A multi-degree-of-freedom humanoid robot dexterous hand and a planetary reduction module for joints thereof

Abstract

The utility model provides a kind of multi-degree-of-freedom humanoid robot dexterous hand and its joint planetary reduction module, it is related to humanoid hand technical field, planetary reduction module includes three-stage planetary reducer and globular planetary motor, three-stage planetary reducer includes inner gear ring, first planet carrier, second planet carrier, third planet carrier, first planetary gear, first input gear, second planetary gear, second input gear, third planetary gear, third input gear;Dexterous hand includes palm, wrist and five fingers, and wrist is equipped with rotating master joint, bending master joint and swing master joint, and finger includes J1 joint, J2 joint, J3 joint and J4 joint arranged in order from finger root to fingertip direction;J1 joint is open joint and uses above-mentioned planetary reduction module, J2 joint, J3 joint and J4 joint are bending joint, rotating master joint, bending master joint, swing master joint and J2 joint adopt RV reduction module, and J3 joint and J4 joint adopt harmonic reduction module.

Description

Technical Field

[0001] This utility model relates to the field of humanoid hand technology, and in particular to a dexterous hand of a multi-degree-of-freedom humanoid robot and a planetary deceleration module for its joints. Background Technology

[0002] As an end effector, the dexterous hand of a humanoid robot needs to have a degree of freedom and load-bearing capacity close to that of a human hand. Simultaneously, with the development of humanoid robots, the requirements for lightweight and miniaturized reduction modules used in dexterous hand joints are becoming increasingly stringent. Commonly used reduction modules for dexterous hand joints include RV reduction modules, harmonic reduction modules, and planetary reduction modules. RV reduction modules have strong torque capacity and impact resistance, but their structure is complex and their efficiency is lower than that of planetary reduction modules. Harmonic reduction modules have the simplest structure, but their torque capacity is weak and their efficiency is low. Planetary reduction modules have high efficiency, but their structure is more complex than that of harmonic reduction modules, and their torque capacity is lower than that of RV reduction modules.

[0003] Planetary reducer modules are typically large in size. Although they rely on the output side to reduce speed and bear the output torque to ensure smooth operation, the smaller the planetary reducer module is, the worse its performance is under the same machining accuracy, due to the miniaturization requirements of dexterous hand joints. Under the action of multi-stage transmission, this will directly affect the smoothness, vibration and noise of the entire reducer module. Utility Model Content

[0004] The purpose of this invention is to provide a multi-degree-of-freedom humanoid robot dexterous hand and its joint planetary reduction module. The planetary reduction module operates smoothly and with low noise. Each joint of the dexterous hand selects a suitable reduction module according to its torque load requirements, and each reduction module meets the requirements of lightweight and miniaturization, making the entire dexterous hand closer to the human hand.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution: A planetary reduction module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot includes a three-stage planetary reducer and a planetary motor arranged coaxially. The planetary motor includes a planetary motor housing, a planetary input shaft, a planetary stator, and a planetary rotor installed inside the planetary motor housing. The planetary input shaft, planetary stator, and planetary rotor are coaxially arranged with the three-stage planetary reducer. The planetary rotor is mounted on the planetary input shaft. The planetary motor has a spherical structure with flat end faces at both ends, and its outer diameter is larger at the end closest to the three-stage planetary reducer. The three-stage planetary reducer includes an internal gear ring, a first planetary carrier, a second planetary carrier, and a third planetary carrier arranged coaxially. A connecting flange is provided between the planetary motor housing and the internal gear ring to connect them. At least two first planetary gears are mounted in a circular array on the first planetary carrier, and one end of the planetary input shaft extends into the internal gear ring and its end is equipped with a first input gear that meshes synchronously with the multiple first planetary gears. The second planetary carrier has at least two second planetary gears mounted in a circular array, and the first planetary carrier has a second input gear that meshes synchronously with the multiple second planetary gears; At least two third planetary gears are mounted in a circular array on the third planetary carrier. The second planetary carrier is provided with a third input gear that meshes synchronously with multiple third planetary gears. The end of the third planetary carrier away from the second planetary carrier is provided with a pressure plate that axially limits multiple third planetary gears. A number of the first planetary gears, the second planetary gears, and the third planetary gears mesh with the internal gear ring, and the meshing tooth widths of the first planetary gears, the second planetary gears, and the third planetary gears with the internal gear ring increase sequentially. Planetary first four-point contact ball bearings are provided between the first planetary carrier, the second planetary carrier, and the third planetary carrier and the internal gear ring; planetary second four-point contact ball bearings are provided between the first planetary carrier and the plurality of first planetary gears, and between the second planetary carrier and the plurality of second planetary gears; planetary support bearings are provided between the third planetary carrier and the plurality of third planetary gears; and planetary first deep groove ball bearings are provided between the planetary input shaft and the first planetary carrier, between the first planetary carrier and the second planetary carrier, and between the second planetary carrier and the third planetary carrier. The pressure plate is provided with a planetary end cap connected to the third planetary carrier on the side away from the third planetary carrier. The planetary end cap and the internal gear ring serve as the fixed end and the output end, respectively, and their side walls are provided with planetary mounting lugs that extend outward and are located on both sides of the planetary input shaft. A planetary encoder is installed at the end of the planetary rotor away from the planetary stator, and an encoder cover is installed at the end of the planetary motor housing away from the internal gear ring. Planetary third deep groove ball bearings are provided between the two ends of the planetary input shaft, the encoder cover, and the connecting flange.

[0006] By adopting the above technical solution, the planetary motor and the three-stage planetary reducer are directly connected. The planetary end cap and the internal gear ring serve as the fixed end and output end, respectively, and are connected to the external structure through planetary mounting lugs, driving the joint to rotate around the planetary input shaft axis. In this application, planetary first four-point contact ball bearings are provided between the first planetary carrier, the second planetary carrier, and the third planetary carrier and the internal gear ring. This ensures the smooth operation and low noise of the first planetary carrier and the first planetary gear, the second planetary carrier and the second planetary gear, and the third planetary carrier and the third planetary gear. Existing technologies only focus on the smoothness of the final stage of reduction, which bears the output bending moment and torque. However, the three-stage planetary reducer in this application is to be used in the joint of a simulated human hand. The installation space is limited, and the requirements for miniaturization and lightweighting of the planetary reduction module are extremely high. If the first and second stage reductions are not smooth and are noisy, it will have a significant impact on the operation of the entire reduction module and the joint. In addition, planetary second four-point contact ball bearings are installed between the first planetary carrier and multiple first planetary gears, and between the second planetary carrier and multiple second planetary gears. Planetary support bearings are installed between the third planetary carrier and multiple third planetary gears. Planetary first deep groove ball bearings are installed between the planetary input shaft and the first planetary carrier, between the first and second planetary carriers, and between the second and third planetary carriers. This ensures high precision in gear positioning on the high-speed side, improves meshing smoothness, and reduces noise. The planetary encoder detects the input speed in real time and is installed inside the planetary motor, making efficient use of the space in the planetary motor to maximize module capacity and minimize size. The planetary third deep groove ball bearing ensures the smooth operation of the planetary input shaft and guarantees its coaxiality with the three-stage planetary reducer.

[0007] Furthermore, the internal gear ring is provided with an outer groove that directly serves as the outer ring of the three planetary first four-point contact ball bearings, and the first planetary carrier, the second planetary carrier, and the third planetary carrier are respectively provided with inner grooves that directly serve as the inner rings of the corresponding planetary first four-point contact ball bearings.

[0008] By adopting the above technical solution, the internal gear ring directly serves as the outer ring of the three planetary first four-point contact ball bearings, while the first, second, and third planetary carriers directly serve as the inner rings of the corresponding planetary first four-point contact ball bearings. This not only ensures the smooth rotation of the three planetary carriers but also allows the internal gear ring to withstand a certain bending moment, ensuring more complete gear meshing. Furthermore, the integrated design of the three planetary first four-point contact ball bearings with the internal gear ring and the first, second, and third planetary carriers reduces the size of the planetary reduction module. Since the planetary motor is an axial flux motor, the axial length of the planetary reduction module is reduced, further improving its miniaturization and weight reduction.

[0009] Furthermore, the planetary support bearing includes two angular bearings arranged side by side along the axial direction of the third planetary carrier, and the two angular bearings correspond to the first four-point contact ball bearings of the planets on the third planetary carrier; or the planetary support bearing includes two second deep groove ball bearings of the planets located at both ends of the third planetary gear, and the first four-point contact ball bearings of the planets on the third planetary carrier are provided in two and correspond one-to-one with the two second deep groove ball bearings of the planets.

[0010] By adopting the above technical solution, the third planetary gear is mounted on the third planetary carrier via a pair of angular bearings. The angular bearings can simultaneously bear axial and radial forces, achieving a large bending moment capacity and ensuring full meshing of the third planetary gear. Each end of the third planetary gear is supported by a second deep groove planetary ball bearing, corresponding to a first four-point contact planetary ball bearing, further enhancing its bending moment bearing capacity and maximizing force transmission.

[0011] A multi-degree-of-freedom humanoid robot dexterous hand includes a palm, a wrist, and five fingers. The palm has a through-hole in the middle. The wrist is an integral structure with the palm and has a rotational main joint, a bending main joint, and a swinging main joint. The five fingers are detachably mounted on the palm, and each finger includes a J1 joint, a J2 joint, a J3 joint, and a J4 joint arranged sequentially from the base to the tip. The J1 joint is an opening / closing joint and uses the aforementioned planetary reduction module. The fixed end or output end of the planetary reduction module of each J1 joint is connected to the palm via a square positioning and screw fastening. The J2, J3, and J4 joints are bending joints, and the rotational main joint, bending main joint, swinging main joint, and J2 joint all use RV reduction modules. The output axis of each RV reduction module is coaxial with the rotation axis of the corresponding joint. The J3 and J4 joints use harmonic reduction modules. The RV reduction module includes an RV motor and an RV reducer coaxially mounted at the joint. The RV reducer includes two cycloidal wheels, a main bearing, at least two eccentric shafts arranged in a circumferential array, and needle tooth housing one and needle tooth housing two. The main bearing is located between the two cycloidal wheels. The needle tooth housing one and needle tooth housing two correspond to the two cycloidal wheels respectively and are engaged with each other by needle rollers. The needle tooth housing one is close to the RV motor, and the outer ring of the main bearing is located between the needle tooth housing one and needle tooth housing two. The eccentric shaft is mounted on the inner ring of the main bearing and the cycloidal wheel, and a true circular support bearing is installed between the true circle of each eccentric shaft and the inner ring of the main bearing. An eccentric circular support bearing is installed between the cam of each eccentric shaft and the two cycloidal wheels respectively. An RV planetary gear is installed at the end of the eccentric shaft away from the RV motor. The RV motor is connected to an RV input shaft that passes through its center and the center of the RV reducer. An RV input gear that meshes synchronously with several RV planetary gears is provided at the end of the RV input shaft away from the RV motor. A baffle is provided between the first needle tooth housing and the fixed flange, and a baffle is provided between the second needle tooth housing and the RV output shaft. An RV-O ring is provided between the second baffle and the RV output shaft. The first baffle is connected to the fixed flange and the first needle tooth housing, and the second baffle is connected to the second needle tooth housing. The first baffle and the second baffle cooperate with the two cycloidal wheels and the corresponding needle rollers to provide axial positioning. A first baffle is provided on the end face of the two cycloidal wheels that are far apart from each other. The first baffle is installed on the end face of the cycloidal wheel that is close to it by screws and presses against the outer ring end face of the eccentric circular support bearing respectively. A second baffle is provided between the side of the inner ring of the two true circular support bearings that are far apart from each other and the corresponding inner ring of the eccentric circular support bearing. The RV motor includes an RV motor housing disposed on the side of the pin tooth housing one away from the main bearing. The side wall of the RV motor housing is connected to a fixed flange, and the side of the RV motor housing away from the pin tooth housing one is provided with a first support flange. The fixed flange is positioned and connected to the pin tooth housing one, the outer ring of the main bearing, and the pin tooth housing two by pins and screws. The needle-tooth housing is provided with an RV output shaft on the side away from the outer ring of the main bearing. The RV output shaft is connected to the inner ring of the main bearing through a connecting pin, and the RV output shaft is connected to an RV output flange. The fixed flange and the RV output flange serve as the fixed end and output end of the module, respectively. The RV output shaft is provided with a second support flange connected to the second needle housing on the side away from the needle housing. An RV output encoder is installed on the RV output shaft, and an RV output reading head that cooperates with the RV output encoder is installed on the second support flange. The RV motor is connected to a rotating shaft on the side away from the RV reducer. An RV input encoder is installed on the rotating shaft. A cover plate is provided on the side of the first support flange away from the fixed flange, and an RV input reading head that cooperates with the RV input encoder is installed on the cover plate. The harmonic reduction module includes a harmonic motor and a double rigid wheel harmonic reducer arranged coaxially. The harmonic motor includes a harmonic motor housing and a harmonic input shaft arranged coaxially with the double rigid wheel harmonic reducer. The dual rigid wheel harmonic reducer includes a wave generator, a flexible bearing, a flexible wheel, a fixed rigid wheel, an output rigid wheel, and a harmonic support bearing, all coaxially arranged with the harmonic input shaft. The harmonic input shaft is fixedly connected to the wave generator. The flexible bearing is disposed between the wave generator and the flexible wheel. The flexible wheel meshes with the fixed rigid wheel and the output rigid wheel with a difference in the number of teeth, respectively. The harmonic support bearing is disposed between the fixed rigid wheel and the output rigid wheel. The fixed rigid wheel serves as the inner ring of the harmonic support bearing and is detachably and fixedly connected to the harmonic motor housing. The side of the harmonic motor housing away from the fixed rigid wheel is provided with a bearing support flange. The harmonic motor support bearing is installed between the harmonic input shaft, the bearing support flange, and the harmonic motor housing. The outer ring of the output rigid wheel, which serves as a harmonic support bearing, is located on the side of the fixed rigid wheel away from the harmonic motor housing. A harmonic support flange and a harmonic output support flange are installed on the side of the output rigid wheel away from the fixed rigid wheel. The harmonic support flange is located between the output rigid wheel and the harmonic output support flange. Two flexible bearings are arranged side by side along the harmonic input shaft. A limiting protrusion is provided in the middle of the inner wall of the flexible wheel, located between and abutting against the outer rings of the two flexible bearings. The harmonic motor housing and the output rigid wheel serve as the fixed end and the output end, respectively. The outer wall of the harmonic motor housing is provided with an outwardly extending fixed boss, and the outer wall of the output rigid wheel is provided with an outwardly extending output boss. The fixed boss and the output boss are located on both sides of the harmonic input shaft and are respectively provided with mounting holes that pass through them. The output boss is provided with a steel ball mounting hole arranged radially along the harmonic input shaft. The steel ball of the harmonic support bearing enters the groove of its inner and outer rings from the steel ball mounting hole, and the steel ball mounting hole is provided with a sealing plug. The harmonic support flange is provided with a harmonic output encoder on the side near the harmonic output support flange. A harmonic output reading head that cooperates with the harmonic output encoder is installed on the harmonic output support flange. Harmonic O-rings are provided between the harmonic output support flange and the output rigid wheel, and between the output rigid wheel and the fixed rigid wheel. The wave generator is equipped with a harmonic input encoder at one end near the harmonic support flange. At this time, a harmonic input reading head that cooperates with the harmonic input encoder is installed on the harmonic support flange, and a harmonic sealing plate is installed at the end of the bearing support flange away from the harmonic motor housing. Alternatively, a harmonic input encoder may be installed at the end of the harmonic input shaft 03-12 away from the harmonic support flange. In this case, a harmonic input support flange may be installed at the end of the bearing support flange away from the harmonic motor housing, and a harmonic input reading head that cooperates with the harmonic input encoder may be installed on the harmonic input support flange.

[0012] By adopting the above technical solutions, the dexterous hand's degrees of freedom, size, and flexibility closely resemble those of a human hand. The J1 joint functions to open or close the fingers in the left and right directions; it experiences low force and has a moderate to low torque requirement, thus employing the aforementioned three-stage planetary reduction module. The J2 joint bears the largest load, requiring high torque, high rigidity, and high impact resistance, thus using the RV reduction module with the strongest torque capacity. The J3 and J4 joints are small in size, bear low loads, and have low torque requirements, thus employing the simplest structure and weakest torque capacity harmonic reduction module. The wrist's rotational, flexion, and swinging main joints have higher torque requirements and also employ RV reduction modules, but the volume of these three RV reduction modules is larger than that of the J2 joint module. Each joint of the dexterous hand selects an appropriate reduction module based on its torque capacity requirements, maximizing its capacity and simplifying its structure. Among them, the hollow holes on the palm make the entire dexterous hand lighter. The J1 joint directly uses square positioning and screw fastening to achieve its detachable connection with the palm. The finger installation and positioning accuracy is high and the disassembly and assembly are simple.

[0013] The planetary reduction module, RV reduction module, and harmonic reduction module in this invention all have a spherical structure, which ensures that each module is closer to the shape of human hand finger joints. The motors used are all axial flux motors, which are directly connected to the corresponding reducers, greatly reducing the axial thickness and volume of the modules and effectively ensuring the transmission accuracy of the modules. This meets the requirements of lightweight, miniaturized, and aesthetically pleasing dexterous hand joint modules. At the same time, the finger space of the dexterous hand can be used to install other sensors and other components. Furthermore, due to the improved transmission accuracy, the torque, precision, speed, and other capabilities of the dexterous hand are closer to those of the human hand.

[0014] In the RV reduction module, the RV reducer omits the traditional output shaft and output disc frame, significantly reducing its axial thickness while maintaining overall performance. In the harmonic reduction module, the dual rigid wheel harmonic reducer directly utilizes the cooperation of two first flexible bearings and the upper limit protrusion of the flexible wheel to axially limit the flexible wheel, eliminating the need for additional axial limiting structures. This reduces the overall axial length of the joint module while the dual rigid wheel harmonic reducer directly bears the load and output accuracy, effectively improving the load capacity and transmission accuracy of the entire joint module.

[0015] Furthermore, the fixed ends and output ends of the adjacent deceleration modules in the J1, J2, J3 and J4 joints of each finger are connected by screws.

[0016] By adopting the above technical solution, the fixed end and output end of each pair of adjacent deceleration modules in joints J1, J2, J3 and J4 are directly connected by screws. The structure is simple, and after connection, there is a large space between adjacent modules, which can reserve more space to install other structures.

[0017] Furthermore, the fixed end and output end of the deceleration module in the J1, J2, J3 and J4 joints of each finger are internally threaded. An elastic washer is provided between the fixed end and output end of each pair of adjacent deceleration modules. The corresponding fixed end and output end are connected by a screw that is threaded to it and passes through the elastic washer.

[0018] By adopting the above technical solution, the connection between adjacent modules is realized by directly connecting the fixed end and the output end with a screw. The elastic gasket can play a pre-tightening role to ensure that the axis of each joint is parallel, thereby ensuring running accuracy and stability, and making it easier to install and disassemble.

[0019] Furthermore, the first needle tooth housing, the outer ring of the main bearing, and the second needle tooth housing are integrally formed.

[0020] Further, the RV motor includes an RV stator disposed within the RV motor housing and an RV rotor and an RV back iron disposed within the first support flange. The RV rotor is located between the RV stator and the RV back iron, and the rotating shaft is installed within the RV back iron and the inner ring of the RV rotor. The RV input shaft is installed within the inner hole of the rotating shaft and connected to the RV rotor via the rotating shaft. Alternatively, the RV motor includes an RV rotor and two RV stators respectively located on both sides of the RV rotor. One of the RV stators is installed within the RV motor housing, and the RV rotor and the other RV stator are installed within the first support flange. The rotating shaft is installed within the inner ring of the RV rotor, and the RV input shaft is installed within the inner hole of the rotating shaft and connected to the RV rotor via the rotating shaft.

[0021] Furthermore, the harmonic motor further includes a harmonic rotor and two harmonic stators located on both sides of the harmonic rotor, with the harmonic input shaft installed inside the inner hole of the harmonic rotor; or the harmonic motor further includes a harmonic rotor and harmonic stators and harmonic back iron located on both sides of the harmonic rotor, with the harmonic stators located at the end of the harmonic rotor closer to the wave generator, and the harmonic input shaft installed inside the inner hole of the harmonic rotor and the harmonic back iron.

[0022] Furthermore, the inner ring of the harmonic support bearing is welded to the fixed rigid wheel, the outer ring of the harmonic support bearing is welded to the output rigid wheel, and the steel ball mounting hole extends to the outer ring of the harmonic support bearing.

[0023] In summary, this utility model has the following beneficial effects: 1. The planetary reduction module of this utility model adopts a planetary motor with axial magnetic flux and a three-stage planetary reduction mechanism in a spherical structure. In the three-stage planetary reducer, the first planetary carrier, the second planetary carrier, and the third planetary carrier are provided with first four-point contact ball bearings and integrated with them between the internal gear ring. Planetary second four-point contact ball bearings are provided between the first planetary carrier and multiple first planetary gears, and between the second planetary carrier and multiple second planetary gears. Planetary support bearings are provided between the third planetary carrier and multiple third planetary gears. Planetary first deep groove ball bearings are provided between the planetary input shaft and the first planetary carrier, between the first planetary carrier and the second planetary carrier, and between the second planetary carrier and the third planetary carrier. This improves the bending moment bearing capacity, makes the gear meshing more complete, and improves the smoothness and low noise of the entire planetary reduction module. 2. In this invention, the J1 joint of the dexterous hand functions to open or close the fingers in the left and right directions. It experiences low force and has a moderate to low torque requirement, so the aforementioned three-stage planetary reduction module is used. The J2 joint bears the largest load and requires high torque, high rigidity, and high impact resistance, so the RV reduction module with the strongest torque capacity is used. The J3 and J4 joints are small in size, bear low load, and have low torque requirements, so the harmonic reduction module with the simplest structure and weakest torque capacity is used. The main rotational joint, flexion joint, and swing joint of the wrist have higher torque requirements and also use RV reduction modules. Each joint of the dexterous hand selects a suitable reduction module according to its torque capacity requirements to maximize its capacity, simplify its structure, and make its degrees of freedom, size, and flexibility close to those of the human hand. 3. The planetary reduction module, RV reduction module, and harmonic reduction module in this utility model are directly connected to the corresponding reducers, which greatly reduces the axial thickness and volume of the module, effectively ensuring the transmission accuracy of the module, and meeting the needs of lightweight, miniaturized and aesthetically pleasing dexterous hand joint modules. At the same time, the finger space of the dexterous hand can be used to install other sensors and other components. Furthermore, due to the improvement in transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of the human hand. 4. In this utility model, the RV reducer in the RV reduction module omits the traditional output shaft, output disc frame, and other structures, which greatly reduces the axial thickness of the RV reducer while ensuring the overall performance of the RV reducer. 5. In this utility model, the dual rigid wheel harmonic reducer in the harmonic reduction module directly uses the cooperation of two first flexible bearings and the upper limit protrusion of the flexible wheel to axially limit the flexible wheel, omitting the additional axial limiting structure of the flexible wheel. While reducing the axial length of the entire joint module, the dual rigid wheel harmonic reducer directly bears the load and output accuracy, effectively improving the load capacity and transmission accuracy of the entire joint module. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the overall structure of a planetary deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot, wherein the planetary support bearing consists of two parallel angular bearings; Figure 2 This is a schematic diagram of the overall structure of a planetary deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot, wherein the planetary support bearing consists of two planetary second deep groove ball bearings that are far apart from each other; Figure 3 This is a structural schematic diagram of a dexterous hand of a multi-degree-of-freedom humanoid robot. Figure 4 This is a structural schematic diagram of an RV deceleration module in the dexterous hand of a multi-degree-of-freedom humanoid robot. Figure 5 This is a structural diagram of an RV reduction module in the dexterous hand of a multi-degree-of-freedom humanoid robot, used to illustrate the integrated structure of the main bearing; Figure 6 This is a structural diagram of an RV reduction module in the dexterous hand of a multi-degree-of-freedom humanoid robot, used to illustrate another structure of the RV drive motor; Figure 7 This is a schematic diagram of a harmonic deceleration module in the dexterous hand of a multi-degree-of-freedom humanoid robot. Figure 8 This is a structural diagram of a harmonic deceleration module in the dexterous hand of a multi-degree-of-freedom humanoid robot, used to illustrate another structure of a harmonic drive motor; Figure 9 This is a structural diagram of a harmonic deceleration module in the dexterous hand of a multi-degree-of-freedom humanoid robot, used to illustrate another position of the harmonic input encoder; Figure 10 This is a structural diagram of a harmonic deceleration module in the dexterous hand of a multi-degree-of-freedom humanoid robot, used to illustrate the split structure of the harmonic support bearing.

[0025] In the diagram, 01 is the planetary reduction module; 01-1 is the planetary motor; 01-11 is the planetary motor housing; 01-12 is the planetary input shaft; 01-121 is the first input gear; 01-13 is the planetary stator; 01-14 is the planetary rotor; 01-15 is the third deep groove ball bearing; 01-2 is the three-stage planetary reducer; 01-21 is the internal gear ring; 01-22 is the first planetary carrier; 01-23 is the first planetary gear; 01-24 is the second planetary carrier; 01-25 is the second planetary gear; 01-26 is the second input gear; 01- 27. Third planetary carrier; 01-28. Third planetary gear; 01-29. Third input gear; 01-3. Connecting flange; 01-4. Pressure plate; 01-5. First planetary four-point contact ball bearing; 01-6. Second planetary four-point contact ball bearing; 01-7. Planetary support bearing; 01-71. Angle bearing; 01-72. Second planetary deep groove ball bearing; 01-8. First planetary deep groove ball bearing; 01-9. Planetary encoder; 01-91. Encoder housing; 01-10. Planetary end cover; 01-101. Planetary mounting lug; 02. RV Reduction Module; 02-1. RV Motor; 02-11. RV Motor Housing; 02-12. RV Stator; 02-13. RV Rotor; 02-14. RV Backplate; 02-15. RV Motor Support Bearing; 02-16. Shaft; 02-17. Fixed Flange; 02-18. First Support Flange; 02-19. RV Input Shaft; 02-191. RV Input Gear; 02-2. RV Reducer; 02-21. Cycloidal Wheel; 02-22. Needle Roller; 02-3. Main Bearing; 02-31. Main Bearing Outer Ring; 02-32. Main Bearing Inner Ring; 02-4. Eccentric Shaft; 02-41 02-42. True circular support bearing; 02-43. Eccentric circular support bearing; 02-44. RV planetary gear; 02-45. Baffle plate one; 02-46. Baffle plate two; 02-5. Needle tooth housing one; 02-51. Baffle plate one; 02-6. Needle tooth housing two; 02-61. Baffle plate two; 02-7. RV output shaft; 02-71. RV output flange; 02-72. RV-O-ring; 02-73. Connecting pin; 02-8. Second support flange; 02-81. RV output encoder; 02-82. RV output reading head; 02-9. Cover plate; 02-91. RV input encoder; 02-92. RV input reading head; 03. Harmonic reducer module; 03-1. Harmonic motor; 03-11. Harmonic motor housing; 03-11. Fixing boss; 03-12. Harmonic input shaft; 03-13. Harmonic rotor; 03-14. Harmonic stator; 03-15. Harmonic back iron; 03-16. Bearing support flange; 03-17. Harmonic motor support bearing; 03-2. Double rigid wheel harmonic reducer; 03-3. Wave generator; 03-4. Flexible bearing; 03-5. Flexible wheel; 03-51. Limiting protrusion; 03-6. Fixing rigid wheel ; 03-7, Output wheel; 03-71, Output boss; 03-72, Steel ball mounting hole; 03-73, Sealing plug; 03-74, Harmonic support flange; 03-75, Harmonic output support flange; 03-76, Harmonic O-ring; 03-8, Harmonic support bearing; 03-9, Harmonic output encoder; 03-91, Harmonic output reading head; 03-10, Harmonic input encoder; 03-101, Harmonic input reading head; 03-102, Harmonic sealing plate; 03-103, Harmonic input support flange; 04. Palm; 04-1. Hollow hole; 05. Wrist; 05-1. Rotation main joint; 05-2. Flexion main joint; 05-3. Swinging main joint; 06. Finger; 06-1. J1 joint; 06-2. J2 joint; 06-3. J3 joint; 06-4. J4 joint; 07. Elastic washer; 08. Screw. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0027] A planetary deceleration module 01 for the dexterous hand joint of a multi-degree-of-freedom humanoid robot, such as Figure 1 As shown, the system includes a three-stage planetary reducer 01-2 and a planetary motor 01-1 arranged coaxially. The planetary motor 01-1 is an axial flux PCB motor, comprising a planetary motor housing 01-11, a planetary input shaft 01-12, a planetary stator 01-13, and a planetary rotor 01-14 mounted within the planetary motor housing 01-11. The planetary input shaft 01-12, planetary stator 01-13, and planetary rotor 01-14 are coaxially arranged with the three-stage planetary reducer 01-2, and the planetary rotor 01-14 is mounted on the planetary input shaft 01-12. The planetary motor 01-1 has a spherical structure with flat end faces, and its outer diameter is larger at the end closest to the three-stage planetary reducer 01-2, making the entire planetary reducer module 01's spherical structure more closely resemble the shape of a human finger joint.

[0028] like Figure 1As shown, the three-stage planetary reducer 01-2 includes an internal gear ring 01-21, a first planetary carrier 01-22, a second planetary carrier 01-24, and a third planetary carrier 01-27 arranged coaxially. A connecting flange 01-3 is provided between the planetary motor housing 01-11 and the internal gear ring 01-21 to connect them. In this embodiment, there are two connecting flanges 01-3, which are respectively connected to the planetary motor housing 01-11 and the internal gear ring 01-21. At least two first planetary gears 01-23 are circumferentially arranged on the first planetary carrier 01-22. One end of the planetary input shaft 01-12 extends into the internal gear ring 01-21, and its end is equipped with a first input gear 01-121 that meshes synchronously with the multiple first planetary gears 01-23. At least two second planetary gears 01-25 are circumferentially arranged on the second planetary carrier 01-24. A second input gear 01-26 that meshes synchronously with the multiple second planetary gears 01-25 is provided on the first planetary carrier 01-22. At least two third planetary gears 01-28 are mounted in a circular array on the third planetary carrier 01-27. The second planetary carrier 01-24 is provided with a third input gear 01-29 that meshes synchronously with the multiple third planetary gears 01-28. Several first planetary gears 01-23, second planetary gears 01-25 and third planetary gears 01-28 mesh with the internal gear ring 01-21, and the meshing tooth widths of the first planetary gears 01-23, second planetary gears 01-25 and third planetary gears 01-28 with the internal gear ring 01-21 increase sequentially. The third planetary carrier 01-27 is provided with a pressure plate 01-4 at the end away from the second planetary carrier 01-24 to axially limit the multiple third planetary gears 01-28. The pressure plate 01-4 is provided with a planetary end cap 01-10 connected to the third planetary carrier 01-27 on the side away from the third planetary carrier 01-27. The planetary end cap 01-10 and the internal gear ring 01-21 serve as the fixed end and the output end, respectively.

[0029] like Figure 1As shown, the basic working principle of the planetary reducer is basically the same as that in the existing technology. The planetary motor 01-1 drives the planetary input shaft 01-12 to rotate the first-stage input gear. Multiple first planetary gears 01-23 mesh with the first input gear 01-121 and rotate on their own axes while simultaneously meshing with the internal gear ring 01-21. Through revolution, they drive the first planetary carrier 01-22 to rotate synchronously. The first planetary carrier 01-22 drives the second input gear 01-26 to rotate and mesh with multiple second planetary gears 01-25. The second planetary gears 01-25 rotate on their own axes while simultaneously meshing with the internal gear ring 01-21 and revolving, driving the second planetary carrier 01-22 to rotate synchronously. -24 rotates synchronously. The second planetary carrier 01-24 drives the third input gear 01-29 to rotate and mesh with multiple third planetary gears 01-28. While the third planetary gears 01-28 rotate on their own axis, they mesh with the internal gear ring 01-21 and revolve, driving the third planetary carrier 01-27 to rotate. The third planetary carrier 01-27 achieves output by driving the planetary end cover 01-10 to rotate. The side walls of the planetary end cover 01-10 and the internal gear ring 01-21 are respectively provided with planetary mounting lugs 01-101 extending outward and located on both sides of the planetary input shaft 01-12, which facilitates the connection between the fixed end and the output end and the outside.

[0030] like Figure 1 As shown, planetary first four-point contact ball bearings 01-5 are provided between the first planetary carrier 01-22, the second planetary carrier 01-24, and the third planetary carrier 01-27 and the internal gear ring 01-21. Planetary second four-point contact ball bearings 01-6 are provided between the first planetary carrier 01-22 and multiple first planetary gears 01-23, and between the second planetary carrier 01-24 and multiple second planetary gears 01-25. Planetary support bearings 01-7 are provided between the third planetary carrier 01-27 and multiple third planetary gears 01-28. Planetary first deep groove ball bearings 01-8 are provided between the planetary input shaft 01-12 and the first planetary carrier 01-22, between the first planetary carrier 01-22 and the second planetary carrier 01-24, and between the second planetary carrier 01-24 and the third planetary carrier 01-27. This ensures the smooth operation of the first planetary carrier 01-22, the second planetary carrier 01-24, the third planetary carrier 01-27, and the corresponding first planetary gear 01-23, second planetary gear 01-25, and third planetary gear 01-28, reduces noise, ensures the gear meshing accuracy on the high-speed side, improves meshing smoothness, and ensures that the output side can withstand greater bending moments and torques.

[0031] Among them, such as Figure 1As shown, in this embodiment, the internal gear ring 01-21 has an outer groove that directly serves as the outer ring of the three planetary first four-point contact ball bearings 01-5. The first planetary carrier 01-22, the second planetary carrier 01-24, and the third planetary carrier 01-27 each have an inner groove that directly serves as the inner ring of the corresponding planetary first four-point contact ball bearing 01-5. This not only ensures the smooth rotation of the three planetary carriers, but also allows the internal gear ring 01-21 to withstand a certain bending moment and ensures more complete gear meshing. In addition, the integrated design of the three planetary first four-point contact ball bearings 01-5 with the internal gear ring 01-21 and the first planetary carrier 01-22, the second planetary carrier 01-24, and the third planetary carrier 01-27 can reduce the volume of the planetary reduction module 01. Furthermore, since the planetary motor 01-1 is an axial flux motor, the axial length of the planetary reduction module 01 is reduced, further improving its miniaturization and weight reduction.

[0032] In this embodiment, as Figure 1 As shown, the planetary support bearing 01-7 includes two angular bearings 01-71 arranged side-by-side along the axial direction of the third planetary carrier 01-27, and the two angular bearings 01-71 correspond to the first four-point contact ball bearing 01-5 on the third planetary carrier 01-27. The angular bearings 01-71 can simultaneously bear axial and radial forces, achieving a large bending moment capacity and ensuring full meshing of the third planetary gear 01-28. Alternatively, a single four-point contact ball bearing can replace the two parallel angular bearings 01-71. Alternatively, in other embodiments, it may also be as follows: Figure 2 As shown, the planetary support bearing 01-7 includes two planetary second deep groove ball bearings 01-72 located at both ends of the third planetary gear 01-28. The third planetary carrier 01-27 has two planetary first four-point contact ball bearings 01-5, each corresponding to one of the two planetary second deep groove ball bearings 01-72, further enhancing its bending moment bearing capacity and maximizing force transmission. Alternatively, each planetary first four-point contact ball bearing 01-5 on the third planetary carrier 01-27 can be replaced by two parallel angular bearings.

[0033] like Figure 1As shown, a planetary encoder 01-9 is installed at the end of the planetary rotor 01-14 away from the planetary stator 01-13, and an encoder housing 01-91 is installed at the end of the planetary motor housing 01-11 away from the internal gear ring 01-21. The planetary encoder 01-9 detects the input speed in real time, and is located inside the planetary motor 01-1, making reasonable use of the space in the planetary motor 01-1 to maximize module capacity and minimize size. In addition, a third planetary deep groove ball bearing 01-15 is provided at both ends of the planetary input shaft 01-12 and between the encoder housing 01-91 and the connecting flange 01-3. The third planetary deep groove ball bearing 01-15 is used to ensure the smooth operation of the planetary input shaft 01-12 and its coaxiality with the three-stage planetary reducer 01-2.

[0034] A multi-degree-of-freedom humanoid robot dexterous hand, such as Figure 3 As shown, the device includes a palm 04, a wrist 05, and five fingers 06. The wrist 05 is an integral structure with the palm 04, and the wrist 05 is equipped with a rotation main joint 05-1, a flexion main joint 05-2, and a swing main joint 05-3. The five fingers 06 are detachably mounted on the palm 04, and each finger 06 includes a J1 joint 06-1, a J2 joint 06-2, a J3 joint 06-3, and a J4 joint 06-4 arranged sequentially from the base of the finger to the tip. The J1 joint 06-1 is an opening and closing joint and uses... Figure 1 or Figure 2 The planetary reduction module 01 shown; joints J2 06-2, J3 06-3 and J4 06-4 are bending joints, and the main rotary joints 05-1, bending main joints 05-2, swinging main joints 05-3 and J2 joints 06-2 all use RV reduction modules 02. The output axis of each RV reduction module 02 is coaxial with the rotation axis of the corresponding joint. Joints J3 06-3 and J4 06-4 use harmonic reduction modules 03.

[0035] like Figure 3As shown, the dexterous hand's degrees of freedom, size, and flexibility are close to those of a human hand. Joint J1 (06-1) functions to open or close the fingers (06) in the left and right directions. It experiences low force and has a moderate to low torque requirement, thus employing the aforementioned three-stage planetary reduction module (01). Joint J2 (06-2) bears the largest load and requires high torque, high rigidity, and high impact resistance, thus employing the RV reduction module (02) with the strongest torque capacity. Joints J3 (06-3) and J4 (06-4) are small in size, bear low loads, and have low torque requirements, thus employing the simplest structure and weakest torque capacity harmonic reduction module (03). The wrist's rotational main joint (05-1), flexion main joint (05-2), and swinging main joint (05-3) have higher torque requirements and also employ RV reduction modules (02), but the volume of these three RV reduction modules (02) is larger than that of the RV reduction module (02) of joint J2 (06-2). Each joint of the dexterous hand is equipped with a suitable reduction module based on its torque capacity requirements, maximizing its capacity and simplifying its structure. Specifically, a hollow hole 04-1 is located in the center of the palm 04, making the entire dexterous hand lighter. The J1 joint 06-1 is directly connected to the palm 04 via square positioning and screw fastening, ensuring a detachable connection. The finger 06 has high installation and positioning accuracy and is easy to assemble and disassemble.

[0036] In this embodiment, as Figure 3 As shown in section A, the fixed and output ends of adjacent reduction modules in joints J1 (06-1), J2 (06-2), J3 (06-3), and J4 (06-4) on each finger (06) are connected by screws. This screw connection structure is simple, and the space between adjacent modules after connection is large, allowing for more space to install other structures. Of course, alternative methods could also be used... Figure 3 As shown in section B, the fixed and output ends of the reduction modules in joints J1 (06-1), J2 (06-2), J3 (06-3), and J4 (06-4) of each finger (06) are all internally threaded. Elastic washers (07) are provided between the fixed and output ends of adjacent reduction modules. The corresponding fixed and output ends are connected by screws (08) that are threaded to and pass through the elastic washers (07). The screws (08) directly connect the fixed and output ends, achieving connection between adjacent modules. The elastic washers (07) provide pre-tightening, ensuring the parallelism of the axis lines of each joint, thereby guaranteeing operational accuracy and stability, and facilitating installation and disassembly.

[0037] In this embodiment, as Figure 4As shown, the RV reduction module 02 includes an RV drive motor and an RV reducer 02-2 coaxially mounted at the joint. The RV drive motor includes an RV motor housing 02-11, an RV stator 02-12, an RV rotor 02-13, and an RV backplate 02-14. A fixing flange 02-17 is connected to the outer wall of the RV motor housing 02-11. A first support flange 02-18 is installed on the side of the RV motor housing 02-11 away from the RV reducer 02-2. The RV stator 02-12 is mounted on the RV motor... Inside the housing 02-11, the RV rotor 02-13 and RV back iron 02-14 are installed within the first support flange 02-18, with the RV rotor 02-13 located between the RV stator 02-12 and the RV back iron 02-14. A rotating shaft 02-16 is installed within the inner ring of the RV back iron 02-14 and the RV rotor 02-13. An RV input shaft 02-19, coaxial with the rotating shaft 02-16, is installed in the inner hole of the rotating shaft 02-16. The RV rotor 02-13 drives the RV input shaft 02-19 to rotate via the rotating shaft 02-16. RV motor support bearings 02-15 are provided between the RV stator 02-12 and the RV input shaft 02-19, and between the first support flange 02-18 and the rotating shaft 02-16. Two RV motor support bearings 02-15 between the RV stator 02-12 and the RV input shaft 02-19 are arranged side-by-side along the axial direction of the RV input shaft 02-19.

[0038] like Figure 4 As shown, the RV reducer 02-2 includes two cycloidal wheels 02-21, a main bearing 02-3, at least two eccentric shafts 02-4 arranged in a circumferential array, and pin tooth housing 1 02-5 and pin tooth housing 2 02-6. The main bearing 02-3 is located between the two cycloidal wheels 02-21. Pin tooth housing 1 02-5 and pin tooth housing 2 02-6 correspond to the two cycloidal wheels 02-21 respectively and are meshed with each other by needle rollers 02-22. Pin tooth housing 1 02-5 is close to the RV drive motor, and the outer ring 02-31 of the main bearing is located between pin tooth housing 1 02-5 and pin tooth housing 2 02-6. Eccentric shaft 02-4 is mounted on the inner ring 02-32 of the main bearing and the cycloidal wheel 02-21. A true circular support bearing 02-41 is installed between the true circle of each eccentric shaft 02-4 and the inner ring 02-32 of the main bearing. An eccentric circular support bearing 02-42 is installed between the cam of each eccentric shaft 02-4 and the two cycloidal wheels 02-21. An RV planetary gear 02-43 is mounted on the end of the eccentric shaft 02-4 away from the RV drive motor. The end of the RV input shaft 02-19 away from the rotating shaft 02-16 passes through the RV reducer 02-2 and is equipped with an RV input gear 02-191 that meshes synchronously with several RV planetary gears 02-43.

[0039] like Figure 4As shown, an RV output shaft 02-7 is provided on the side of the needle housing 02-6 away from the outer ring 02-31 of the main bearing. The RV output shaft 02-7 is connected to the inner ring 02-32 of the main bearing via a connecting pin 02-73, and the RV output shaft 02-7 is connected to an RV output flange 02-71. The fixed flange 02-17 and the RV output flange 02-71 serve as the fixed end and output end of the module, respectively. The fixed flange 02-17 and the RV output flange 02-71 are located on both sides of the axis of the RV input shaft 02-19 and extend outwards away from each other. The outwardly extending portions of both have through-holes to facilitate the connection of the fixed flange 02-17 and the RV output flange 02-71 to external structures.

[0040] Among them, such as Figure 4 As shown, a baffle 02-51 is provided between the first needle tooth housing 02-5 and the fixed flange 02-17, and a baffle 02-61 is provided between the second needle tooth housing 02-6 and the RV output shaft 02-7. The fixed flange 02-17, baffle 02-51, first needle tooth housing 02-5, main bearing outer ring 02-31, and second needle tooth housing 02-6 are positioned by pins and connected to baffle 02-61 by screws, realizing the connection between the RV drive motor and the RV reducer 02-2. The first baffle 02-51 and the second baffle 02-61 cooperate with the two cycloidal wheels 02-21 and the corresponding needle rollers 02-22 for axial limiting. In addition, an RV-O-ring 02-72 is provided between the second baffle 02-61 and the RV output shaft 02-7 to achieve module sealing.

[0041] like Figure 4 As shown, a baffle plate 02-44 is provided on the far-away end faces of the two cycloidal wheels 02-21. The baffle plate 02-44 is screwed onto the end face of the cycloidal wheel 02-21 closest to it and presses against the outer ring end face of the eccentric circular support bearing 02-42, thus limiting the axial movement of the outer ring of the eccentric circular support bearing 02-42. Additionally, a baffle plate 02-45 is provided between the far-away inner rings of the two true circular support bearings 02-41 and the corresponding inner ring of the eccentric circular support bearing 02-42 to prevent axial movement of the inner ring of the true circular support bearing 02-41.

[0042] To achieve closed-loop control of the entire module, such as Figure 4As shown, a second support flange 02-8, connected to the second needle tooth housing 02-6, is provided on the side of the RV output shaft 02-7 away from the needle tooth housing 02-6. An RV output encoder 02-81 is installed on the RV output shaft 02-7, and an RV output reading head 02-82, which mates with the RV output encoder 02-81, is installed on the second support flange 02-8. An RV input encoder 02-91 is installed on the side of the rotating shaft 02-16 away from the RV rotor 02-13. A cover plate 02-9 is provided on the side of the first support flange 02-18 away from the fixed flange 02-17, and an RV input reading head 02-92, which mates with the RV input encoder 02-91, is installed on the cover plate 02-9. The RV input encoder 02-91 and the RV output encoder 02-81 achieve closed-loop control, with fast dynamic response speed and high control accuracy, effectively improving the reliability of the entire joint module.

[0043] like Figure 5 As shown, in other embodiments, RV reduction module 02 and Figure 4 The difference lies in the fact that the pin tooth housing 02-5, the main bearing outer ring 02-31, and the pin tooth housing 02-6 are integrally molded. This reduces the cumulative assembly error caused by the split structure and improves the overall transmission accuracy of the module. Additionally, as... Figure 6 As shown, in other embodiments, RV reduction module 02 and Figure 5 The difference lies in that the RV drive motor includes an RV rotor 02-13 and two RV stators 02-12 located on both sides of the RV rotor 02-13. One RV stator 02-12 is installed inside the RV motor housing 02-11, the RV rotor 02-13 and the other RV stator 02-12 are installed inside the first support flange 02-18, the shaft 02-16 is installed inside the inner ring of the RV rotor 02-13, and the RV input shaft 02-19 is installed inside the inner hole of the shaft 02-16. In this case, two RV motor support bearings 02-15 are provided between the RV stator 02-12 and the RV input shaft 02-19 between the RV rotor 02-13 and the RV reducer 02-2, arranged side by side along their axial direction. The RV stator 02-12 located inside the first support flange 02-18 is directly installed on the first support flange 02-18.

[0044] like Figure 7 As shown, the harmonic reduction module 03 has a spherical structure and includes a harmonic motor 03-1 and a double rigid wheel harmonic reducer 03-2 arranged coaxially. The harmonic motor 03-1 includes a harmonic motor housing 03-11, a harmonic rotor 03-13 installed in the harmonic motor housing 03-11, and two harmonic stators 03-14 located on both sides of the harmonic rotor 03-13. The harmonic input shaft 03-12, which is coaxially arranged with the double rigid wheel harmonic reducer 03-2, is installed in the inner hole of the harmonic rotor 03-13.

[0045] like Figure 7 As shown, the dual rigid wheel harmonic reducer 03-2 includes a wave generator 03-3, a flexible bearing 03-4, a flexible wheel 03-5, a fixed rigid wheel 03-6, an output rigid wheel 03-7, and a harmonic support bearing 03-8, all coaxially arranged with the harmonic input shaft 03-12. The harmonic input shaft 03-12 is fixedly connected to the wave generator 03-3. The flexible bearing 03-4 is disposed between the wave generator 03-3 and the flexible wheel 03-5. The flexible wheel 03-5 meshes with the fixed rigid wheel 03-6 and the output rigid wheel 03-7 with different numbers of teeth, respectively. Harmonic support bearing 03-8 is disposed between fixed rigid wheel 03-6 and output rigid wheel 03-7. Fixed rigid wheel 03-6 serves as the inner ring of harmonic support bearing 03-8 and is detachably fixedly connected to harmonic motor housing 03-11. A bearing support flange 03-16 is provided on the side of harmonic motor housing 03-11 away from fixed rigid wheel 03-6. Harmonic motor support bearing 03-17 is installed between harmonic input shaft 03-12, bearing support flange 03-16, and harmonic motor housing 03-11.

[0046] like Figure 7 As shown, the output rigid wheel 03-7, as the outer ring of the harmonic support bearing 03-8, is located on the side of the fixed rigid wheel 03-6 away from the harmonic motor housing 03-11. The output rigid wheel 03-7 is equipped with a harmonic support flange 03-74 and a harmonic output support flange 03-75 on the side away from the fixed rigid wheel 03-6. The harmonic support flange 03-74 is located between the output rigid wheel 03-7 and the harmonic output support flange 03-75. Two flexible bearings 03-4 are arranged side by side along the harmonic input shaft 03-12. The inner wall of the flexible wheel 03-5 has a limiting protrusion 03-51 located between and abutting the outer rings of the two flexible bearings 03-4. The limiting protrusion 03-51 is used to axially limit the outer rings of the flexible bearings 03-4.

[0047] like Figure 7 As shown, the harmonic motor housing 03-11 and the output wheel 03-7 serve as the fixed end and output end, respectively. The outer wall of the harmonic motor housing 03-11 has an outwardly extending fixed boss 03-111, and the outer wall of the output wheel 03-7 has an outwardly extending output boss 03-71. The fixed boss 03-111 and the output boss 03-71 are located on both sides of the harmonic input shaft 03-12 and each has a through-hole. The output boss 03-71 has a ball mounting hole 03-72 arranged radially along the harmonic input shaft 03-12. The steel balls of the harmonic support bearing 03-8 enter the grooves of its inner and outer rings through the ball mounting hole 03-72. A sealing plug 03-73 is provided inside the ball mounting hole 03-72 to seal it after the steel balls are installed.

[0048] like Figure 7 As shown, a harmonic output encoder 03-9 is installed on the side of the harmonic support flange 03-74 near the harmonic output support flange 03-75, and a harmonic output reading head 03-91 that mates with the harmonic output encoder 03-9 is installed on the harmonic output support flange 03-75. A harmonic input encoder 03-10 is installed at the end of the wave generator 03-3 near the harmonic support flange 03-74, and a harmonic input reading head 03-101 that mates with the harmonic input encoder 03-10 is installed on the harmonic support flange 03-74. The harmonic output encoder 03-9 and the harmonic input encoder 03-10 realize closed-loop control of the harmonic deceleration module 03, improving the control accuracy and response speed of the harmonic deceleration module 03. In addition, a harmonic sealing plate 03-102 is installed at the end of the bearing support flange 03-16 away from the harmonic motor housing 03-11. Harmonic O-rings 03-76 are provided between the harmonic output support flange 03-75 and the output rigid wheel 03-7, and between the output rigid wheel 03-7 and the fixed rigid wheel 03-6, to achieve sealing between the output rigid wheel 03-7 and the fixed rigid wheel 03-6 and the harmonic output support flange 03-75.

[0049] like Figure 8 As shown, in other embodiments, and Figure 7 In contrast, the structure of the harmonic drive motor is different. The harmonic motor 03-1 includes a harmonic rotor 03-13 and harmonic stators 03-14 and harmonic back iron 03-15 located on both sides of the harmonic rotor 03-13. The harmonic stator 03-14 is located at the end of the harmonic rotor 03-13 near the wave generator 03-3. The harmonic input shaft 03-12 is installed in the inner hole of the harmonic rotor 03-13 and the harmonic back iron 03-15.

[0050] like Figure 9 As shown, in other embodiments, and Figure 8 In contrast, the harmonic input encoder 03-10 is installed on the end of the harmonic input shaft 03-12 away from the harmonic support flange 03-74. Meanwhile, a harmonic input support flange 03-103 is installed on the end of the bearing support flange 03-16 away from the harmonic motor housing 03-11. The harmonic input support flange 03-103 replaces... Figure 8 The harmonic sealing plate 03-102 is installed in the harmonic input plate, and the harmonic input support flange 03-103 is equipped with a harmonic input reading head 03-101 that cooperates with the harmonic input encoder 03-10.

[0051] like Figure 10 As shown, in other embodiments, and Figure 7In contrast, the inner ring of the harmonic support bearing 03-8 is welded to the fixed rigid wheel 03-6, and the outer ring of the harmonic support bearing 03-8 is welded to the output rigid wheel 03-7. Furthermore, the steel ball mounting hole 03-72 extends to the outer ring of the harmonic support bearing 03-8. In other words, the harmonic support bearing 03-8 is a separate structure from both the fixed rigid wheel 03-6 and the output rigid wheel 03-7.

[0052] The planetary reduction module 01, RV reduction module 02, and harmonic reduction module 03 in this utility model are all directly connected to the corresponding reducers, which greatly reduces the axial thickness and volume of the modules, effectively ensuring the transmission accuracy of the modules, and meeting the needs of lightweight, miniaturized, and aesthetically pleasing dexterous hand joint modules. At the same time, the finger space of the dexterous hand can be used to install other sensors and other components. Furthermore, due to the improvement in transmission accuracy, the torque, precision, speed, and other capabilities of the dexterous hand are closer to those of the human hand.

[0053] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A planetary deceleration module (01) for the dexterous hand joint of a multi-degree-of-freedom humanoid robot, characterized in that: The device includes a three-stage planetary reducer (01-2) and a planetary motor (01-1) arranged coaxially. The planetary motor (01-1) includes a planetary motor housing (01-11), a planetary input shaft (01-12), a planetary stator (01-13), and a planetary rotor (01-14) installed inside the planetary motor housing (01-11). The planetary input shaft (01-12), the planetary stator (01-13), and the planetary rotor (01-14) are arranged coaxially with the three-stage planetary reducer (01-2). The planetary rotor (01-14) is mounted on the planetary input shaft (01-12). The planetary motor (01-1) has a spherical structure with flat end faces at both ends, and its outer diameter is larger at the end closer to the three-stage planetary reducer (01-2). The three-stage planetary reducer (01-2) includes an internal gear ring (01-21), a first planetary carrier (01-22), a second planetary carrier (01-24), and a third planetary carrier (01-27) arranged coaxially. A connecting flange (01-3) is provided between the planetary motor housing (01-11) and the internal gear ring (01-21) to connect them. At least two first planetary gears (01-23) are mounted in a circular array on the first planetary carrier (01-22). One end of the planetary input shaft (01-12) extends into the internal gear ring (01-21) and its end is equipped with a first input gear (01-121) that meshes synchronously with the multiple first planetary gears (01-23). At least two second planetary gears (01-25) are mounted in a circular array on the second planetary carrier (01-24), and a second input gear (01-26) is provided on the first planetary carrier (01-22) to mesh synchronously with the multiple second planetary gears (01-25). At least two third planetary gears (01-28) are mounted in a circular array on the third planetary carrier (01-27). The second planetary carrier (01-24) is provided with a third input gear (01-29) that meshes synchronously with the multiple third planetary gears (01-28). The end of the third planetary carrier (01-27) away from the second planetary carrier (01-24) is provided with a pressure plate (01-4) that axially limits the multiple third planetary gears (01-28). A plurality of the first planetary gears (01-23), the second planetary gears (01-25), and the third planetary gears (01-28) mesh with the internal gear ring (01-21), and the meshing tooth widths of the first planetary gears (01-23), the second planetary gears (01-25), and the third planetary gears (01-28) with the internal gear ring (01-21) increase sequentially; Planetary first four-point contact ball bearings (01-5) are provided between the first planetary carrier (01-22), the second planetary carrier (01-24), and the third planetary carrier (01-27) and the internal gear ring (01-21). Planetary second four-point contact ball bearings (01-6) are provided between the first planetary carrier (01-22) and multiple first planetary gears (01-23), and between the second planetary carrier (01-24) and multiple second planetary gears (01-25). Planetary support bearings (01-7) are provided between the third planetary carrier (01-27) and multiple third planetary gears (01-28). Planetary first deep groove ball bearings (01-8) are provided between the planetary input shaft (01-12) and the first planetary carrier (01-22), between the first planetary carrier (01-22) and the second planetary carrier (01-24), and between the second planetary carrier (01-24) and the third planetary carrier (01-27). The pressure plate (01-4) is provided with a planetary end cap (01-10) connected to the third planetary carrier (01-27) on the side away from the third planetary carrier (01-27). The planetary end cap (01-10) and the internal gear ring (01-21) serve as the fixed end and the output end, respectively, and their side walls are provided with planetary mounting lugs (01-101) extending outward and located on both sides of the planetary input shaft (01-12). A planetary encoder (01-9) is installed at the end of the planetary rotor (01-14) away from the planetary stator (01-13). An encoder housing (01-91) is installed at the end of the planetary motor housing (01-11) away from the internal gear ring (01-21). A planetary third deep groove ball bearing (01-15) is provided between the two ends of the planetary input shaft (01-12), the encoder housing (01-91), and the connecting flange (01-3).

2. The planetary deceleration module (01) for the dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The internal gear ring (01-21) is provided with an outer groove that directly serves as the outer ring of the three planetary first four-point contact ball bearings (01-5). The first planetary carrier (01-22), the second planetary carrier (01-24), and the third planetary carrier (01-27) are respectively provided with inner grooves that directly serve as the inner rings of the corresponding planetary first four-point contact ball bearings (01-5).

3. The planetary deceleration module (01) for the dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: The planetary support bearing (01-7) includes two angular bearings (01-71) arranged side by side along the axial direction of the third planetary carrier (01-27), and the two angular bearings (01-71) correspond to the first four-point contact ball bearings (01-5) on the third planetary carrier (01-27); or the planetary support bearing (01-7) includes two second deep groove ball bearings (01-72) located at both ends of the third planetary gear (01-28), and the first four-point contact ball bearings (01-5) on the third planetary carrier (01-27) are provided in two and correspond one-to-one with the two second deep groove ball bearings (01-72).

4. A multi-degree-of-freedom humanoid robot dexterous hand, characterized in that: The device includes a palm (04), a wrist (05), and five fingers (06). The palm (04) has a perforated hole (04-1) in the middle. The wrist (05) is an integral structure with the palm (04), and the wrist (05) has a rotation main joint (05-1), a bending main joint (05-2), and a swinging main joint (05-3). The five fingers (06) are detachably mounted on the palm (04), and each finger (06) includes a J1 joint (06-1), a J2 joint (06-2), a J3 joint (06-3), and a J4 joint (06-4) arranged sequentially from the base of the finger to the tip. The J1 joint (06-1) is an opening and closing joint and uses any of the joints described in claims 1-3. The planetary reduction module (01) of the aforementioned J1 joint (06-1) is connected to the palm (04) by a square positioning and screw fastening at the fixed end or output end of the planetary reduction module (01); the J2 joint (06-2), J3 joint (06-3) and J4 joint (06-4) are bending joints, and the rotary main joint (05-1), bending main joint (05-2), swing main joint (05-3) and J2 joint (06-2) all adopt RV reduction module (02), the output axis of each RV reduction module (02) is coaxially arranged with the rotation axis of the corresponding joint, and the J3 joint (06-3) and J4 joint (06-4) adopt harmonic reduction module (03); The RV reduction module (02) includes an RV motor (02-1) and an RV reducer (02-2) coaxially mounted at the joint. The RV reducer (02-2) includes two cycloidal wheels (02-21), a main bearing (02-3), at least two eccentric shafts (02-4) arranged in a circular array, and pin tooth housing one (02-5) and pin tooth housing two (02-6). The main bearing (02-3) is located between the two cycloidal wheels (02-21). Needle tooth housing one (02-5) and needle tooth housing two (02-6) correspond to two cycloidal wheels (02-21) respectively and are engaged with each other by needle rollers (02-22). Needle tooth housing one (02-5) is close to the RV motor (02-1). The main bearing (02-3) includes a main bearing outer ring (02-31) and a main bearing inner ring (02-32). The main bearing outer ring (02-31) is located between needle tooth housing one (02-5) and needle tooth housing two (02-6). The eccentric shaft (02-4) is mounted on the inner ring of the main bearing (02-32) and the cycloidal wheel (02-21), and a true circular support bearing (02-41) is installed between the true circle of each eccentric shaft (02-4) and the inner ring of the main bearing (02-32). An eccentric circular support bearing (02-42) is installed between the cam of each eccentric shaft (02-4) and the two cycloidal wheels (02-21). An RV planetary gear (02-43) is installed at the end of the eccentric shaft (02-4) away from the RV motor (02-1). The RV motor (02-1) is connected to an RV input shaft (02-19) that passes through its center and the center of the RV reducer (02-2). An RV input gear (02-191) that meshes synchronously with a plurality of RV planetary gears (02-43) is provided at the end of the RV input shaft (02-19) away from the RV motor (02-1). A baffle plate (02-51) is provided between the first needle tooth housing (02-5) and the fixed flange (02-17), and a baffle plate (02-61) is provided between the second needle tooth housing (02-6) and the RV output shaft (02-7). An RV-O ring (02-72) is provided between the second baffle plate (02-61) and the RV output shaft (02-7). The first baffle plate (02-51) is connected to the fixed flange (02-17) and the first needle tooth housing (02-5), and the second baffle plate (02-61) is connected to the second needle tooth housing (02-6). The first baffle plate (02-51) and the second baffle plate (02-61) cooperate with the two cycloidal wheels (02-21) and the corresponding needle rollers (02-22) for axial positioning. A baffle plate (02-44) is provided on the end faces of the two cycloidal wheels (02-21) that are far apart from each other. The baffle plate (02-44) is installed on the end face of the cycloidal wheel (02-21) that is close to it by screws and presses against the outer ring end face of the eccentric circular support bearing (02-42). A baffle plate (02-45) is provided between the inner rings of the two true circular support bearings (02-41) that are far apart from each other and the inner ring of the corresponding eccentric circular support bearing (02-42). The RV motor (02-1) includes an RV motor housing (02-11) disposed on the side of the first pin tooth housing (02-5) away from the main bearing (02-3). A fixing flange (02-17) is connected to the side wall of the RV motor housing (02-11), and a first support flange (02-18) is provided on the side of the RV motor housing (02-11) away from the first pin tooth housing (02-5). The fixing flange (02-17) is positioned and connected to the first pin tooth housing (02-5), the outer ring of the main bearing (02-31), and the second pin tooth housing (02-6) by pins and screws. The needle-tooth housing 2 (02-6) has an RV output shaft (02-7) on the side away from the outer ring (02-31) of the main bearing. The RV output shaft (02-7) is connected to the inner ring (02-32) of the main bearing through a connecting pin (02-73). The RV output shaft (02-7) is connected to an RV output flange (02-71). The fixed flange (02-17) and the RV output flange (02-71) serve as the fixed end and output end of the module, respectively. The RV output shaft (02-7) is provided with a second support flange (02-8) connected to the second needle housing (02-6) on the side away from the needle housing (02-6). An RV output encoder (02-81) is installed on the RV output shaft (02-7), and an RV output reading head (02-82) that cooperates with the RV output encoder (02-81) is installed on the second support flange (02-8). The RV motor (02-1) is connected to a rotating shaft (02-16) on the side away from the RV reducer (02-2). An RV input encoder (02-91) is installed on the rotating shaft (02-16). A cover plate (02-9) is provided on the side of the first support flange (02-18) away from the fixed flange (02-17), and an RV input reading head (02-92) that cooperates with the RV input encoder (02-91) is installed on the cover plate (02-9). The harmonic reduction module (03) includes a harmonic motor (03-1) and a double rigid wheel harmonic reducer (03-2) arranged coaxially. The harmonic motor (03-1) includes a harmonic motor housing (03-11) and a harmonic input shaft (03-12) arranged coaxially with the double rigid wheel harmonic reducer (03-2). The dual-rigid-wheel harmonic reducer (03-2) includes a wave generator (03-3), a flexible bearing (03-4), a flexible wheel (03-5), a fixed rigid wheel (03-6), an output rigid wheel (03-7), and a harmonic support bearing (03-8) coaxially arranged with the harmonic input shaft (03-12). The harmonic input shaft (03-12) is fixedly connected to the wave generator (03-3). The flexible bearing (03-4) is disposed between the wave generator (03-3) and the flexible wheel (03-5). The flexible wheel (03-5) meshes with the fixed rigid wheel (03-6) and the output rigid wheel (03-7) with different numbers of teeth, respectively. The harmonic support bearing (03-8) is disposed between the fixed rigid wheel (03-6) and the output rigid wheel (03-7). The fixed rigid wheel (03-6) serves as the inner ring of the harmonic support bearing (03-8) and is detachably and fixedly connected to the harmonic motor housing (03-11). A bearing support flange (03-16) is provided on the side of the harmonic motor housing (03-11) away from the fixed rigid wheel (03-6). A harmonic motor support bearing (03-17) is installed between the harmonic input shaft (03-12), the bearing support flange (03-16), and the harmonic motor housing (03-11). The output rigid wheel (03-7) serves as the outer ring of the harmonic support bearing (03-8) located on the side of the fixed rigid wheel (03-6) away from the harmonic motor housing (03-11). A harmonic support flange (03-74) and a harmonic output support flange (03-75) are installed on the side of the output rigid wheel (03-7) away from the fixed rigid wheel (03-6). The harmonic support flange (03-74) is located between the output rigid wheel (03-7) and the harmonic output support flange (03-75). Two flexible bearings (03-4) are arranged side by side along the harmonic input shaft (03-12). A limiting protrusion (03-51) is provided in the middle of the inner wall of the flexible wheel (03-5) between and abutting the outer rings of the two flexible bearings (03-4). The harmonic motor housing (03-11) and the output rigid wheel (03-7) serve as the fixed end and the output end, respectively. The outer wall of the harmonic motor housing (03-11) is provided with an outwardly extending fixed boss (03-111), and the outer wall of the output rigid wheel (03-7) is provided with an outwardly extending output boss (03-71). The fixed boss (03-111) and the output boss (03-71) are located on both sides of the harmonic input shaft (03-12) and are respectively provided with mounting holes that pass through them. The output boss (03-71) is provided with a steel ball mounting hole (03-72) arranged radially along the harmonic input shaft (03-12). The steel ball of the harmonic support bearing (03-8) enters the groove of its inner and outer rings through the steel ball mounting hole (03-72), and a sealing plug (03-73) is provided in the steel ball mounting hole (03-72). The harmonic support flange (03-74) is provided with a harmonic output encoder (03-9) on the side near the harmonic output support flange (03-75). The harmonic output support flange (03-75) is equipped with a harmonic output reading head (03-91) that cooperates with the harmonic output encoder (03-9). Harmonic O-rings (03-76) are provided between the harmonic output support flange (03-75) and the output rigid wheel (03-7), and between the output rigid wheel (03-7) and the fixed rigid wheel (03-6). The harmonic input encoder (03-10) is installed at one end of the wave generator (03-3) near the harmonic support flange (03-74). At this time, the harmonic input reading head (03-101) that cooperates with the harmonic input encoder (03-10) is installed on the harmonic support flange (03-74), and the harmonic sealing plate (03-102) is installed at the end of the bearing support flange (03-16) away from the harmonic motor housing (03-11). Alternatively, a harmonic input encoder (03-10) may be installed at the end of the harmonic input shaft (03-12) away from the harmonic support flange (03-74). In this case, a harmonic input support flange (03-103) may be installed at the end of the bearing support flange (03-16) away from the harmonic motor housing (03-11), and a harmonic input reading head (03-101) that cooperates with the harmonic input encoder (03-10) may be installed on the harmonic input support flange (03-103).

5. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The fixed ends and output ends of the adjacent deceleration modules in the J1 joint (06-1), J2 joint (06-2), J3 joint (06-3) and J4 joint (06-4) of each finger (06) are connected by screws.

6. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The fixed end and output end of the deceleration module in the J1 joint (06-1), J2 joint (06-2), J3 joint (06-3) and J4 joint (06-4) of each finger (06) are all internally threaded. An elastic washer (07) is provided between the fixed end and output end of each pair of adjacent deceleration modules. The corresponding fixed end and output end are connected by a screw (08) that is threaded to it and passes through the elastic washer (07).

7. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The first needle tooth housing (02-5), the outer ring of the main bearing (02-31), and the second needle tooth housing (02-6) are integrally formed.

8. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The RV motor (02-1) includes an RV stator (02-12) disposed within an RV motor housing (02-11), and an RV rotor (02-13) and an RV backplate (02-14) disposed within a first support flange (02-18). The RV rotor (02-13) is located between the RV stator (02-12) and the RV backplate (02-14). The rotating shaft (02-16) is installed within the inner ring of the RV backplate (02-14) and the RV rotor (02-13). The RV input shaft (02-19) is installed within the inner hole of the rotating shaft (02-16) and connected to the RV rotor (02-13) via the rotating shaft (02-16). ; or the RV motor (02-1) includes an RV rotor (02-13) and two RV stators (02-12) located on both sides of the RV rotor (02-13), wherein one of the RV stators (02-12) is installed inside the RV motor housing (02-11), the RV rotor (02-13) and the other RV stator (02-12) are installed inside the first support flange (02-18), the rotating shaft (02-16) is installed inside the inner ring of the RV rotor (02-13), and the RV input shaft (02-19) is installed inside the inner hole of the rotating shaft (02-16) and connected to the RV rotor (02-13) through the rotating shaft (02-16).

9. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The harmonic motor (03-1) further includes a harmonic rotor (03-13) and two harmonic stators (03-14) located on both sides of the harmonic rotor (03-13), and the harmonic input shaft (03-12) is installed in the inner hole of the harmonic rotor (03-13); or the harmonic motor (03-1) further includes a harmonic rotor (03-13) and harmonic stators (03-14) and harmonic back iron (03-15) located on both sides of the harmonic rotor (03-13), and in this case, the harmonic stator (03-14) is located at the end of the harmonic rotor (03-13) near the wave generator (03-3), and in this case, the harmonic input shaft (03-12) is installed in the inner hole of the harmonic rotor (03-13) and the harmonic back iron (03-15).

10. A multi-degree-of-freedom humanoid robot dexterous hand according to claim 4, characterized in that: The inner ring of the harmonic support bearing (03-8) is welded to the fixed rigid wheel (03-6), the outer ring of the harmonic support bearing (03-8) is welded to the output rigid wheel (03-7), and the steel ball mounting hole (03-72) extends to the outer ring of the harmonic support bearing (03-8).

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