sun gear 122a and the outer rotor 112a of the drive motor 11a into one unit, so that the outer rotor 112a can synchronously drive the sun gear 122a on the first side of the drive motor 11a to rotate. The mounting bracket 14a can be applied to finished external rotor motors without requiring modification of the drive motor 11a, thus improving manufacturing efficiency.

[0070] For details, please refer to [link / reference]. Figure 16The mounting bracket 14a also includes a fixed shaft 143a. One end of the fixed shaft 143a is fixedly connected to the mounting plate 142a. The fixed shaft 143a is coaxially arranged with the sun gear 122a, which is sleeved outside the fixed shaft 143a and rotated by the fixed shaft 143a. Specifically, the sun gear 122a has a mounting hole 1221a at its center, and the fixed shaft 143a is inserted into the mounting hole 1221a. Optionally, the mounting hole 1221a is a blind hole, and the depth of the blind hole in the axial direction is less than the length of the fixed shaft 143a in the axial direction. Optionally, the fixed shaft 143a includes a first sub-part 1431a and a second sub-part 1432a coaxially arranged along the axial direction. The first sub-part 1431a is disposed between the mounting plate 142a and the second sub-part 1432a. The diameter of the first sub-part 1431a is larger than the diameter of the second sub-part 1432a. Therefore, a stepped surface is formed at the junction of the first sub-part 1431a and the second sub-part 1432a. This stepped surface is used to limit the end face of the sun gear 122a. The above arrangement forms an annular groove between the end face of the sun gear 122a and the mounting plate 142a to accommodate part of the planet carrier 123a, allowing the planet carrier 123a to rotate relative to the fixed shaft 143a.

[0071] Continue reading Figure 16 and combined Figure 14 The finger joint 10a also includes a central shaft 15a, which passes through and is fixedly connected to the stator 111a. The central shaft 15a is also fixedly connected to a fixed internal gear 121a. This arrangement ensures that the stator 111a and the fixed internal gear 121a are coaxially aligned. Optionally, the central shaft 15a and the stator 111a can be keyed together. Specifically, the outer side wall of the central shaft 15a and the inner side wall of the stator 111a are respectively provided with fixing grooves 1111a, with corresponding fixing grooves on both sides, and fixed by a key (not shown). In other embodiments, the central shaft 15a can also be bonded to the stator 111a.

[0072] For details, please refer to [link / reference]. Figure 14 and Figure 15The finger joint 10a also includes a base plate 151a and a second sidewall 1211a. Specifically, the base plate 151a is generally circular in shape and is located on the side of the drive motor 11a away from the sun gear 122a. The base plate 151a is fixedly connected to the end of the central shaft 15a and is coaxial with the central shaft 15a. The second sidewall 1211a surrounds the mounting bracket 14a and the base plate 151a in the circumferential direction and is fixedly connected to the base plate 151a and the fixed internal gear 121a. Specifically, the second sidewall 1211a is generally cylindrical in shape. The outer sidewall of the base plate 151a, the second sidewall 1211a, the base plate 151a, and the fixed internal gear 121a together form a cavity (not shown), in which the drive motor 11a is installed. The base plate 151a is generally circular. Multiple protrusions 1511a protrude from the sidewall of the base plate 151a, and the inner wall of the second sidewall 1211a has slots 1212a that engage with the protrusions 1511a, thus enabling the base plate 151a to be inserted into the second sidewall 1211a. The base plate 151a is used to seal the cavity and can also fix the central shaft 15a to the second sidewall 1211a. In other embodiments, the base plate 151a can also be fixed to the second sidewall 1211a in other ways, such as by bonding. Optionally, the base plate 151a and the central shaft 15a are integrally formed, and the second sidewall 1211a and the fixed internal gear 121a are integrally formed. In other embodiments, the base plate 151a and the central shaft 15a, and the second sidewall 1211a and the fixed internal gear 121a can also be separately formed.

[0073] Continue reading Figure 16 and combined Figure 17 , Figure 17This is a perspective view of an embodiment of the planetary carrier of this application. The planetary carrier 123a includes a first end plate 1231a and a second end plate 1232a spaced apart along the axial direction, and at least one planetary shaft 1233a. The second end plate 1232a is disposed on the side of the first end plate 1231a away from the drive motor 11a. The first end plate 1231a has a through hole 1235a, and a fixed shaft 143a passes through the through hole 1235a. The planetary shaft 1233a connects the first end plate 1231a and the second end plate 1232a, and a planetary gear 124a is rotatably disposed on the planetary shaft 1233a. Specifically, both the first end plate 1231a and the second end plate 1232a are circular plate structures. The space between the first end plate 1231a and the second end plate 1232a is used to install the planetary gear 124a, and the planetary carrier 123a is rotatably disposed on the fixed shaft 143a. Planetary shaft 1233a supports planetary gear 124a, allowing planetary gear 124a to rotate on its own axis while revolving around planet carrier 123a. An annular groove is formed between the end face of sun gear 122a and mounting plate 142a to accommodate first end plate 1231a. Optionally, a support shaft 1234a is also provided between the first end plate 1231a and the second end plate 1232a. The support shaft 1234a is located between two adjacent planetary gears 124a and spaced apart from them, further enhancing the stability of the support between the first end plate 1231a and the second end plate 1232a.

[0074] Continue reading Figure 16 and combined Figure 14 The finger joint 10a also includes a third end plate 131a and an output shaft 132a. The third end plate 131a is located on the side of the output internal gear 13a away from the drive motor 11a. The side of the third end plate 131a facing the output internal gear 13a has a mounting groove 133a, in which the second end plate 1232a is located. The output shaft 132a is located on the side of the third end plate 131a away from the drive motor 11a. The third end plate 131a is used to enclose the output internal gear 13a and protect the planetary gear 124a therein, and the mounting groove 133a is used to accommodate the second end plate 1232a. When the outer rotor 112a rotates relative to the stator 111a, it drives the mounting bracket 14a and the sun gear 122a to rotate synchronously. The sun gear 122a drives the planetary gear 124a to revolve around the sun gear 122a. Simultaneously, because the planetary gear 124a meshes with the external fixed internal gear 121a and the output internal gear 13a, the planetary gear 124a can rotate on its own axis while revolving, thereby driving the output internal gear 13a to rotate relative to the fixed internal gear 121a, and also driving the output shaft 132a to rotate. The output shaft 132a is used to connect to the finger joint. (The last sentence appears to be incomplete and possibly refers to a different context.) Figure 2In some embodiments shown, the output shaft 132a can be a D-shaped shaft, which is directly connected to the D-shaped hole on the finger knuckle as the output end. In other embodiments, an output gear (not shown) can be connected to the output shaft 132a, which is directly connected to the internal gear on the finger knuckle as the output end.

[0075] See Figures 18 to 21 The finger joint 10d in Embodiment 3 of this application includes a housing 101d, a drive motor (not shown), and a reducer (not shown).

[0076] The drive motor includes a permanent magnet 30d, a stator 20d, and a rotor 40d; the housing 101d has a cavity 11d, the stator 20d is annular and located in the cavity 11d, the permanent magnet 30d is located inside the stator 20d, the rotor 40d is located inside the permanent magnet 30d and connected to the permanent magnet 30d, the rotor 40d includes a first surface 41 and a second surface 42 arranged opposite to each other, when the permanent magnet 30d is driven to rotate by the stator 20d, the permanent magnet 30d drives the rotor 40d to rotate, and the rotor 40d serves as the drive end.

[0077] Specifically, the drive motor includes a stator 20d and a permanent magnet 30d. The drive motor is a coreless motor. The stator 20d can be a conductive coil. When current flows through the annular stator 20d, the electromagnetic field generated by the stator 20d interacts with the constant magnetic field of the permanent magnet 30d. Due to the attraction between opposite magnetic poles and the repulsion between like magnetic poles, a tangential force is generated at the pole junction, causing the permanent magnet 30d to rotate. The magnetic field of the stator can be continuously changed by the current, while the magnetic field of the permanent magnet 30d is fixed. Through the dynamic attraction and repulsion of the magnetic poles, a continuous torque is generated in the circumference of the permanent magnet 30d, causing the permanent magnet 30d to rotate continuously. Since the permanent magnet 30d is connected to the rotor 40d, the rotation of the permanent magnet 30d drives the rotor 40d to rotate synchronously. At this time, the angular velocity of the permanent magnet 30d is the same as the velocity of the rotor 40d.

[0078] The reducer includes a first reducer 50d and a second reducer 60d. The first reducer 50d is located on the first surface 41d of the rotor 40d. The first reducer 50d includes a first sun gear 510d coaxially arranged with the rotor 40d and a plurality of first planet gears 520d meshing with the first sun gear 510d. The first sun gear 510d is rotatably connected to the rotor 40d. The plurality of first planet gears 520d are distributed along the circumference of the rotor 40d, and the gear shafts 5210 of the first planet gears 520d are rotatably connected to the rotor 40d. The second reducer 60d is located on the second surface 42d of the rotor 40d. The plurality of input ends 61 of the second reducer 60d are correspondingly and fixedly connected to the gear shafts 5210 of the plurality of first planet gears 520d. The output end 62 of the second reducer 60d extends out of the housing 101d.

[0079] Specifically, the first sun gear 510d is located on the first surface 41d of the rotor 40d and is rotatably connected to the rotor 40d. Multiple first planet gears 520d mesh with the first sun gear 510d, and the gear shaft 5210 of each first planet gear 520d is rotatably connected to the rotor 40d. The rotor 40d restricts the position of the gear shaft 5210. When the rotor 40d rotates, the first sun gear 510d is stationary relative to the rotor 40d. That is, the first sun gear 510d does not rotate with the rotor 40d, but the first planet gears 520d rotate together with the rotor 40d, so that the revolution speed of the first planet gears 520d is the same as the speed of the rotor 40d. The meshing of the first planet gears 520d with the first sun gear 510d gives the first planet gears 520d a certain rotation speed. The gear shaft 5210 of the first planetary gear 520d is connected to the second reducer 60d located on the second surface 42d of the rotor 40d. The rotational speed and revolution speed of each first planetary gear 520d are transmitted to the corresponding input end 61d of the second reducer 60d through the gear shaft 5210. The output end 62d of the second reducer 60d extends out of the housing 101d, which facilitates the connection of the output end 62d of the second reducer 60d to the external structure.

[0080] In this application, the permanent magnet 30d is located inside the stator 20d. The electromagnetic field generated after current is applied to the stator 20d drives the permanent magnet 30d to rotate, which in turn drives the rotor 40d to rotate. The rotor 40d is rotatably connected to the first sun gear 510d and multiple first planetary gears 520d. The rotor 40d drives the first planetary gears 520d to revolve around the sun. The first sun gear 510d meshes with the first planetary gears 520d, causing the first planetary gears 520d to rotate on their own axis. The revolution speed and rotation speed of the first planetary gears 520d are transmitted to the corresponding input terminal 61d of the second reducer 60d, which further transmits the speed to external components. Compared to the traditional solution where the reducer is located outside the stator and rotor of the motor, in this application, the rotor 40d, the first reducer 50d, and the second reducer 60d are integrated inside the stator 20d, i.e., the structure of the drive motor with a built-in reducer, which can reduce the overall volume of the finger joint 10d.

[0081] The second reducer 60d includes a planetary gear reducer or a cycloidal pinwheel reducer. Specifically, in one application scenario, the second reducer 60d is a planetary gear reducer. The second reducer 60d uses a non-magnetic material. Therefore, the planetary gear reducer uses a non-magnetic material. The multiple input ends of the planetary gear reducer are connected to the gear shaft 5210 of the first planetary gear 520d, transmitting the power of the first planetary gear 520d 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.

[0082] In another application scenario, the second reducer 60d is a cycloidal pinwheel reducer. The second reducer 60d 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 520d. 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 62d of the second reducer 60d, which outputs torque.

[0083] See Figure 18 and Figure 19 The second reducer 60d includes a second sun gear 610d and multiple second planet gears 620d. The multiple second planet gears 620d are fixedly connected to the gear shaft 5210 of the first planet gear 520d and correspond one-to-one. The second sun gear 610d meshes with the multiple second planet gears 620d.

[0084] Specifically, each second planetary gear 620d is fixedly connected to the gear shaft 5210 of the corresponding first planetary gear 520d. The gear shaft 5210 of the first planetary gear 520d drives the second planetary gear 620d to rotate, so that the rotational speed of the second planetary gear 620d is the same as that of the first planetary gear 520d. Since the rotation of the rotor 40d drives the gear shaft 5210 to revolve, and the gear shaft 5210 is connected to both the first planetary gear 520d and the second planetary gear 620d, the revolution speed of the second planetary gear 620d is the same as that of the first planetary gear 520d. The second sun gear 610d meshes with the second planetary gear 620d, and the second planetary gear 620d drives the second sun gear 610d to rotate. The second sun gear 610d is connected to the output end 62d of the second reducer 60d to transmit the power of the second sun gear 610d to the output end 62d of the second reducer 60d. The output end 62d of the second reducer 60d includes an output gear.

[0085] In this embodiment, there are three first planetary gears 520d and three second planetary gears 620d. In other embodiments, the number of first planetary gears 520d can be two, four, five, or six, and the number of second planetary gears 620d is the same as the number of first planetary gears 520d. It should be noted that the number of teeth of the first planetary gears 520d matches the number of teeth of the first sun gear 510d, and the number of teeth of the second planetary gears 620d matches the number of teeth of the second sun gear 610d. This application does not limit the number of first planetary gears 520d and second planetary gears 620d.

[0086] See Figure 19 The finger joint 10d also includes a first bearing 710d, which is sleeved on the output end 62d of the second reducer 60d.

[0087] Specifically, the first bearing 710d supports the output end 62d of the second reducer 60d, reducing the vibration and shaking of the output end 62d of the second reducer 60d, and improving the stability and precision of the entire finger joint 10d. At the same time, the second bearing 720 supports the output end 62d of the second reducer 60d, which can reduce failures caused by wear of the output end 62d and improve the service life of the finger joint 10d.

[0088] In one embodiment, the output end 62d of the second reducer 60d is the output shaft, the second sun gear 610d is connected to the output shaft of the second reducer 60d, and the first bearing 710d is sleeved on the output shaft. The first bearing 710d is used to support the output shaft and reduce the vibration and shaking of the output shaft of the second reducer 60d.

[0089] In one embodiment, the first bearing 710d 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 for the first bearing 710d allows it to be adapted to different operating conditions.

[0090] In other embodiments, the first bearing 710d 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.

[0091] See Figure 18 and Figure 19 The rotor 40d has a plurality of through holes 410d arranged circumferentially, and the finger joint 10d also includes a second bearing 720d, which is located inside the through holes 410d and is sleeved on the gear shaft 5210 of the first planetary gear 520d.

[0092] Specifically, the through hole 410d on the rotor 40d is used to install and fix the second bearing 720d. The gear shaft 5210 of each first planetary gear 520d passes through the second bearing 720d located in the through hole 410d and connects to the input shaft of the corresponding second reducer 60d. The second bearing 720d supports the gear shaft 5210 of the first planetary gear 520d, reduces the vibration and deformation of the gear shaft 5210, and reduces the impact on the input end 61d of the second reducer 60d.

[0093] The gear shaft 5210 of the first planetary gear 520d is connected to the second planetary gear 620d. The second bearing 720d is sleeved on the gear shaft 5210. The second bearing 720d 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 620d and improving the performance of the finger joint 10d.

[0094] The second bearing 720d can be either a deep groove ball bearing or an angular contact ball bearing. That is, the type of the second bearing 720d includes the first bearing 710d, which can be either a deep groove ball bearing or an angular contact ball bearing. The bearing type can be selected according to the corresponding working conditions.

[0095] See Figure 19 A convex shaft 420d is provided at the center of the first surface 41d of the rotor 40d. The convex shaft 420d is connected to the first sun gear 510d. The convex shaft 420d is used to mount the sun gear, such that the axis of the first sun gear 510d is located in the extension direction of the axis of the rotor 40d.

[0096] See Figure 18 The finger joint 10d also includes a cover plate 80d, which is connected to the end of the housing 101d near the output end 62d.

[0097] Specifically, the stator 20d, permanent magnet 30d, rotor 40d, first reducer 50d and other structures are placed in the cavity 11d of the housing 101d. The cover plate 80d is connected to the end of the housing 101d near the output end 62d. The cover plate 80d seals the cavity 11d and protects the structure inside the cavity 11d. It prevents harmful substances such as dust, impurities and moisture from the external environment from entering the cavity 11d 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 10d.

[0098] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes 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 scope of patent protection of this application.

Claims

1. A humanoid dexterous hand, characterized in that, The anthropomorphic dexterous hand includes: The palm and several fingers; The finger includes multiple finger joints and multiple finger phalanges, and the finger is fixedly connected to the palm through one of the finger joints; Each of the finger joints includes a joint body, one of two adjacent finger joints further includes a rotatable connecting end connected to one end of the joint body, and the other includes a fixed connecting end connected to one end of the joint body. The rotatable connecting end has a first accommodating cavity, and the fixed connecting end is movably connected to the first accommodating cavity in the adjacent finger joint. The fixed connecting end has a second accommodating cavity. The finger joint is disposed in each of the second accommodating cavities. The finger joint includes a drive motor and a reducer. The reducer is connected to the output end of the drive motor. The output end of the reducer is connected to the rotational connection end as the output end of the finger joint. The output end of the finger joint is used to output rotational driving force to drive the two adjacent finger joints to rotate relative to each other.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The rotating connection end includes a first connector and a second connector. The second connector and the first connector are spaced apart along a first direction. The first connector, the second connector, and the finger joint body together form the first receiving cavity. The axial direction of the finger joint extends along the first direction. The output end of the reducer is connected to the first connector.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, The first connector is provided with a first through hole extending along the first direction, and the first through hole is used for transmission engagement with the output end of the finger joint.

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, The second connector has a groove on the side facing the first connector, the groove being used to receive the first end of the finger joint, and the second connector is configured to rotate around the first end of the finger joint; the bottom of the groove has a second through hole extending along the first direction, and the second through hole communicates with the groove.

5. The anthropomorphic dexterous hand according to claim 1, characterized in that, The fixed connection end is annular, and the second accommodating cavity extends through the fixed connection end along the first direction.

6. The anthropomorphic dexterous hand according to any one of claims 1-5, characterized in that, The plurality of finger joints includes a distal phalanx, a first middle phalanx, a second middle phalanx, a proximal phalanx, and a fixed phalanx connected in sequence. The fixed phalanx includes a phalanx body and a fixed connecting end, and also includes a palm fixing part. The fingers are fixedly connected to the palm through the palm fixing part. The finger joints between the distal phalanx and the first middle phalanx, between the first middle phalanx and the second middle phalanx, and between the second middle phalanx and the proximal phalanx are all first finger joints. The finger joint between the proximal phalanx and the fixed phalanx is a second finger joint. The axial direction of the first finger joint is perpendicular to the axial direction of the second finger joint, and the axial directions of the plurality of first finger joints are all parallel.

7. The anthropomorphic dexterous hand according to claim 6, characterized in that, The plurality of fingers includes the index finger, middle finger, ring finger, little finger, and thumb. The axial directions of the second finger joints of the plurality of fingers are all parallel. The extension direction of the phalanx of the fixed phalanx of the index finger, the middle finger, the ring finger, and the little finger is substantially perpendicular to the extension direction of the phalanx of the fixed phalanx of the thumb. The fixed phalanx of the thumb is located on the side of the fixed phalanx of the index finger closer to the wrist.

8. The anthropomorphic dexterous hand according to any one of claims 1-5, characterized in that, The size of the finger joint ranges from 7.2 mm to 27 mm in the axial and / or radial directions.

9. The anthropomorphic dexterous hand according to claim 8, characterized in that, The ratio of the axial dimension of the finger joint to the radial dimension of the finger joint is in the range of 1-1.

2.

10. The anthropomorphic dexterous hand according to any one of claims 1-5, characterized in that, The drive motor includes a stator, an outer rotor disposed around the stator, and a mounting bracket fixedly connected to the outer rotor, with at least a portion of the mounting bracket located on a first side of the stator; The reducer includes a sun gear and at least one planetary gear set. The sun gear is disposed on the first side of the stator along the axial direction of the drive motor. The at least one planetary gear set is rotatably disposed on the mounting bracket and meshes with the sun gear. The at least one planetary gear set is configured to rotate with the mounting bracket and drive the sun gear to rotate. The sun gear is fixedly connected to an output gear on the side away from the stator along the axial direction, and the output gear serves as the output end of the finger joint.

11. The anthropomorphic dexterous hand according to any one of claims 1-5, characterized in that, The drive motor includes a stator and an outer rotor arranged around the stator; The reducer includes a fixed internal gear, a sun gear, a planetary carrier, and at least one planetary gear. The sun gear is disposed on the first side of the stator along the axial direction of the drive motor. The sun gear is fixedly connected to the outer rotor via a mounting bracket. The fixed internal gear is sleeved outside the sun gear and is fixedly disposed relative to the stator. The planetary carrier is rotatably disposed on the side of the mounting bracket away from the stator. The at least one planetary gear is rotatably disposed on the mounting bracket and meshes with the sun gear and the fixed internal gear. The finger joint also includes an output internal gear, which is disposed along the axial direction on the side of the fixed internal gear away from the stator. The at least one planetary gear also meshes with the output internal gear. The pitch circle diameter of the output internal gear and the fixed internal gear are substantially the same, and the number of teeth of the output internal gear is less than the number of teeth of the fixed internal gear. The output internal gear serves as the output end of the finger joint.

12. The anthropomorphic dexterous hand according to any one of claims 1-5, characterized in that, The drive motor includes a permanent magnet, a stator, and a rotor; The stator is ring-shaped, and the permanent magnet is provided on the inner side of the stator; The rotor is located inside the permanent magnet and connected to the permanent magnet. It includes a first surface and a second surface that are arranged opposite to each other. When the permanent magnet is driven to rotate by the stator, the permanent magnet drives the rotor to rotate. The rotor serves as the driving end. The reducer includes a first reducer and a second reducer. The first reducer is located on the first surface of the rotor. The first reducer includes a first sun gear coaxially arranged with the rotor and a plurality of first planet gears meshing with the first sun gear. The first sun gear is rotatably connected to the rotor. The plurality of first planet gears are distributed along the circumference of the rotor, and the gear shafts of the first planet gears are rotatably connected to the rotor. The second reducer is located on the second surface of the rotor. Multiple input ends of the second reducer are fixedly connected to the gear shafts of multiple first planetary gears. The second reducer has an output end that extends out of the housing.

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