Joint modules and dexterous finger joints

Abstract

This utility model relates to the field of robotics technology, and more particularly to a joint module for robots, especially humanoid robots or intelligent prostheses, and a dexterous finger joint using the joint module. The isolation between the first cavity (112) and the second cavity (113) can effectively prevent the lubricating grease of the reducer assembly (3) from contaminating the motor (2), and also facilitates the heat dissipation of the motor (2), improving the stability and lifespan of the entire module. In addition, the rotating shaft (23) is both the main shaft of the motor (2) and the sun gear of the reducer assembly (3), making the joint module more compact by reducing the number of parts. Furthermore, the dexterous finger joint directly uses the aforementioned highly reliable joint module as the drive core and structural body, making the structure of the dexterous finger joint more compact.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a joint module for robots, especially humanoid robots or intelligent prostheses, and a dexterous finger joint using the joint module. Background Technology

[0002] Joint modules are one of the core functional components of modern robotic systems. They are typically highly integrated mechatronic modules that encapsulate motors, reducers, sensors, and drive circuits, providing precise and controllable rotational motion and torque. Due to their modularity, compactness, and high performance, joint modules are widely used in the arms, legs, and waist joints of industrial robots, collaborative robots, service robots, and humanoid robots, forming the foundation for achieving complex and flexible robot movements.

[0003] In robotics, the dexterous hand is a crucial end effector that mimics the functions of the human hand, and the dexterous finger joints are the fundamental units that constitute the dexterous hand. Each finger joint requires an independent actuator to control its bending and extension, thereby collaboratively achieving complex tasks such as grasping, pinching, and manipulating tools. Therefore, the joint modules used to drive the dexterous finger joints must possess extremely high performance requirements, mainly reflected in: extremely compact size, light weight, high output torque density, fast response speed, and high reliability.

[0004] For dexterous finger joints, the key and challenging aspect of design is how to efficiently and compactly convert the rotational motion output by the joint module into the bending motion of the finger joint. Traditional drive methods, such as using an external motor to transmit power through complex linkages or tendon cables (steel wire ropes), suffer from problems such as complex structure, difficult installation and debugging, long transmission chains leading to accuracy loss and response delay, and tendon cables being prone to loosening or breakage. On the other hand, some solutions that integrate the actuator directly into the finger joint often have a large transmission structure design, making it difficult to achieve a sufficiently large output torque within the confined space of the finger.

[0005] Therefore, how to design a joint module and dexterous finger joint with a reasonable structural layout that can balance compactness and high reliability is a technical problem that urgently needs to be solved in this field. Utility Model Content

[0006] In view of this, the present invention proposes a joint module and a dexterous finger joint using the joint module, aiming to make the joint module and the dexterous finger joint more compact and perform better.

[0007] In a first aspect, the joint module provided by this utility model includes a housing assembly, a motor, and a reducer assembly. The housing assembly includes a main housing, a middle seat, and a top cover. A partition is provided within the main housing. The middle seat is connected to the bottom end of the main housing, and the partition and the middle seat form a first cavity. The top cover is connected to the top end of the main housing, and the partition and the top cover form a second cavity. The motor includes an outer stator, an inner rotor, and a rotating shaft. A gear is provided at the output end of the rotating shaft. The outer stator and the inner rotor are disposed in the first cavity, the rotating shaft passes through and connects to the inner rotor, and the gear is located in the second cavity. The reducer assembly is disposed in the second cavity and includes an internal gear ring, multiple planetary gears, and a planet carrier. The internal gear ring is connected to the inner wall of the second cavity, and the multiple planetary gears are rotatably disposed on the planet carrier via a connecting shaft and mesh with the gear and the internal gear ring.

[0008] In a preferred embodiment of the joint module of this utility model, the joint module further includes a first bearing and a second bearing. The outer ring of the first bearing is connected to a first mounting groove on the top of the center seat, and its inner ring is connected to the rotating shaft. The outer ring of the second bearing is connected to a second mounting groove formed in the partition on the side facing the center seat, and its inner ring is connected to the rotating shaft; furthermore, the first bearing and the second bearing are located on opposite sides of the motor.

[0009] In a preferred embodiment of the joint module of this utility model, a receiving groove is formed on the bottom side of the inner rotor, and at least a portion of the first bearing is located inside the receiving groove in the axial direction.

[0010] In a preferred embodiment of the joint module of this utility model, the joint module further includes a third bearing and a fourth bearing. The outer ring of the third bearing is connected to a third mounting groove on the bottom side of the planetary carrier, and its inner ring is connected to the top of the rotating shaft. The outer ring of the fourth bearing is connected to a fourth mounting groove on the bottom side of the top cover, and its inner ring is connected to the top short shaft of the planetary carrier.

[0011] In a preferred embodiment of the joint module of this utility model, the housing assembly further includes a base connected to the bottom end of the middle seat; a third cavity is formed between the base and the middle seat; the joint module further includes a drive plate disposed in the third cavity, and the cable between the drive plate and the outer stator passes through a wire hole on the middle seat.

[0012] In a preferred embodiment of the joint module of the present invention, the joint module further includes an encoder assembly, which is also disposed in the third cavity. The encoder assembly includes a rotor and a detection device. The rotor is disposed at one end of the rotating shaft that extends into the third cavity. The detection device is integrated on the drive plate.

[0013] In a preferred embodiment of the joint module of this utility model, the rotor is a magnet and the detection device is a Hall sensor; wherein the rotor is disposed in a mounting base and the mounting base is connected to one end of the rotating shaft.

[0014] In a preferred embodiment of the joint module of this utility model, the planetary carrier is provided with a disk and a top short shaft, the top short shaft being formed by the disk protruding outward; and each planetary gear is rotatably disposed on the other side of the disk opposite to the top short shaft via a connecting shaft.

[0015] Secondly, in a dexterous finger joint provided by this utility model, the dexterous finger joint includes the joint module described in any of the technical solutions in the first aspect, as well as a first transmission member, a hinge shaft, and a second transmission member. The first transmission member is connected to the output end of the planetary carrier of the joint module; the hinge shaft is rotatably mounted on a pair of supports connected to the top cover side of the joint module and configured to connect with another dexterous finger joint; the second transmission member is fixedly connected to the hinge shaft and engages with the first transmission member.

[0016] In a preferred embodiment of the dexterous finger joint provided by this utility model, the first transmission component is a worm gear and the second transmission component is a worm wheel; or, the first transmission component is a first bevel gear and the second transmission component is a second bevel gear.

[0017] The beneficial technical effects of this utility model are as follows: In the joint module provided by this utility model, by setting a partition in the main housing, the interior of the module is cleverly divided into a first cavity for accommodating the motor and a second cavity for accommodating the reducer assembly. Through physical isolation, the negative impact of motor heat on the lubrication performance of the reducer is effectively prevented, and the corrosion of motor components by lubricating grease is also avoided, thereby significantly improving the working stability and service life of the entire joint module. Furthermore, the shaft of this joint module serves as both the motor shaft and the sun gear of the reducer assembly, making the joint module more compact by reducing the number of parts.

[0018] Furthermore, the dexterous finger joint directly adopts the aforementioned highly reliable joint module as the driving core and structural body, replacing the traditional distributed, long transmission chain driving structure with a highly integrated modular solution. This makes the dexterous finger joint more compact, more rigid, and easier to assemble, providing an effective technical approach for achieving high-performance robotic dexterous hands. Attached Figure Description

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

[0020] Figure 1 This is a schematic diagram of the external structure of the joint module in this embodiment.

[0021] Figure 2 This is an exploded view of the joint module in this embodiment.

[0022] Figure 3 This is a cross-sectional structural diagram of the joint module in this embodiment.

[0023] Figure 4 This is a schematic diagram of the installation structure of the reducer assembly in the joint module of this embodiment.

[0024] Figure 5 This is a schematic diagram of the planetary carrier of the reducer assembly in the joint module of this embodiment.

[0025] Figure 6 This is a schematic diagram of the connection structure between the reducer assembly and the motor shaft in the joint module of this embodiment.

[0026] Figure 7 This is a schematic diagram of the motor mounting structure in the joint module of this embodiment.

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

[0028] Figure 9 This is a schematic diagram of the external structure of the dexterous finger joint in this embodiment.

[0029] The accompanying figure is labeled as follows:

[0030] 1-Housing assembly; 11-Main housing; 111-Separation section; 112-First cavity; 113-Second cavity;

[0031] 12-Middle base; 121-Wire hole; 13-Top cover; 14-Base;

[0032] 2-Motor; 21-Outer stator; 22-Inner rotor; 23-Shaft; 231-Gear section;

[0033] 3-Reducer assembly; 31-Internal gear ring; 32-Planet gear; 321-Connecting shaft; 33-Planet carrier; 331-Disc; 332-Top short shaft;

[0034] 41-First bearing; 42-Second bearing; 43-Third bearing; 44-Fourth bearing;

[0035] 5-Driver board;

[0036] 61-Rotor section; 611-Mounting base; 62-Detection device;

[0037] 71-Worm; 72-Hinged shaft; 73-Support component; 74-Worm wheel. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0039] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "setup" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0041] Combination Figures 1 to 3The core structure of the joint module in this embodiment includes a housing assembly 1, a motor 2, and a reducer assembly 3. The housing assembly 1 serves as the supporting frame and protective shell for the entire joint module. In this embodiment, the housing assembly 1 can be made of lightweight, high-strength metal materials, such as aluminum alloy or titanium alloy, to ensure structural rigidity while achieving weight reduction. The housing assembly 1 includes a main housing 11, a middle base 12, and a top cover 13. The main housing 11 is typically a cylindrical structure, with a partition section 111 fixedly disposed inside.

[0042] In terms of specific connection methods, the middle seat 12 can be connected to the bottom end (one end) of the main housing 11 by means of threads, interference fit, or screws. The top cover 13 is connected to the top end (the other end) of the main housing 11 in a similar manner. The partition 111 divides the internal space of the main housing 11 into two, forming two connected cavities. The space between the partition 111 and the middle seat 12 is referred to as the first cavity 112; the space between the partition 111 and the top cover 13 is referred to as the second cavity 113.

[0043] This partitioned design offers significant technical advantages: the first cavity 112 primarily houses the motor 2, which generates a large amount of heat, while the second cavity 113 houses the reducer 3, which requires precise lubrication. The isolation between the two cavities effectively prevents lubricating grease from the reducer assembly 3 from contaminating the motor 2, while also facilitating heat dissipation from the motor 2, thus improving the stability and lifespan of the entire module.

[0044] The motor 2, serving as the power source, is cleverly housed within the first cavity 112. In this embodiment, to achieve ultimate compactness, a frameless torque motor is preferably used. The motor 2 includes an outer stator 21, an inner rotor 22, and a shaft 23. The outer stator 21 is fixedly mounted on the inner wall of the first cavity 112, for example, by bonding or press-fitting. The inner rotor 22 is fixedly connected to the shaft 23, for example, by keying or interference fit. The shaft 23 passes through the central hole of the inner rotor 22 and further through a through hole pre-reserved in the center of the partition 111, with its output end extending into the second cavity 113. To cooperate with the reducer assembly 3, a gear portion 231 is directly machined or fixedly connected to the output end of the shaft 23. This gear portion 231 functions as the sun gear in the subsequent reducer. That is, the shaft 23 is both the main shaft of the motor 2 and the sun gear of the reducer assembly 3, making the joint module more compact by reducing the number of parts.

[0045] Combination Figures 4 to 6The reducer assembly 3 is entirely housed within the second cavity 113, used to convert the high-speed, low-torque output of the motor 2 into a low-speed, high-torque power output. This embodiment employs a planetary gear reducer because it offers advantages such as a large transmission ratio, high load-bearing capacity, compact structure, and coaxial output. The reducer assembly 3 includes an internal gear ring 31, multiple planetary gears 32, and a planet carrier 33.

[0046] The internal gear ring 31 is firmly fixed to the inner wall of the second cavity 113, that is, fixed to the inner wall of the main housing 11, serving as the stationary part of the reducer. The planet carrier 33 is the output component of the reducer assembly 3, on which multiple (e.g., three, to achieve balanced force distribution) planet gears 32 are rotatably mounted via a connecting shaft 321 (e.g., a pin). These planet gears 32 mesh with the gear portion 231 (sun gear) located at the output end of the rotating shaft 23 on one hand, and with the stationary internal gear ring 31 on the other hand.

[0047] The working process and principle are as follows: When motor 2 is energized, the outer stator 21 generates a rotating magnetic field, driving the inner rotor 22 and the shaft 23 fixed to it to rotate at high speed. The gear section 231 (sun gear) at the end of the shaft 23 rotates accordingly, actuating multiple planetary gears 32 meshing with it. Since the planetary gears 32 also mesh with the fixed internal gear ring 31, they rotate around their own axes while simultaneously revolving around the central axis of the sun gear. The planetary carrier 33 collects the revolving motion of all the planetary gears 32, thus rotating as a whole at a much lower speed and with a correspondingly increased torque than the motor shaft 23, achieving the function of speed reduction and torque increase. Finally, the planetary carrier 33 serves as the power output end of the entire joint module, outputting motion outward.

[0048] Reference Figure 5 The structure of the planetary carrier 33 in the reducer assembly 3 will be described in more detail below. The planetary carrier 33 can be designed as a single, integral component to improve its strength and precision. Specifically, the planetary carrier 33 may include a disk 331 and a top short shaft 332 integrally formed from the center of the disk 331 and protruding outward (towards the top cover 13). Multiple connecting shafts 321 for mounting the planetary gears 32 extend to the side of the disk 331 opposite to the top short shaft 332. That is, the planetary gears 32 are located below the disk 331 (towards the motor 2), while the top short shaft 332 serves as the mechanical output interface of the module. This integrated design reduces the number of parts, simplifies assembly, and improves the rigidity and torque transmission capacity of the planetary carrier 33.

[0049] Continue to refer to Figure 3To ensure the stability and precision of the motor 2's shaft 23 under high-speed rotation, this joint module further includes a first bearing 41 and a second bearing 42. These two bearings are typically deep groove ball bearings to simultaneously withstand radial and a certain axial loads. Specifically, the first bearing 41 and the second bearing 42 are respectively mounted on both sides of the motor 2, providing two-point support for the shaft 23 and forming a stable support structure.

[0050] The outer ring of the first bearing 41 is installed in a first mounting groove at the center of the top of the intermediate seat 12, and its inner ring is connected to the corresponding position of the rotating shaft 23. The outer ring of the second bearing 42 is installed in a second mounting groove on the side of the partition 111 facing the intermediate seat 12, and its inner ring is also connected to the rotating shaft 23. This double support structure ensures a uniform air gap between the inner rotor 22 and the outer stator 21, avoids rotor rubbing caused by shaft shaking, reduces vibration and noise, and ensures efficient and stable operation of the motor 2.

[0051] As an optimized variant designed to further reduce the axial dimensions of the module, the bottom side of the inner rotor 22 (facing the center seat 12) can be designed to have a receiving groove. This receiving groove can be an annular recess or a central blind hole. During assembly, at least a portion of the first bearing 41 enters the interior of this receiving groove in the axial direction. This "embedded" design allows the bearing and inner rotor 22 to overlap in the axial space, effectively shortening the overall length of the motor 2 section and making the joint module more compact.

[0052] Continue to refer to Figure 3 To support the output end of the reducer assembly 3 and ensure its smooth rotation, this joint module also includes a third bearing 43 and a fourth bearing 44. The function of the third bearing 43 is to support the relationship between the planetary carrier 33 and the high-speed rotating input shaft 23. Its outer ring is connected to the third mounting groove opened at the center of the bottom side of the planetary carrier 33, while the inner ring is fitted onto the top end of the shaft 23.

[0053] The fourth bearing 44 is the main output bearing, used to support the entire planetary carrier 33 (as the output end) and bear external loads. Its outer ring is connected to the fourth mounting groove opened at the center of the inner side of the top cover 13, and its inner ring is connected to the top short shaft 332 extending from the planetary carrier 33.

[0054] This bearing arrangement provides stable and reliable rotational support for both the input end (shaft 23 / sun gear) and the output end (planet carrier 33) of the reducer assembly 3. The third bearing 43 ensures the relative positional accuracy between the planet carrier 33 and the sun gear, while the fourth bearing 44 directly transmits the output load to the housing assembly 1, protecting the internal precision gear structure. These two bearings can be selected as deep groove ball bearings or angular contact bearings depending on the load requirements.

[0055] To achieve "intelligent" integration of the joint module, this embodiment also integrates a drive control and sensor feedback system.

[0056] Continue to refer to Figure 2 To accommodate these electronic components, housing assembly 1 may further include a base 14, which is detachably connected to the bottom end of the middle seat 12 by screws or the like. The base 14 and the middle seat 12 form a third cavity. This cavity is relatively independent, providing a clean and protected space for mounting circuit boards.

[0057] The drive board 5 is housed in this third cavity. The drive board 5 integrates a motor driver (e.g., an FOC controller), a microprocessor (MCU), a power management unit, and a communication interface. The cable (e.g., a three-phase power line) of the outer stator 21 of the motor 2 needs to be connected from the first cavity 112 to the drive board 5 in the third cavity. For this purpose, a wire hole 121 is specially provided on the middle seat 12, referring to… Figure 8 The cable passes through the through hole 121, establishing an electrical connection between the motor 2 and the drive board 5. Preferably, a sealing ring can be provided at the edge of the hole to maintain the airtightness between the cavities.

[0058] The advantage of this design is that it achieves a high degree of integration between the drive and the actuator. Users only need to provide power and control signals to the module, without the need for a bulky external motor driver, which greatly simplifies the wiring and complexity of the system.

[0059] To achieve precise closed-loop control of motor 2, the joint module also includes an encoder assembly, which is cleverly housed in the third cavity. The encoder assembly includes a rotor section 61 and a sensing device 62. The rotor section 61 is fixed to one end of the shaft 23 that extends into the third cavity. The sensing device 62 is directly integrated or soldered onto the drive plate 5 and faces the rotor section 61.

[0060] As a specific and cost-effective implementation, the rotor 61 can be a multi-pole magnet (e.g., a ring magnet) fixed in a mounting base 611, which is then fixed to the end of the rotating shaft 23 by set screws or adhesive. Correspondingly, the detection device 62 can be one or more Hall sensor chips arranged on the drive board 5, located directly below or to the side of the magnet.

[0061] Its working principle is as follows: When the shaft 23 of motor 2 rotates, the magnet at its end (rotor 61) rotates accordingly, causing a periodic change in the magnetic field around it. The Hall sensor (detection device 62) on the drive board 5 detects this magnetic field change in real time and converts it into an electrical signal (e.g., an A / B / Z quadrature signal or an absolute position serial signal) related to the shaft's angular position and speed. The microprocessor on the drive board 5 receives these signals, thereby accurately knowing the real-time status of motor 2, and using this as a basis for closed-loop servo control to achieve precise control of the joint module's movement. This non-contact encoder solution has no mechanical wear, a long lifespan, high reliability, and is highly integrated on the drive board 5, further improving the compactness and integration of the joint module.

[0062] Combination Figure 9 This embodiment also provides a dexterous finger joint that utilizes the joint module described in the above embodiments to achieve flexible movements such as bending and straightening of the robot finger. This dexterous finger joint includes the joint module of any of the aforementioned embodiments, as well as a first transmission member, a hinge shaft 72, a pair of support members 73, and a second transmission member.

[0063] The structure and connection method of this dexterous finger joint are as follows: The joint module serves as the core drive source and main structure of the entire finger joint. A pair of support members 73 (e.g., a U-shaped bracket, or two parallel connecting plates) are fixedly connected to the top cover 13 side of the joint module. A hinge shaft 72 is rotatably mounted on the pair of support members 73, and this hinge shaft 72 will serve as the rotating joint of the finger joint for connecting to another finger joint.

[0064] To convert the rotational motion of the joint module into the oscillation of the finger joints, a first transmission member and a second transmission member are provided. The first transmission member is connected to the output end of the joint module, that is, the output end of the planetary carrier 33 (e.g., the aforementioned top short shaft 332). The second transmission member is fixedly connected to the hinge shaft 72. The first and second transmission members mesh with each other to form a transmission chain.

[0065] Working process and principle: When the joint module is working, its planetary carrier 33 outputs a low-speed, high-torque rotational motion. This rotational motion drives the first transmission component to rotate. Since the first transmission component meshes with the second transmission component, the rotation of the first transmission component will drive the rotation of the second transmission component, which in turn drives the hinge shaft 72 fixed to it to rotate. The rotation of the hinge shaft 72 ultimately manifests as the bending or straightening of the dexterous finger joint relative to the next level finger joint connected to it. It is worth noting that this transmission mechanism is usually used to achieve a 90-degree motion conversion, that is, to convert the rotation of the output axis of the joint module (usually along the length of the finger joint) into the rotation of the hinge shaft 72 perpendicular to this axis.

[0066] Technical benefits: This design integrates a highly integrated "drive-deceleration-control" joint module directly as part of the finger joint, resulting in a compact structure and powerful performance. It enables the design of multi-degree-of-freedom dexterous hands and facilitates modular replacement and maintenance.

[0067] In a preferred embodiment, continue to refer to Figure 9 The first transmission component is a worm gear 71, and the second transmission component is a worm wheel 74. The worm gear 71 is fixed to the output end of the planetary carrier 33 of the joint module, and its axis is aligned with the length direction of the finger joint. The worm wheel 74 is fixed to the hinge shaft 72. The rotation of the worm gear 71 drives the worm wheel 74 to rotate, thereby achieving the bending of the finger joint.

[0068] Advantages: Worm gear drives can provide a very large secondary reduction ratio, further greatly increasing the output torque. Simultaneously, they typically have a self-locking characteristic, meaning that after the motor 2 is de-energized, the finger joints can remain in their current position due to the friction of the transmission mechanism. This is highly energy-efficient for applications involving grasping objects and maintaining a posture for extended periods.

[0069] In another preferred embodiment, the first transmission component is a first bevel gear, and the second transmission component is a second bevel gear. The first bevel gear is fixed to the output end of the joint module, and the second bevel gear is fixed to the hinge shaft 72, and the two mesh with each other.

[0070] Advantages: Bevel gear drives have a much higher transmission efficiency than worm gear drives, with less energy loss. They lack self-locking capability and are reversible, meaning that forces applied to the finger joint can be transmitted back to the motor, which is crucial for robotic applications requiring force feedback and compliant control. Furthermore, bevel gear drives are better suited for applications requiring rapid response and high-speed movement. By selecting different transmission methods, this dexterous finger joint can be adapted to various application needs; for example, worm gear drives can be used for applications requiring strong gripping and holding, while bevel gear drives can be used for applications requiring fast and flexible interaction.

[0071] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0072] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A joint module, characterized in that, include: The housing assembly (1) includes a main housing (11), a middle seat (12), and a top cover (13). A partition (111) is provided inside the main housing (11). The middle seat (12) is connected to the bottom end of the main housing (11), and the partition (111) and the middle seat (12) form a first cavity (112). The top cover (13) is connected to the top end of the main housing (11), and the partition (111) and the top cover (13) form a second cavity (113). The motor (2) includes an outer stator (21), an inner rotor (22) and a rotating shaft (23), wherein the output end of the rotating shaft (23) is provided with a gear part (231); wherein the outer stator (21) and the inner rotor (22) are arranged in the first cavity (112), the rotating shaft (23) is connected to the inner rotor (22), and the gear part (231) is located in the second cavity (113); The reducer assembly (3) is disposed in the second cavity (113) and includes an internal gear ring (31), a plurality of planet gears (32) and a planet carrier (33). The internal gear ring (31) is connected to the inner wall of the second cavity (113), and the plurality of planet gears (32) are rotatably disposed on the planet carrier (33) via a connecting shaft (321) and mesh with the gear part (231) and the internal gear ring (31).

2. The joint module according to claim 1, characterized in that, Also includes: The outer ring of the first bearing (41) is connected to the first mounting groove on the top of the middle seat (12), and the inner ring is connected to the rotating shaft (23); The outer ring of the second bearing (42) is connected to the second mounting groove formed in the partition (111) on the side facing the middle seat (12), and the inner ring is connected to the rotating shaft (23); Furthermore, the first bearing (41) and the second bearing (42) are located on both sides of the motor (2).

3. The joint module according to claim 2, characterized in that, The bottom side of the inner rotor (22) has a receiving groove, and at least a portion of the first bearing (41) is located inside the receiving groove in the axial direction.

4. The joint module according to claim 1, characterized in that, Also includes: The third bearing (43) has its outer ring connected to the third mounting groove on the bottom side of the planetary carrier (33) and its inner ring connected to the top of the shaft (23). The fourth bearing (44) has its outer ring connected to the fourth mounting groove on the bottom side of the top cover (13), and its inner ring connected to the top short shaft (332) of the planetary carrier (33).

5. The joint module according to claim 1, characterized in that, The housing assembly (1) further includes a base (14) connected to the bottom end of the middle seat (12); the base (14) and the middle seat (12) form a third cavity; The joint module also includes: The drive plate (5) is disposed in the third cavity, and the cable between the drive plate (5) and the outer stator (21) passes through the wire hole (121) on the middle seat (12).

6. The joint module according to claim 5, characterized in that, It also includes an encoder assembly, which is also disposed in the third cavity, the encoder assembly comprising: A rotor section (61) is provided at one end of the shaft (23) that extends into the third cavity; The detection device (62) is integrated on the drive board (5).

7. The joint module according to claim 6, characterized in that, The rotor (61) is a magnet, and the detection device (62) is a Hall sensor; wherein the rotor (61) is disposed in a mounting base (611), and the mounting base (611) is connected to one end of the rotating shaft (23).

8. The joint module according to claim 1, characterized in that, The planetary carrier (33) is provided with a disk (331) and a top short shaft (332), the top short shaft (332) being formed by the disk (331) protruding outward; and each of the planetary gears (32) is rotatably disposed on the other side of the disk (331) opposite to the top short shaft (332) via a connecting shaft (321).

9. A dexterous finger joint, characterized in that, include: The joint module according to any one of claims 1 to 8; The first transmission component is connected to the output end of the planetary carrier (33) of the joint module; A hinge shaft (72) is rotatably mounted on a pair of supports (73) connected to the top cover (13) side of the joint module and configured to connect to another dexterous finger joint; The second transmission component is fixedly connected to the hinge shaft (72) and meshes with the first transmission component.

10. The dexterous finger joint according to claim 9, characterized in that, The first transmission component is a worm gear (71), and the second transmission component is a worm wheel (74); or, The first transmission component is a first bevel gear, and the second transmission component is a second bevel gear.

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