Joint drive devices and joint components

Abstract

The present application provides a joint drive device, which includes a first drive device for driving a first joint module, wherein the first drive device includes a group of first drivers, which pull the pitch motion end through the pitch control tendon to jointly drive the pitch motion end to rotate around the first axis; the first drive device also includes a group of second drivers, which pull the side swing motion end through the side swing control tendon to jointly drive the side swing motion end to rotate around the second axis. The present application also provides a joint assembly, including a first joint module, and the joint drive device as described above. The joint drive device of the present application can be applied to the wrist or elbow joint of a robot, and its structure is compact and reasonable.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, relates to a joint driving device and a joint assembly. Background Art

[0002] The new generation of robots need to have more degrees of freedom to achieve more flexible and precise manipulation of objects. They are suitable as high-performance prostheses, or for industrial scenarios such as flexible assembly. They can also replace personnel to enter hazardous environments such as pollution, poison, radiation, etc., and can be used in service robots with strong versatility.

[0003] How to drive the two-degree-of-freedom joints on a robot, such as wrist joints or elbow joints, to transmit greater power while ensuring a compact and reasonable structure is a technical issue that technicians in this field need to consider. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a joint driving device and a joint assembly for a robot.

[0005] The present application provides a joint driving device, the joint driving device comprising a first driving device, the first driving device being used to drive a first joint module;

[0006] The first joint module has a pitch motion end rotating around a first axis and a roll motion end rotating around a second axis;

[0007] The first driving device includes a group of first drivers, the output end of which is connected to the pitch control tendon; the group of first drivers pulls the pitch motion end through the pitch control tendon to jointly drive the pitch motion end to rotate around the first axis;

[0008] The first driving device also includes a group of second drivers, the output ends of which are connected to the roll control tendons; the group of second drivers pulls the roll motion end through the roll control tendons, and jointly drives the roll motion end to rotate around the second axis.

[0009] As a further improvement scheme, the first driver and the second driver are both rotary drivers, and a first winch is provided on the output end of the first driver, and the first winch pulls the pitch motion end through the pitch control tendon; a second winch is provided on the output end of the second driver, and the second winch pulls the roll motion end through the roll control tendon.

[0010] As a further improved solution, the axis of the output end of the first driver is parallel to the second axis; the axis of the output end of the second driver is parallel to the first axis.

[0011] As a further improved solution, the joint driving device includes a mounting chamber, and the first driver and the second driver are fixed to the mounting chamber.

[0012] As a further improved solution, the first driving device also includes a first tendon sheath, a first tendon sheath fixing element, and a second tendon sheath fixing element; one end of the first tendon sheath is arranged at the first tendon sheath fixing element, and the other end is connected to the second tendon sheath fixing element.

[0013] As a further improved solution, the joint driving device further includes a second driving device, and the second driving device is used to drive the second joint module;

[0014] The second driving device includes a group of third drivers, and the output end of the third driver pulls the rotating end of the second joint module through a third control tendon.

[0015] As a further improved solution, the first driving device includes a tendon transmission reversing assembly; the tendon transmission reversing assembly includes at least one group of pulley assemblies for guiding the direction of the roll control tendon or the pitch control tendon; the pulley assembly includes one or more pulleys.

[0016] As a further improved solution, the pulley is a bearing with a receiving groove, and the receiving groove is circumferentially arranged on the side surface of the outer ring of the bearing.

[0017] As a further improved solution, the tendon transmission reversing assembly includes a pulley support seat, a positioning column is provided on the pulley support seat, the pulley sleeve is arranged on the positioning column, and is arranged at the positioning column through a second fastener.

[0018] As a further improvement, a planar positioning portion is provided below the pulley; the planar positioning portion is a planar washer, a planar bearing, or a boss end surface formed on the pulley support seat.

[0019] As a further improved solution, the first driving device also includes a tendon sheath restraint element.

[0020] The present application also provides a joint assembly, including a first joint module, and the joint driving device as described above.

[0021] As a further improved solution, a connecting frame is provided between the joint driving device and the first joint module; the connecting frame is used to fix the joint driving device and the first joint module;

[0022] One or more first fixing surfaces are formed between the connecting frame and the joint driving device, and one or more second fixing surfaces are formed between the connecting frame and the first joint module; the first fixing surface and the second fixing surface are not in the same plane.

[0023] As a further improved solution, two first fixing surfaces are formed between the connecting frame and the joint driving device, and a second fixing surface is formed between the connecting frame and the first joint module.

[0024] As a further improved solution, the first joint module includes a tendon transmission reversing assembly; the tendon transmission reversing assembly includes at least one group of pulley assemblies for guiding the direction of the roll control tendon or the pitch control tendon; the pulley assembly includes one or more pulleys.

[0025] As a further improved solution, the pulley is a bearing with a receiving groove, and the receiving groove is circumferentially arranged on the side surface of the outer ring of the bearing.

[0026] As a further improved solution, the tendon transmission reversing assembly includes a pulley support seat, a positioning column is provided on the pulley support seat, the pulley sleeve is arranged on the positioning column, and is arranged at the positioning column through a second fastener.

[0027] As a further improvement, a planar positioning portion is provided below the pulley; the planar positioning portion is a planar washer, a planar bearing, or a boss end surface formed on the pulley support seat.

[0028] The present application provides a joint driving device and a joint assembly including the joint driving device, the beneficial effects of which are:

[0029] The joint driving device of the present application can be applied to the wrist or elbow joint of a robot having a first joint module. The joint driving device has a compact and reasonable structure and can transmit greater power.

[0030] By setting up the pulley assembly, the transmission direction of the tendon can be changed, and short-distance reversing can be achieved in a limited space; this is conducive to the miniaturization of the design of the first joint module.

[0031] Selecting a bearing with a receiving groove as a pulley can improve the life and reliability of the tendon transmission reversing assembly; in addition, after the bearing with the receiving groove is installed on the positioning column, it only needs to be fixed by fasteners. The structure is simple and the installation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1A schematic structural diagram of a joint driving device and a first joint module provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the structure of a joint driving device provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of a three-dimensional structure of a joint assembly provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a three-dimensional structure of a joint assembly including a tendon sheath constraint element provided in an embodiment of the present application;

[0037] Figure 5 A top view of a connecting frame provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a three-dimensional structure of a connecting frame provided in an embodiment of the present application;

[0039] Figure 7 A schematic structural diagram of a first joint module provided in an embodiment of the present application;

[0040] Figure 8 for Figure 7 Partial cross-sectional view at AA in the middle.

[0041] Among them, the reference numerals in the figure are:

[0042] 100-first joint module; 110-pitch motion end; 120-roll motion end; 130-base; 140-pulley assembly; 141-bearing; -bearing outer ring 142; 143-bearing inner ring; 144-receiving groove; 150-pulley support seat; 151-positioning surface; 152-positioning column; 160-second fastener; 200-joint drive device; 210-first drive; 220-second drive; 211-first capstan; 221-second capstan Plate; 231-pitch control tendon; 232-roll control tendon; 233-third control tendon; 241-first tendon sheath; 250-first tendon sheath fixing element; 260-third drive; 261-third winch; 270-installation compartment; 280-second tendon sheath fixing element; 290-tendon sheath restraint element; 300-connecting frame; 310-left support part; 320-right support part; 330-first cross part; 340-second cross part; 350-side plate; 360-installation hole. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] See also Figures 1 to 8 , the joint driving device and joint assembly provided in the embodiments of the present application are now described.

[0048] Embodiment 1

[0049] The present application provides a joint driving device.

[0050] like Figure 1 , Figure 2 , Figure 3 , Figure 7 As shown, the joint driving device 200 includes a first driving device, which is used to drive a first joint module 100. The first joint module 100 is, for example, a wrist joint of a robot. The first joint module 100 has a pitch motion end 110 rotating around a first axis X and a roll motion end 120 rotating around a second axis Y.

[0051] like Figure 1 , Figure 7As shown, the first driving device includes a group of first drivers 210, and the output end of the first driver 210 is connected to the pitch control tendon 231; the group of first drivers 210 pulls the pitch motion end 110 through the pitch control tendon 231, and jointly drives the pitch motion end 110 to rotate around the first axis X.

[0052] The first driving device also includes a group of second drivers 220, the output end of the second driver 220 is connected to the roll control tendon 232; the group of second drivers 220 pulls the roll motion end 120 through the roll control tendon 232, and jointly drives the roll motion end 120 to rotate around the second axis Y.

[0053] A group of first drivers 210 is configured to have at least two first drivers 210. A group of second drivers 220 is configured to have at least two second drivers 220.

[0054] The first driver 210 and the second driver 220 may be linear drivers or rotational drivers.

[0055] As a preferred solution, the first driver 210 and the second driver 220 are rotary drivers. Figure 1 , Figure 2 , Figure 3 As shown, first capstans 211 are respectively arranged at the output end of the first driver 210. Under the drive of the first driver 210, the two first capstans 211 pull the pitch motion end 110 to perform pitch motion in the up and down directions around the first axis X through the corresponding pitch control tendons 231, thereby realizing the pitch freedom of the joint. Second capstans 221 are respectively arranged at the output end of the second driver 220. Under the drive of the second driver 220, the two second capstans 221 pull the roll motion end 120 to perform roll motion in the left and right directions around the second axis Y through the corresponding roll control tendons 232, thereby realizing the roll freedom of the joint.

[0056] The pitch motion end 110 of the first joint module 100 includes a pitch control wheel. The roll motion end 120 of the first joint module 100 includes a roll control wheel. The output end may be an output shaft or a rotor of the corresponding first driver 210 or the second driver 220.

[0057] In a specific embodiment of the present application, the first joint module 100 is preferably a two-degree-of-freedom orthogonal tendon transmission joint module, in which the axes of the roll degree of freedom and the pitch degree of freedom are orthogonal, and the two degrees of freedom are decoupled from each other.

[0058] In a specific embodiment of the present application, the output end of a group of first actuators 210 is parallel to the first direction, and the two output ends are respectively arranged in opposite directions. One end of the pitch control tendon 231 is connected to the first winch 211 on the output end of the first actuator 210. The output end of a group of second actuators 220 is parallel to the second direction, and the two output ends are respectively arranged in opposite directions. One end of the roll control tendon 232 is connected to the second winch 221 on the output end of the second actuator 220. The first direction is different from the second direction.

[0059] Preferably, the first direction is the up-down direction, that is, the output end of a group of first drivers 210 is parallel to the second axis Y. After the pitch control tendon 231 is led out through the first winch 211, the pitch motion end 110 can be pulled at both ends without complicated steering settings, so that the pitch motion end 110 can perform a pitch motion in the up-down direction around the first axis X.

[0060] Preferably, the second direction is the left-right direction, that is, the output end of the second driver 220 is parallel to the first axis X. After the roll control tendon 232 is led out through the second capstan 221, the roll motion end 120 can be pulled at the left and right ends, so that the roll motion end 120 can roll around the second axis Y in the left-right direction.

[0061] A group of first drivers 210 and a group of second drivers 220 are arranged horizontally and vertically as a whole, and the structure of the joint driving device is compact and reasonable. A group of second drivers 220 is arranged at a position close to the first joint module 100.

[0062] like Figure 3 As shown, the joint driving device 200 further includes a mounting bin 270 , and a group of first drivers 210 and a group of second drivers 220 can be directly or indirectly fixed on the mounting bin 270 .

[0063] The tendon transmission part of the first driving device may include a tendon sheath component. Figure 1 , Figure 2 As shown, the tendon sheath assembly of the first driving device also includes a first tendon sheath 241, a first tendon sheath fixing element 250, and a second tendon sheath fixing element 280. For example, the tendon sheath assembly can be arranged at the pitch control tendon 231. One end of the first tendon sheath 241 is arranged at the first tendon sheath fixing element 250, and the other end is connected to the second tendon sheath fixing element 280 at the pitch motion end 110. Figure 3 As shown, the first tendon sheath fixing element 250 is disposed on the installation chamber 270, and can be respectively disposed on the upper and lower sides of the installation chamber 270. A portion of the pitch control tendon 231 passes through the first tendon sheath 241 and is slidably disposed in the first tendon sheath 241.

[0064] Preferably, a tendon sheath restraint element 290 is also provided at the tendon sheath assembly of the first driving device. Figure 4 As shown, the tendon sheath constraint element 290 can be set as a duck tongue, which is set at the tendon sheath of the pitch control tendon 231. Since the first joint module 100 can perform pitch and roll motions with a large range of motion, the tendon sheath constraint element 290 can constrain the tendon sheath to a certain three-dimensional spatial position.

[0065] It is understood that in another embodiment (not shown in the figure), the tendon sheath assembly can be arranged at the roll control tendon 232. One end of the first tendon sheath 241 is arranged at the first tendon sheath fixing element 250, and the other end is connected to the second tendon sheath fixing element 280 at the roll motion end 120.

[0066] In a specific embodiment of the present application, the joint driving device 200 further includes a second driving device. The second driving device is used to drive a second joint module. The second joint module may be one or more joints of the hand of the robot.

[0067] like Figure 1 , Figure 2 As shown, the second drive device may include a third driver 260, for example, wherein a group of third drivers 260 can drive a joint of the second joint module. The output end of the third driver 260 pulls the rotating end of the second joint module through the third control tendon 233. A group of third drivers 260 is configured to have at least two third drivers 260.

[0068] The third driver 260 may be a rotary driver or a non-rotating driver. When the third driver 260 is a rotary driver, a third capstan 261 may be provided at the output end of the third driver 260. The third capstan 261 on the third driver 260 pulls the rotating end of the corresponding joint of the second joint module through the third control tendon 233. The third driver 260 may be provided in parallel with the first driver 210.

[0069] The joint driving device 200 of the present application can be used not only to drive the wrist joint of the robot, but also to drive the elbow joint of the robot, the ankle joint of the robot, etc., where the first joint module 100 is located. Alternatively, it can also be applied to the joint driving of other types of multi-joint machines, which can be a mechanical arm with multiple joints, a robotic animal, or a robotic insect.

[0070] Embodiment 2

[0071] like Figure 3 As shown, the present application also provides a joint assembly, including a first joint module 100, and a joint driving device 200 as described in the above first embodiment.

[0072] A connection frame 300 is provided between the joint driving device 200 and the first joint module 100. The connection frame 300 is used to fix the joint driving device 200 and the first joint module 100 together.

[0073] As an improved solution, one or more first fixed surfaces are formed between the connecting frame 300 and the joint driving device 200, and one or more second fixed surfaces are formed between the connecting frame 300 and the first joint module 100. As a preferred embodiment, the first fixed surface and the second fixed surface are not in the same plane. This design can avoid distortion after being subjected to force and can transmit greater power. There is a certain angle between the first fixed surface and the second fixed surface, and further, the first fixed surface and the second fixed surface can be perpendicular to each other.

[0074] In one embodiment of the present application, two first fixing surfaces are formed between the connecting frame 300 and the joint driving device 200, and a second fixing surface is formed between the connecting frame 300 and the first joint module 100. A triangle fixing connection is formed between the connecting frame 300, the joint driving device 200 and the first joint module 100.

[0075] Specifically, the connecting frame 300 may be an A-type frame. Figure 5 , Figure 6 As shown, the A-frame is narrow and wide as a whole. The A-frame includes a left support portion 310, a right support portion 320, and a first cross portion 330 and a second cross portion 340 located between the left support portion 310 and the right support portion 320. The left support portion 310, the right support portion 320, the first cross portion 330 and the second cross portion 340 all have a certain width. A side plate 350 is provided at the first cross portion 330, and the side plate 350 simultaneously connects the first cross portion 330, the left support portion 310 and the right support portion 320.

[0076] The A-frame is fixedly connected to the first joint module 100 through the side plate 350, and the A-frame is fixedly connected to the joint drive device 200 through the left support portion 310 and the right support portion 320. The A-frame and the joint drive device 200 and the first joint module 100 can be fixedly connected through the first fastener. The left support portion 310, the right support portion 320, the side plate 350 of the A-frame, and the joint drive device 200 and the first joint module 100 are provided with mounting holes 360 for the first fastener, and the first fastener is, for example, a screw.

[0077] The connecting frame 300 can realize triangular fixation, and the connection structure is more stable and is not prone to distortion after being stressed.

[0078] In one embodiment of the present application, the first joint module 100 includes a tendon transmission reversing assembly for guiding the direction of the lateral swing control tendon 232. The tendon transmission reversing assembly includes at least one set of pulley assemblies 140. Figure 7 , Figure 8 As shown, there may be two groups of pulley assemblies 140. The pulley assemblies 140 may be disposed between the output end of the second driver 220 and the corresponding roll motion end 120 to guide the direction of the roll control tendon 232.

[0079] It is understandable that, in another embodiment, the pulley assembly 140 may be disposed between the output end of the first driver 210 and the corresponding elevation control motion end 110 to guide the direction of the pitch control tendon 231 .

[0080] Each pulley assembly 140 includes one or more pulleys. Figure 8 As shown, the pulley is a bearing 141 with a receiving groove 144, wherein the receiving groove 144 is circumferentially arranged on the side of the bearing outer ring 142. The receiving groove 144 is used to limit the tendon wrapped around the pulley. The receiving groove 144 can be a U-shaped groove or a semicircular groove, preferably a U-shaped groove; the opening of the groove is arranged outward. The bearing 141 with the receiving groove 144 is a non-standard part. By selecting a bearing with a receiving groove as a pulley, the life and reliability of the tendon transmission reversing assembly can be improved; in addition, the bearing with the receiving groove only needs to be fixed by fasteners after being installed on the positioning column. The structure is simple and easy to install.

[0081] The tendon transmission reversing assembly also includes a pulley support seat 150. A positioning column 152 is provided on the pulley support seat 150, and the bearing 141 is sleeved on the positioning column 152. The lower end surface of the bearing inner ring 143 abuts against the positioning surface 151 of the pulley support seat 150, and the positioning surface 151 has good flatness.

[0082] The positioning column 152 is formed on the pulley support seat 150. The positioning surface 151 is a boss end surface formed on the pulley support seat 150. During installation, the bearing 141 can be first sleeved on the positioning column 152, and the lower end surface of the bearing inner ring 143 abuts against the boss end surface serving as the positioning surface 151. After that, the bearing 141 is limitedly set at the positioning column 152 by the second fastener 160. The positioning column 152 can be a screw column on the pulley support seat 150, and the second fastener 160 can be a locking screw. The locking screw cooperates with the screw column. The locking screw can be a screw with a gasket.

[0083] The pulley support seat 150 of this embodiment can be a separate part, or it can be the base 130 of the two-degree-of-freedom tendon transmission joint mold.

[0084] The present application can change the tendon transmission direction by setting the pulley assembly 140, and realize short-distance reversal in a limited space; it is conducive to the design miniaturization of the first joint module 100. The bearing 141 with the receiving groove 144 is selected as the pulley, which can improve the life and reliability of the tendon transmission reversing assembly; in addition, after the bearing 141 with the receiving groove 144 is installed on the positioning column 152, it only needs to be fixed by the second fastener 160. The structure is simple and easy to install.

[0085] The joint assembly of the present application may be a wrist joint assembly or an elbow joint assembly on a robot. For example, the joint assembly may be a wrist joint assembly, the front end of which is connected to the hand module of the robot, and the rear end of which has an interface connected to a motor compartment of a forearm, a mechanical arm or other components.

[0086] A tendon sheath guide plate may be provided at the connection position between the joint assembly and the forearm motor compartment. The tendon sheath guide plate may cover the outside of the first drive device to prevent the control tendons of the joint drive device and the tendons of the forearm motor compartment from interfering with each other. The tendon sheath guide plate may be fixedly connected to the mounting compartment or the base 130 of the first joint module.

[0087] The joint assembly may be provided with a protective shell for waterproofing, dustproofing, electromagnetic shielding, etc.

[0088] The joint assembly may be provided with a circuit board. One end of the first driver 210, the second driver 220, and the third driver 260 has an electrical connection portion, and the electrical connection portion is electrically connected to the circuit board in a certain manner.

[0089] The joint assembly may be provided with a baffle. Baffles (not shown) may be provided on the upper and lower sides of the mounting compartment 270. The baffle may be provided above the first capstan 211 and the third capstan 261. On the one hand, the baffle may constrain the tendon sheath to prevent the tendon sheath of the forearm motor compartment above it from interfering with the joint drive device 200. At the same time, a bypass hole may be provided on the baffle; when the electrical connection portion is connected to the circuit board through the electrical connector, the electrical connector (such as a lead) may pass through the bypass hole to be electrically connected to the circuit board.

[0090] Embodiment 3

[0091] This embodiment is an improvement of the first embodiment.

[0092] In a specific embodiment of the present application, the first drive device may include a tendon drive reversing assembly. The tendon drive reversing assembly includes at least one group of pulley assemblies 140. The pulley assembly 140 is used to guide the direction of the roll control tendon 232 or the pitch control tendon 231. The pulley assembly 140 may be two groups. In this embodiment, the structural design of the tendon drive reversing assembly is the same as the tendon drive reversing assembly structure in Example 2, and will not be repeated here. Different from Example 2, the pulley support seat 150 of the present application can be a separate part or a part of the mounting bin 270.

[0093] Because the first drive device already includes the tendon transmission reversing assembly, the pulley structure of the tendon transmission reversing assembly may no longer be provided in the first joint module.

[0094] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A joint driving device, characterized in that: The joint driving device comprises a first driving device, and the first driving device is used to drive a first joint module; The first joint module has a pitch motion end rotating around a first axis and a roll motion end rotating around a second axis; The first driving device includes a group of first drivers, the output end of which is connected to the pitch control tendon; the group of first drivers pulls the pitch motion end in different directions through a pitch control tendon respectively, and jointly drives the pitch motion end to rotate around the first axis; The first driving device further includes a group of second drivers, the output end of which is connected to the roll control tendon; the group of second drivers pulls the roll motion end in different directions through one side of the roll control tendon, and jointly drives the roll motion end to rotate around the second axis; The axes of the output ends of a group of the first drivers are parallel to the second axis, and the axes of the output ends of a group of the second drivers are parallel to the first axis; The joint driving device comprises a mounting chamber, and the first driver and the second driver are fixed to the mounting chamber; The first driving device further includes a tendon sheath assembly, wherein the tendon sheath assembly includes a first tendon sheath, a first tendon sheath fixing element, and a second tendon sheath fixing element; The tendon sheath assembly is arranged at the side swing control tendon, one end of the first tendon sheath is arranged at the first tendon sheath fixing element, and the other end of the first tendon sheath is connected to the second tendon sheath fixing element at the side swing movement end; The pitch control tendon is also provided with the tendon sheath assembly; One end of the first tendon sheath is arranged at the first tendon sheath fixing element, and the other end of the first tendon sheath is connected to the second tendon sheath fixing element at the pitch motion end; the two first tendon sheath fixing elements are respectively arranged on the upper and lower sides of the installation bin, and the first tendon sheaths corresponding to the two pitch control tendons are respectively arranged on the upper and lower sides of the installation bin; a part of the pitch control tendon passes through the first tendon sheath and is slidably arranged in the first tendon sheath.

2. The joint driving device according to claim 1, characterized in that: The first driver and the second driver are both rotary drivers, and a first winch is arranged on the output end of the first driver, and the first winch pulls the pitch motion end through the pitch control tendon; a second winch is arranged on the output end of the second driver, and the second winch pulls the roll motion end through the roll control tendon; the output ends of the two first drivers are arranged in opposite directions, and the output ends of the two second drivers are arranged in opposite directions.

3. The joint driving device according to claim 1, characterized in that: The joint driving device further comprises a second driving device, wherein the second driving device is used to drive a second joint module; The second driving device includes a set of third drivers, the output end of the third driver pulls the rotating end of the second joint module through a third control tendon; The third driver is arranged in parallel with the first driver; the third driver is fixed to the installation compartment.

4. The joint driving device according to claim 1, characterized in that: The first driving device includes a tendon transmission reversing assembly; the tendon transmission reversing assembly includes at least one group of pulley assemblies for guiding the direction of the roll control tendon or the pitch control tendon; the pulley assembly includes one or more pulleys.

5. The joint driving device according to claim 4, characterized in that: The pulley is a bearing with a receiving groove, and the receiving groove is circumferentially arranged on the side surface of the outer ring of the bearing.

6. The joint driving device according to claim 4 or 5, characterized in that: The tendon transmission reversing assembly includes a pulley support seat, a positioning column is arranged on the pulley support seat, the pulley sleeve is arranged on the positioning column, and is arranged at the positioning column through a second fastener.

7. The joint driving device according to claim 6, characterized in that: A plane positioning portion is arranged below the pulley; the plane positioning portion is a plane washer, a plane bearing, or a boss end surface formed on the pulley support seat.

8. The joint driving device according to claim 1, characterized in that: The first driving device also includes a tendon sheath restraint element.

9. A joint assembly, comprising a first joint module, and a joint driving device as claimed in any one of claims 1 to 8.

10. The joint assembly according to claim 9, characterized in that A connecting frame is provided between the joint driving device and the first joint module; the connecting frame is used to fix the joint driving device and the first joint module; One or more first fixing surfaces are formed between the connecting frame and the joint driving device, and one or more second fixing surfaces are formed between the connecting frame and the first joint module; the first fixing surface and the second fixing surface are not in the same plane.

11. The joint assembly according to claim 10, characterized in that Two first fixing surfaces are formed between the connecting frame and the joint driving device, and a second fixing surface is formed between the connecting frame and the first joint module.

12. The joint assembly according to claim 9, characterized in that: The first joint module includes a tendon transmission reversing assembly; the tendon transmission reversing assembly includes at least one group of pulley assemblies for guiding the direction of the roll control tendon or the pitch control tendon; the pulley assembly includes one or more pulleys.

13. The joint assembly according to claim 12, characterized in that The pulley is a bearing with a receiving groove, and the receiving groove is circumferentially arranged on the side surface of the outer ring of the bearing.

14. The joint assembly according to claim 12, characterized in that: The tendon transmission reversing assembly includes a pulley support seat, a positioning column is arranged on the pulley support seat, the pulley sleeve is arranged on the positioning column, and is arranged at the positioning column through a second fastener.

15. The joint assembly according to claim 14, characterized in that A plane positioning portion is arranged below the pulley; the plane positioning portion is a plane washer, a plane bearing, or a boss end surface formed on the pulley support seat.

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