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 comprises a driving motor, a planetary reducer and an output gear. The driving motor comprises a stator and an outer rotor arranged around the stator. The driving motor further comprises a mounting frame fixedly connected with the outer rotor, and at least part of the mounting frame is located on the first side of the stator. The planetary reducer comprises a sun gear and at least one planetary gear set. The sun gear is arranged on the first side of the stator along the axial direction of the driving motor. The at least one planetary gear set is rotatably arranged on the mounting frame and is in mesh with the sun gear. The at least one planetary gear set is arranged to rotate with the mounting frame and drive the sun gear to rotate. The output gear is fixedly arranged on the side of the sun gear away from the stator along the axial direction. The above scheme can reduce the size of the finger joint module, meet the size requirement of the human hand and meet the demand of the grasping performance.

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 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, and must meet human-scale requirements, thus being constrained by practical needs such as space and weight. Therefore, the size of the finger joint modules, a key structure of the dexterous hand that drives finger movement, is also limited, which in turn restricts the torque of the drive mechanism, resulting in insufficient grasping strength or low precision, failing to meet the requirements for grasping performance. Utility Model Content

[0004] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can be reduced in size to meet the size requirements of human hands and satisfy the requirements for grasping performance.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a finger joint module, including a drive motor, a planetary reducer, and an output end. The drive motor includes a stator and an outer rotor disposed around the stator. The drive motor also includes 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 planetary reducer includes a sun gear and at least one planetary gear set. The sun gear is disposed along the axial direction of the drive motor on the first side of the stator. 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 output end is fixedly disposed along the axial direction on the side of the sun gear away from the stator.

[0006] Preferably, the planetary gear set includes a planetary gear shaft and a first planetary gear and a second planetary gear fixed on the planetary gear shaft; the planetary reducer also includes a center fixed gear, which is fixed to a first side of the stator; the first planetary gear meshes with the center fixed gear, and the second planetary gear meshes with the sun gear.

[0007] Preferably, the finger joint module further includes a central shaft, which passes sequentially through the stator, the central fixed gear, and the mounting bracket, and is rotatably connected to the stator and the central fixed gear. The central shaft is fixedly connected to the mounting bracket, and the output end is configured to rotate around the central shaft. The mounting bracket is provided with mounting holes. The first planetary gear and the second planetary gear are spaced apart along the extension direction of the planetary gear shaft, and the planetary gear shaft is rotatably disposed in the mounting holes. The first planetary gear is located between the mounting bracket and the stator, and the second planetary gear is located on the side of the mounting bracket opposite to the stator.

[0008] Preferably, the central axis extends away from the side of the central fixed gear and inserts into the sun gear, the sun gear being rotatably connected to the central axis.

[0009] Preferably, the mounting bracket includes a first sidewall and a mounting plate. The first sidewall surrounds one side of the mounting plate circumferentially. The first sidewall surrounds the outer rotor and is fixedly connected to the outer rotor. The first sidewall and the mounting plate together form a receiving groove for accommodating the first planetary gear. The mounting hole is provided on the mounting plate.

[0010] Preferably, the mounting bracket includes a mounting plate, a portion of the side of the mounting plate facing the outer rotor being fixedly connected to the outer rotor, and a receiving groove for accommodating the first planetary gear is also formed on the side of the mounting plate facing the outer rotor, and the mounting hole is provided on the mounting plate.

[0011] Preferably, the planetary gear set further includes a first bearing, which is fixedly connected to the outside of the planetary gear shaft and located between the first planetary gear and the second planetary gear, and is disposed in the mounting hole.

[0012] Preferably, the finger joint module further includes a housing with an installation cavity inside. The drive motor and the planetary reducer are disposed in the installation cavity. The housing has an output hole, and the output end is located outside the housing. The output end is fixedly connected to the sun gear through a connecting shaft, which passes through the output hole. The housing is fixedly connected to the stator.

[0013] Preferably, the housing includes a housing body and a housing end cap. The housing body includes a second sidewall and a bottom plate. The bottom plate is disposed along the axial direction on the side of the drive motor away from the planetary reducer. The bottom plate is fixedly connected to the stator. The second sidewall surrounds the drive motor circumferentially and is integrally connected to the bottom plate. The housing end cap is fixedly connected to the side of the second sidewall away from the bottom plate. The output hole is disposed on the housing end cap. A second bearing is provided in the output hole, and the connecting shaft passes through the second bearing.

[0014] Preferably, the sun gear, the connecting shaft, and the output end are an integral structure, and the sun gear, the connecting shaft, and the output end are coaxially arranged.

[0015] Preferably, the base plate has a central hole at its center, the wall of the central hole extends toward the stator and is fixedly connected to the stator, a third bearing is provided in the central hole, the central shaft passes through the third bearing and extends out of the housing; the finger joint module also includes a magnetic ring, an encoder pad, and an encoder; the magnetic ring is fixedly connected to the central shaft, and the magnetic ring is located on the side of the third bearing away from the drive motor; the encoder pad surrounds the magnetic ring, and the encoder pad is fixedly connected to the base plate, the encoder pad has an opening that communicates with the magnetic ring radially along the encoder pad; the encoder is fixedly connected to the side of the encoder pad away from the base plate.

[0016] Preferably, the number of planetary gear sets is three, and the three sets of planetary gear sets are evenly distributed along the circumference.

[0017] Preferably, the planetary reducer further includes a ring gear surrounding the planetary gear set and fixedly connected to the stator; each planetary gear set includes a planetary gear that meshes with the ring gear.

[0018] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for robots, including a palm and fingers; the fingers include multiple phalanges and a finger joint module of any of the above-mentioned technical solutions, 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, and the fingers are fixedly connected to the palm through the phalanges.

[0019] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot, including the above-mentioned dexterous hand.

[0020] The beneficial effects of this application are as follows: Unlike existing technologies, the finger joint module provided in this application includes a drive motor and a planetary reducer. The drive motor provides driving force, and the outer rotor rotates around the stator. The outer rotor drives the planetary gear set to revolve around the axis of the drive motor while simultaneously rotating on its own axis. At the same time, the rotation of the planetary gear set drives the rotation of the sun gear, ultimately driving the output end to rotate, thereby achieving deceleration and torque increase. This application uses a mounting bracket to connect the outer rotor and the planetary gear set, thus integrating the drive motor and the planetary reducer into one unit. This ensures a stable connection between the planetary reducer and the drive motor, and because the drive motor and the planetary reducer are integrated into a single structure, the overall size of the finger joint module is compressed, allowing it to conform to the size of the human hand. Furthermore, this application distributes and connects the drive motor and the planetary reducer along the axial direction, reducing the radial size of the finger joint module. This finger joint module can be applied to the finger joints of robotic dexterity hands, achieving a small size while ensuring a large torque output.

[0021] The dexterous hand provided in this application is small in size, close to the size of a human hand, and can imitate more human hand movements, even exceeding the tasks that a human hand can perform, thereby improving the precision of operation. Attached Figure Description

[0022] Figure 1 This is a perspective view of an embodiment of the finger joint module of this application;

[0023] Figure 2 This is a three-dimensional schematic diagram of the internal structure of an embodiment of the finger joint module of this application;

[0024] Figure 3 This is a perspective view of an embodiment of the planetary reducer of this application;

[0025] Figure 4 yes Figure 1 A cross-sectional view of the finger joint module shown.

[0026] Figure 5 This is a perspective view of an embodiment of the mounting bracket of this application;

[0027] Figure 6 This is a cross-sectional schematic diagram of another embodiment of the finger joint module of this application;

[0028] Figure 7 This is a perspective view of another embodiment of the planetary reducer of this application;

[0029] Figure 8 This is a three-dimensional schematic diagram of an embodiment of the dexterous hand of this application;

[0030] Figure 9This is a three-dimensional schematic diagram of a partial structure at the connection between two phalanges of the finger in this application. Detailed Implementation

[0031] 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.

[0032] See Figures 1 to 3 , Figure 1 This is a perspective view of an embodiment of the finger joint module of this application. Figure 2 This is a perspective view of the internal structure of an embodiment of the finger joint module of this application. Figure 3 This is a perspective view of an embodiment of the planetary reducer of this application. The finger joint module 10 is used in a robot, specifically, it is disposed at the joint position of a dexterous hand. The finger joint module 10 includes a drive motor 11, a planetary reducer 12, an output end 13, and a mounting bracket 15.

[0033] 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.

[0034] Mounting bracket 15 is fixedly connected to the outer rotor 112, and at least a portion of mounting bracket 15 is located on the first side of stator 111. Figure 3 In the orientation shown, the right side of the stator 111 is defined as the first side, that is, part of the mounting bracket 15 is located on the right side of the stator 111.

[0035] The planetary 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, and the at least one planetary gear set 123 is rotatably disposed on the mounting frame 15 and meshes with the sun gear 122. The at least one planetary gear set 123 is configured to rotate with the mounting frame 15 and drive the sun gear 122 to rotate.

[0036] Specifically, output end 13 is an output gear, which is axially fixed on the side of the sun gear 122 away from the stator 111. The output gear is coaxially arranged with the sun gear 122 and is used to connect with the finger joint.

[0037] The finger joint module 10 of this application includes a drive motor 11 and a planetary reducer 12. 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 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 end 13 to rotate, thereby achieving deceleration and torque increase. This application provides a mounting bracket 15 to connect the outer rotor 112 and the planetary gear set 123, thereby connecting the drive motor 11 and the planetary reducer 12 into one unit. On the one hand, this ensures a stable connection between the planetary reducer 12 and the drive motor 11. On the other hand, since the drive motor 11 and the planetary reducer 12 are integrated into a single structure, the overall size of the finger joint module 10 is compressed, making it conform to the size of the human hand. At the same time, this application distributes and connects the drive motor 11 and the planetary reducer 12 along the axial direction, reducing the radial dimension of the finger joint module 10. The finger joint module 10 can be applied to the finger joints of a robot's dexterous hand, achieving a small size while ensuring a large torque output.

[0038] Optionally, the number of planetary gear sets 123 is one or more sets. In one embodiment, the number of planetary gear sets 123 is three sets, which are distributed circumferentially. The three sets of planetary gears make the gears more evenly stressed. Further, the three sets of planetary gear sets 123 are evenly distributed circumferentially.

[0039] In other embodiments, the number of planetary gear sets 123 may also be two or more, as long as the gear matching conditions are met.

[0040] In this embodiment, the output end 13 is an output gear. In other embodiments, the output end 13 can also be a D-shaped shaft with an irregular shape, as long as it can drive the knuckle to rotate. This application does not make any specific limitation.

[0041] See Figure 3In one embodiment, the planetary gear set 123 is a double gear set, which includes 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 planetary reducer 12 also includes a central fixed gear 121, which is fixed to a first side of the stator 111, i.e., the central fixed gear 121 is fixed and cannot be rotated. Specifically, the central fixed gear 121 is arranged along the axial direction of the stator 111 on one side of the stator 111. Optionally, the central fixed gear 121 can be coaxially arranged with the stator 111. In other embodiments, the axis of the central fixed gear 121 can also be arranged parallel to the axis of the stator 111. The sun gear 122 is rotatably arranged on the side of the central fixed gear 121 opposite to the stator 111. Specifically, the sun gear 122 is coaxially arranged with the central fixed gear 121, and the sun gear 122 can rotate relative to the central 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.

[0042] 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 end 13 to rotate. The planetary reducer 12 of 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.

[0043] For details, please refer to [link / reference]. Figure 3 and combined Figure 2 The reduction effect can be achieved when 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).

[0044] The reduction ratio i of planetary reducer 12 H 13 Calculate using the following formula:

[0045]

[0046] Where, n H n1 is the revolution speed of planetary gear shaft 1233, and n2 is the rotation speed of sun gear 122. The aforementioned planetary reducer 12 can achieve a large reduction ratio with a small size, thereby achieving a large torque output.

[0047] Optionally, in some embodiments, refer to... Figure 3 and combined Figure 4 , Figure 4 yes Figure 1 The diagram shows a cross-sectional view of the finger joint module. The finger joint module 10 also includes a central shaft 14, which passes through the stator 111 and the central fixed gear 121. The output gear 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 is only used to limit the coaxiality of the two 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.

[0048] Optionally, please continue reading Figure 2 and Figure 4 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.

[0049] Specifically, see Figure 3 and combined Figure 5 , Figure 5This 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 planetary reducer 12 axially, without increasing the axial length of planetary 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.

[0050] Specifically, see Figure 6 , Figure 6This is a perspective view of another embodiment of the finger joint module of this application. In this embodiment, the mounting bracket 15 includes only a mounting plate 153. The side of the mounting plate 153 facing the outer rotor 112 is fixedly connected to the outer rotor 112. A receiving groove 154 for accommodating the first planetary gear 1231 is also formed on the side of the mounting plate 153 facing the outer rotor 112. A mounting hole 151 is provided on the mounting plate 153. Specifically, the side of the mounting plate 153 facing the outer rotor 112 and located on the outer periphery of the receiving groove 154 is fixedly connected to the end face of the outer rotor 112. The connection method can be adhesive or screw connection, etc. In this embodiment, the outer rotor 112 and the mounting plate 153 are mainly connected along the axial direction, thus further reducing the radial dimension of the finger joint module 10.

[0051] Continue reading Figure 5 In some embodiments, in order to further reduce the weight of the mounting bracket 15 and the finger joint module 10, weight reduction holes 155 can be provided at other positions of the mounting plate 153. Specifically, they can be provided between adjacent mounting holes 151, and the multiple weight reduction holes 155 and multiple mounting holes 151 should be evenly distributed circumferentially to ensure that the rotation center of gravity is located on the rotation axis, avoid vibration and swaying, and thus avoid unnecessary energy consumption and noise.

[0052] Optionally, please continue reading Figure 5 and combined Figure 4 In some embodiments, the mounting bracket 15 is further provided with a through hole 156, through which the central shaft 14 extends away from the central fixed gear 121 and inserts 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 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 planetary 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.

[0053] In some embodiments, continue reading Figure 3 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.

[0054] Optionally, in some embodiments, refer to... Figure 1 and Figure 4 The finger joint module 10 also includes a housing 16, which has a mounting cavity (not shown) within it. The drive motor 11 and planetary 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 planetary reducer 12. The housing 16 has an output hole 161, with an output gear located outside the housing 16 for connecting to and driving the rotation of an external finger joint. (See reference...) Figure 3 The output gear is fixedly connected to the sun gear 122 via a connecting shaft 131, which passes through an output hole 161. The housing 16 is fixedly connected to the stator 111. The sun gear 122 is located within a mounting cavity in 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 planetary reducer 12, through holes can be provided at the centers of the connecting shaft 131, the sun gear 122, and the output gear. Furthermore, the sun gear 122, the connecting shaft 131, and the output gear are an integral structure and are coaxially arranged. In other embodiments, the output gear can also be detachably connected to the sun gear 122 and the connecting shaft 131.

[0055] 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 planetary 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.

[0056] Further reading Figure 4The 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.

[0057] Furthermore, the finger joint module 10 also includes a magnetic ring 171, an encoder pad 172, and an encoder 17. The magnetic ring 171 is fixedly connected to the central shaft 14 and is located on the side of the third bearing 141 facing away from the drive motor 11. The encoder pad 172 surrounds the magnetic ring 171 and is fixedly connected to the base plate 1622. The encoder pad 172 has an opening (not shown) that connects radially to the magnetic ring 171. The encoder 17 is fixedly connected to the side of the encoder pad 172 facing away from the base plate 1622. Since the magnetic ring 171 is fixed on the central shaft 14, and the central shaft 14, the mounting bracket 15, and the outer rotor 112 rotate at the same speed, the encoder 17 can obtain information such as the speed and rotation angle of the drive motor 11, which facilitates the controller to control the rotation angle of the finger joint. The encoder 17, encoder pad 172 and base plate 1622 are provided with screw holes. Bolts can pass through the screw holes on the encoder 17, encoder pad 172 and base plate 1622 in sequence to fix the three together. The opening on the encoder pad 172 is used for wiring.

[0058] See Figure 7 , Figure 7 This is a perspective view of another embodiment of the planetary reducer of this application. The structure of the planetary reducer 12 of this application is not limited to... Figure 3 The structure, for example Figure 7 In another embodiment shown, the planetary reducer 12 includes at least one planetary gear set 123 and a sun gear 122, as well as a ring gear 124 surrounding the planetary gear set 123. The ring gear 124 is fixedly connected to the stator 111, such that the ring gear 124 is fixedly different relative to the stator 111. Each planetary gear set includes one planetary gear that meshes with the ring gear 124. The planetary gear set 123 is configured to rotate with the mounting frame 15 and drive the sun gear 122 to rotate. Specifically, the mounting frame 15 passes through the planetary gears, and the planetary gears are rotatably mounted on the mounting frame 15. When the outer rotor 112 rotates relative to the stator 111, it drives the mounting frame 15 to rotate. The mounting frame 15 drives the planetary gear set 123 to revolve. Since the planetary gears mesh with the external ring gear 124, the planetary gears can rotate on their own axis while revolving, thereby driving the internal sun gear 122 to rotate and driving the output gear to rotate.

[0059] See Figure 8 , Figure 8 This is a perspective view of one embodiment of the dexterous hand of this application. This application also provides a dexterous hand 100 for use in robots. The dexterous hand 100 includes a palm 20 and fingers 30; the fingers 30 include a plurality of phalanges 31 and a finger joint module 10 as described in any of the above embodiments. At least two adjacent phalanges 31 are provided with the finger joint module 10, which drives one of the two adjacent phalanges 31 to rotate relative to the other. The fingers 30 are fixedly connected to the palm 20 via the phalange 31 closest to the palm 20. The finger joint module 10 of this application has the advantages of small size and high torque; therefore, the finger joint module 10 can be hidden in the fingers 30 or the palm 20, reducing the size of the dexterous hand 100 and making its size close to that of a human hand, thus improving the precision of operation.

[0060] Optionally, in one embodiment, the dexterous hand 100 includes five fingers 30, mimicking a human hand: thumb, index finger, middle finger, ring finger, and little finger. Each finger 30 includes three phalanges 31, and finger joint modules 10 are provided between all two adjacent phalanges 31 and at the connection between the finger 30 and the palm 20. See also... Figure 9 , Figure 9 This is a three-dimensional schematic diagram of a partial structure at the connection between two phalanges of the finger according to this application. The finger joint module 10 is located between two adjacent phalanges 31, wherein the finger joint module 10 is fixedly connected to one of the phalanges 31, specifically, in conjunction with... Figure 1 A fixing hole 312 is provided on the outer shell 16 of one phalanx 31 and the finger joint module 10, respectively. A bolt passes through the two fixing holes to fix one phalanx 31 and the finger joint module 10. The output gear of the finger joint module 10 meshes with the internal gear 311 on the other phalanx 31, driving one of the two adjacent phalanxes 31 to rotate relative to the other. This structure enables full actuation of the dexterous hand 100; each joint of the finger 30 and the entire finger 30 can be driven independently, meeting the needs of applications requiring high functionality and precision operation.

[0061] This application also provides a robot, including a dexterous hand 100 as described in any of the above embodiments.

[0062] The above are merely embodiments of this application and do 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: A drive motor, the drive motor including a stator and an outer rotor disposed around the stator, the drive motor further including a mounting bracket fixedly connected to the outer rotor, at least a portion of the mounting bracket being located on a first side of the stator; A planetary gear reducer, comprising a sun gear and at least one set of planetary gears, the sun gear being disposed along the axial direction of the drive motor on a first side of the stator, the at least one set of planetary gears being rotatably disposed on a mounting bracket and meshing with the sun gear, the at least one set of planetary gears being configured to rotate with the mounting bracket and drive the sun gear to rotate; and The output end is fixedly disposed along the axial direction on the side of the sun gear away from the stator.

2. The finger joint module according to claim 1, characterized in that, The planetary gear set includes a planetary gear shaft and a first planetary gear and a second planetary gear fixed on the planetary gear shaft. The planetary reducer also includes a central fixed gear, which is fixed to the first side of the stator; The first planetary gear meshes with the central fixed gear, and the second planetary gear meshes with the sun gear.

3. The finger joint module according to claim 2, characterized in that, The finger joint module also includes a central shaft, which passes sequentially through the stator, the central fixed gear, and the mounting bracket. The central shaft is rotatably connected to the stator and the central fixed gear. The central shaft is fixedly connected to the mounting bracket. The output end is configured to rotate around the central shaft. The mounting bracket is provided with mounting holes. The first planetary gear and the second planetary gear are spaced apart along the extension direction of the planetary gear shaft, which is rotatably disposed in the mounting hole. The first planetary gear is located between the mounting bracket and the stator, and the second planetary gear is located on the side of the mounting bracket opposite to the stator.

4. The finger joint module according to claim 3, characterized in that, The central axis extends away from the side of the central fixed gear and inserts into the sun gear, which is rotatably connected to the central axis.

5. The finger joint module according to claim 3, characterized in that, The mounting bracket includes a first sidewall and a mounting plate. The first sidewall surrounds one side of the mounting plate circumferentially. The first sidewall surrounds the outer rotor and is fixedly connected to the outer rotor. The first sidewall and the mounting plate together form a receiving groove for accommodating the first planetary gear. The mounting hole is provided on the mounting plate.

6. The finger joint module according to claim 3, characterized in that, The mounting bracket includes a mounting plate, a portion of the side of the mounting plate facing the outer rotor being fixedly connected to the outer rotor, and a receiving groove for accommodating the first planetary gear is also formed on the side of the mounting plate facing the outer rotor. The mounting hole is provided on the mounting plate.

7. The finger joint module according to claim 3, characterized in that, The planetary gear set further includes a first bearing, which is fixedly connected to the outside of the planetary gear shaft and located between the first planetary gear and the second planetary gear. The first bearing is disposed in the mounting hole.

8. The finger joint module according to claim 3, characterized in that, The finger joint module also includes: The housing has a mounting cavity inside, in which the drive motor and the planetary reducer are disposed. The housing has an output hole, and the output end is located outside the housing. The output end is fixedly connected to the sun gear through a connecting shaft, which passes through the output hole. The housing is fixedly connected to the stator.

9. The finger joint module according to claim 8, characterized in that, The housing includes a housing body and a housing end cap. The housing body includes a second side wall and a bottom plate. The bottom plate is disposed along the axial direction on the side of the drive motor away from the planetary reducer. The bottom plate is fixedly connected to the stator. The second side wall surrounds the drive motor circumferentially and is integrally connected to the bottom plate. The housing end cap is fixedly connected to the side of the second side wall away from the bottom plate. The output hole is disposed on the housing end cap. A second bearing is provided in the output hole. The connecting shaft passes through the second bearing.

10. The finger joint module according to claim 8, characterized in that, The sun gear, the connecting shaft, and the output end are an integral structure, and the sun gear, the connecting shaft, and the output end are coaxially arranged.

11. The finger joint module according to claim 9, characterized in that, The base plate has a central hole at its center. The wall of the central hole extends toward the stator and is fixedly connected to the stator. A third bearing is provided inside the central hole. The central shaft passes through the third bearing and extends to the outside of the housing. The finger joint module also includes: A magnetic ring, which is fixedly connected to the central shaft, and is disposed on the side of the third bearing opposite to the drive motor; An encoder pad surrounds the magnetic ring and is fixedly connected to the base plate. The encoder pad has an opening that communicates with the magnetic ring radially along the encoder pad. The encoder is fixedly connected to the encoder pad on the side facing away from the base plate.

12. The finger joint module according to any one of claims 1-11, characterized in that, The number of planetary gear sets is three, and the three sets of planetary gear sets are evenly distributed along the circumference.

13. The finger joint module according to claim 1, characterized in that, The planetary reducer also includes: A gear ring, which surrounds the planetary gear set and is fixedly connected to the stator; Each planetary gear set includes a planetary gear that meshes with the ring gear.

14. A dexterous hand for use in a robot, characterized in that, Including the palm and fingers; The finger includes multiple phalanges and a finger joint module as described in any one of claims 1-13, 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, and the finger is fixedly connected to the palm through the phalanges.

15. A robot, characterized in that, Including the dexterous hand as described in claim 14.

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