Joint device and robot having the same

Abstract

The present disclosure relates to a joint device, which can perform bilateral transmission on the end of the robot's mechanical arm, especially by means of bilateral transmission of a double-ring four-bar linkage, to achieve accurate, reliable and efficient driving of the end of the mechanical arm; and is firm and reliable, and easy to modularize the components therein, so as to facilitate subsequent disassembly, replacement and maintenance. In addition, the present disclosure also relates to a robot with such a joint device, a motion drive device and a robot with such a motion drive device, which has the characteristics of the above-mentioned joint device, wherein the motion action thereof is accurate and efficient, firm and reliable, and easy to disassemble, replace and maintain the components therein.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and more specifically, to a joint device, a robot having the joint device, a motion drive device, and a robot having the motion drive device. Background Art

[0002] With the continuous development of robotics technology, various humanoid robots, especially bipedal robots, have attracted more and more attention from researchers. Because humanoid robots have a human-like appearance and a low mechanical sense, they can provide a good simulated interactive experience. Therefore, humanoid robots are increasingly being used in the fields of intelligent services, interactive entertainment, etc. Here, researchers usually use the structure of the human body, especially various joints (such as the hip joints and ankle joints of the legs) as a source of inspiration to design the corresponding joint devices of humanoid robots. During human walking, the structural stability and sensitivity of the ankle joint determine the dynamic stability of the person. Coincidentally, in the development process of humanoid robots, the design and structure of the ankle joint is a crucial link. Here, referring to the human ankle joint, the ankle joint of the humanoid robot should at least be able to simulate the human ankle joint to achieve the pitching motion of lifting and lowering the foot surface and the flipping motion of the foot surface around its extension direction.

[0003] Therefore, there is a demand for a joint device that can achieve high transmission accuracy, high transmission efficiency, good joint structural bearing capacity and is easy to modularize. Summary of the invention

[0004] Therefore, the present disclosure provides a joint device, which can perform bilateral transmission on the end of the robot's mechanical arm, thereby achieving accurate, reliable and efficient driving of the end of the mechanical arm; and it is easy to modularize the components therein, so as to facilitate subsequent disassembly, replacement and maintenance.

[0005] In addition, the present disclosure also provides a robot with such a joint device, which has the advantages of the above-mentioned joint device, wherein the movement of the end of the robot arm is accurate and efficient, and wherein each component is easy to disassemble, replace and maintain.

[0006] In addition, the present disclosure also provides a motion drive device. In addition to the end of the mechanical arm driven by the ankle joint, the motion drive device can also perform similar multi-degree-of-freedom motion drive on other driven objects in the humanoid robot, thereby achieving accurate and efficient driving of the driven objects, and each component in the motion drive device is easy to disassemble, replace and maintain.

[0007] In addition, the present disclosure also provides a robot with such a motion drive device, which has the advantages of the above-mentioned motion drive device, wherein the motion drive device moves accurately and efficiently, and each component thereof is easy to disassemble, replace and maintain.

[0008] The first aspect of the present disclosure relates to a joint device for a robot, which is used to drive the end of the robot's mechanical arm to move. The joint device includes: a first motion mechanism, the first motion mechanism includes: a first transmission device, which includes a first connecting rod and a second connecting rod, the lower end of the first connecting rod is connected to the first end of the mechanical arm end, and the lower end of the second connecting rod is connected to the second end of the mechanical arm end, wherein the first end and the second end of the mechanical arm end are two opposite ends of the mechanical arm end and have opposite directions of movement, and the mechanical arm end is bilaterally transmitted by the first connecting rod and the second connecting rod; and a first driving device, which is configured to drive the movement of the first connecting rod and the second connecting rod, and drive the mechanical arm end to rotate around the first axis direction through the bilateral transmission of the first connecting rod and the second connecting rod.

[0009] In the sense of the present disclosure, the robot's mechanical arm end may include the robot's foot mechanism and palm mechanism. Here, the joint device according to the present disclosure uses double-sided transmission to drive the mechanical arm end, which can effectively alleviate the revolving pair clearance existing in each revolving pair used for transmission when driving the mechanical arm end, and improve the transmission accuracy when driving the mechanical arm end.

[0010] According to one embodiment of a joint device disclosed in the present invention, in the joint device, the first driving device includes a rotation driving device; and the first transmission device includes a first output flange, wherein the rotation driving device drives the first output flange to perform rotational movement around its axial direction, and the first end of the first output flange is transmission-connected, especially rotationally connected, to the upper end of the first connecting rod, and the second end of the first output flange is transmission-connected, especially rotationally connected, to the upper end of the second connecting rod, wherein the end of the robotic arm is bilaterally driven by the first connecting rod and the second connecting rod, and the rotational movement of the rotation driving device is converted into movement of the end of the robotic arm around the first axis direction.

[0011] Here, the first link and the second link are utilized to perform bilateral transmission on the robotic arm end with opposite movement directions and corresponding movement amplitudes (i.e., for example, while the first link pushes the robotic arm end to rotate downward at one end of the robotic arm end, the second link pulls the robotic arm end to rotate upward at the opposite end of the robotic arm end). On the one hand, it can effectively alleviate the rotational pair clearance existing in each rotational pair used for transmission when driving the robotic arm end, thereby improving the transmission accuracy of the joint device when driving the robotic arm end. On the other hand, since both the first link and the second link can perform parallel transmission on the robotic arm end, the fault tolerance and reliability of the joint device are enhanced.

[0012] According to an embodiment of the joint device of the present disclosure, in the joint device, the first drive device includes a linear drive device, and the linear drive device and the first transmission device are jointly configured to perform double-sided transmission with opposite movement directions.

[0013] Here, by using a linear drive device with opposite movement directions and corresponding movement amplitudes, such as a linear motor or a hydraulic rod, to directly perform bilateral transmission at two opposite ends of the end of the mechanical arm, it is also possible to effectively alleviate the clearance between the revolving pairs used for transmission when driving the end of the mechanical arm, thereby improving the transmission accuracy when the joint device drives the end of the mechanical arm. In addition, due to the redundant arrangement of the linear drive device, the fault tolerance and reliability of the joint device are enhanced.

[0014] According to a more detailed embodiment of the joint device disclosed in the present invention, in the joint device, the first transmission device includes a double-loop four-bar linkage mechanism, and the first transmission device is configured to convert the rotational motion of the rotation drive device into ankle joint motion through bilateral transmission in opposite directions of movement of two links in the double-loop four-bar linkage mechanism at different positions of the end of the robotic arm, wherein the section between the rotation center point and the first end of the first output flange, the first link, the section between the first end of the robotic arm end and the rotation center point of the robotic arm end, and the rotation center point of the robotic arm end and the first output flange The virtual connecting rod between the rotation center points constitutes the first transmission ring of the double-ring four-bar linkage, and the section between the rotation center point of the first output flange and the second end, the second connecting rod, the section between the second end of the robotic arm end and the rotation center point of the robotic arm end, and the virtual connecting rod between the rotation center point of the robotic arm end and the rotation center point of the first output flange constitute the second transmission ring of the double-ring four-bar linkage, wherein the rotational motion of the rotation drive device is converted into the motion of the robotic arm end around the first axis through the first transmission ring and the second transmission ring of the double-ring four-bar linkage for bilateral transmission.

[0015] Here, the first transmission ring and the second transmission ring in the double-ring four-bar linkage are used to perform bilateral transmission on the two opposite ends of the end of the robotic arm. Compared with the single-ring four-bar linkage, on the one hand, as described above, the bilateral transmission of the first transmission ring and the second transmission ring of the double-ring four-bar linkage effectively alleviates the clearance of the revolving pair and improves the reliability of the transmission. On the other hand, the first transmission ring and the second transmission ring of the double-ring four-bar linkage both have an over-constraint effect, which also improves the mechanical strength of the joint device.

[0016] According to a more detailed embodiment of the joint device disclosed in the present invention, the joint device also includes: a calf frame, which is configured to fixedly connect the joint device to the calf mechanism of the robot; and a connecting frame, which is fixedly connected to the calf frame and is transmission-connected to the rotation center point of the end of the robot arm.

[0017] Here, an additional connection point between the connecting frame and the end of the mechanical arm is provided through the transmission connection between the connecting frame and the rotation center point of the end of the mechanical arm. Thus, a common connecting rod of the first transmission ring and the second transmission ring of the double-ring four-bar linkage is constructed between the additional connection point and the rotation center point of the first output flange. Thus, the mechanical strength of the joint device is further improved.

[0018] According to a more detailed embodiment of the joint device disclosed in the present invention, the joint device also includes: a support frame, wherein the lower end of the first connecting rod is transmission-connected to the first end of the end of the robotic arm via the first end of the support frame, and the lower end of the second connecting rod is transmission-connected to the second end of the end of the robotic arm via the second end of the support frame.

[0019] Here, the first transmission device in the joint device can realize transmission connection with the end of the mechanical arm via the support frame. Therefore, when the first transmission device drives the end of the mechanical arm to move, it also drives the support frame to move. Therefore, the transmission connection of the connecting frame with the rotation center point of the end of the mechanical arm also means that the connecting frame can also be connected to the rotation center point of the support frame. As a result, the mechanical strength of the joint device is further improved.

[0020] According to a more detailed embodiment of the joint device disclosed in the present invention, the joint device also includes: a second motion mechanism, the second motion mechanism includes: a second driving device, and the support frame is used to accommodate the second driving device, wherein the second driving device is drivingly connected to the end of the robotic arm and is configured to drive the end of the robotic arm to move around a second axis direction.

[0021] Here, the second motion mechanism can be constructed in the same or different manner as the first motion mechanism. Through multiple motion mechanisms, for example when the second axis direction is the same as the first axis direction, the deflection of multiple motion mechanisms can further increase the joint angle range of the joint device, making the joint device more dexterous.

[0022] According to a more detailed embodiment of the joint device disclosed in the present invention, in the joint device, the first motion mechanism and the second motion mechanism are arranged in series, and the first motion mechanism drives the end of the robotic arm to move around a first axis, and the second motion mechanism drives the end of the robotic arm to move around a second axis, and the first axis and the second axis have a predetermined angle.

[0023] Here, the first axis and the second axis have a predetermined angle, which means that the directions of the first axis and the second axis are different. For example, the movement around the first axis can be defined as the pitching movement, and the movement around the second axis can be defined as the rolling movement. In this embodiment, each motion mechanism is responsible for the movement of the ankle joint in different degrees of freedom, that is, the first motion mechanism is responsible for the movement around the first axis, the so-called pitching movement, and the second motion mechanism is responsible for the movement around the second axis, the so-called rolling movement. By arranging the first motion mechanism and the second motion mechanism in series, the motion mechanisms responsible for the movement in different degrees of freedom can be conveniently designed, maintained, repaired, and replaced in a modular manner, and the structure is simple and easy to use.

[0024] According to a more detailed embodiment of the joint device disclosed in the present invention, the joint device also includes an output frame, in which the output end of the second drive device is transmission-connected to the output frame, the output frame is fixedly connected to the end of the robotic arm, and the second drive device is configured to directly drive the end of the robotic arm to move around a second axis direction.

[0025] Here, since the second drive device is directly accommodated in the support frame near the end of the robotic arm, the second drive device drives the end of the robotic arm in a direct drive mode. Thus, the transmission efficiency and transmission accuracy of the second drive device are further improved. Correspondingly, the transmission accuracy and transmission efficiency of the joint device in the second axis direction are also further improved.

[0026] According to another embodiment of the joint device of the present disclosure, the second motion mechanism further includes a second transmission device, and the second drive device is connected to the end of the robot arm via the second transmission device. The second motion mechanism can also drive the end of the robot arm to move around the second axis in a double-sided transmission manner. In this case, the second transmission device can be constructed in the same manner as the first transmission device, that is, the end of the robot arm is driven to move around the second axis by performing double-sided transmission on the end of the robot arm via two connecting rods.

[0027] Therefore, for the second motion mechanism, similar to the first motion mechanism, it can also effectively alleviate the rotational pair clearance that exists when driving the end of the robotic arm to move around the second axis, thereby improving the transmission accuracy, and because the double-sided transmission can independently transmit the end of the robotic arm, the fault tolerance and reliability of the joint device when moving around the second axis are enhanced. The second aspect of the present disclosure relates to a robot. The robot has a joint device according to the first aspect of the present invention. Therefore, the robot has the advantages corresponding to the above-mentioned joint device, that is, the movement of the end of the robotic arm of the robot is accurate and efficient, and the components in the joint device are easy to disassemble, replace and maintain.

[0028] The third aspect of the present disclosure relates to a motion drive device. The motion drive device is connected to a driven object and is used to drive the driven object to move, comprising: a first motion mechanism and a second motion mechanism connected in series, wherein the second motion mechanism is connected to the driven object and is used to drive the driven object to move around a second axis, wherein the first motion mechanism comprises a first connecting rod and a second connecting rod, the lower end of the first connecting rod is transmission-connected to the first end of the second motion mechanism, and the lower end of the second connecting rod is transmission-connected to the second end of the second motion mechanism, wherein the first end and the second end of the second motion mechanism are two opposite ends of the second motion mechanism and have opposite motion directions, and the driven object is bilaterally driven by the first connecting rod and the second connecting rod; and a first driving device is configured to drive the movement of the first connecting rod and the second connecting rod, and drive the driven object to rotate around the first axis direction by the bilateral transmission of the first connecting rod and the second connecting rod.

[0029] In the sense of the present disclosure, the driven object is no longer limited to the foot and palm mechanisms of humanoid robots, but can be a driven object in any type of robot that needs to be driven to rotate around two axis directions (i.e., the first axis direction and the second axis direction). Here, the motion drive device according to the present disclosure also uses double-sided transmission to drive the driven object, thereby effectively alleviating the clearance between the revolving pairs used for transmission when driving the driven object, and improving the transmission accuracy when driving the end of the mechanical arm.

[0030] According to a more detailed embodiment of the motion drive device of the present disclosure, in the motion drive device, the first drive device includes a rotation drive device; and the first transmission device includes a double-ring four-bar linkage, the first transmission device is configured to convert the rotational motion of the rotation drive device into the motion of the driven object through bilateral transmission in opposite directions of motion of two connecting rods in the double-ring four-bar linkage at different positions of the driven object, wherein the double-ring four-bar linkage includes a first output flange, wherein the rotation drive device drives the first output flange to rotate around its axial direction, and the first end of the first output flange is transmission-connected to the upper end of the first connecting rod, and the second end of the first output flange is transmission-connected to the upper end of the second connecting rod, wherein the rotation center point of the first output flange is parallel to the first end The section between the parts, the first connecting rod, the section between the first end of the driven object and the rotation center point of the driven object, and the virtual connecting rod between the rotation center point of the driven object and the rotation center point of the first output flange constitute a first transmission ring of the double-loop four-bar linkage, and the section between the rotation center point and the second end of the first output flange, the second connecting rod, the section between the second end of the driven object and the rotation center point of the driven object, and the virtual connecting rod between the rotation center point of the driven object and the rotation center point of the first output flange constitute a second transmission ring of the double-loop four-bar linkage, wherein the rotational motion of the rotation driving device is converted into the motion of the driven object around the first axis through the first transmission ring and the second transmission ring of the double-loop four-bar linkage for bilateral transmission.

[0031] Similar to the joint device according to the present invention, the first transmission ring and the second transmission ring in the double-ring four-bar linkage are used to perform bilateral transmission respectively. On the one hand, the clearance of the rotating pair is effectively alleviated and the reliability of the transmission is improved. On the other hand, the mechanical strength of the motion drive device is also improved through the over-constraint effect of the first transmission ring and the second transmission ring of the double-ring four-bar linkage.

[0032] According to a more detailed embodiment of the motion drive device of the present disclosure, the motion drive device also includes: a fixed frame, which is configured to be used to fixedly connect the motion drive device with another mechanism; and a connecting frame, which is fixedly connected to the fixed frame and is drivingly connected to the rotation center point of the driven object.

[0033] Here, an additional connection point between the connecting frame and the driven object is provided. Moreover, a common connecting rod of the first transmission ring and the second transmission ring of the double-ring four-bar linkage is constructed between the additional connection point and the rotation center point of the first output flange. Thus, the mechanical strength of the motion drive device is further improved.

[0034] According to a more detailed embodiment of the motion drive device of the present disclosure, in the motion drive device, the output end of the second motion mechanism is fixedly connected to the driven object, and the second motion mechanism is configured to directly drive the driven object to move around a second axis direction.

[0035] Thus, by directly driving the driven object, the transmission efficiency and transmission accuracy of the second driving device are further improved, and correspondingly, the transmission accuracy and transmission efficiency of the motion driving device in the second axis direction are further improved.

[0036] The fourth aspect of the present disclosure relates to a robot. The robot has a motion drive device according to the third aspect of the present invention. Therefore, the robot has the advantages corresponding to the above-mentioned motion drive device, that is, the motion drive device of the robot drives the driven object accurately and efficiently, and it is convenient to modularize the motion mechanisms in the motion drive device, and it is easy to disassemble, replace and maintain it.

[0037] In summary, the present disclosure provides a joint device and a robot having such a joint device. Among them, due to the bilateral transmission of the end of the robot arm, especially due to the bilateral transmission of the two opposite ends of the end of the robot arm by the first transmission ring and the second transmission ring in the double-ring four-bar linkage respectively, the clearance of the revolving pair is effectively alleviated, the reliability of the transmission is improved, and the mechanical strength of the joint device is improved. In addition, due to the bilateral transmission, that is, the two opposite ends of the end of the robot arm can be transmitted in parallel, the fault tolerance and reliability of the joint device are enhanced. In addition, the double-ring four-bar linkage provides a plurality of load-bearing connection points, which further improves the mechanical strength of the joint device. In addition, due to the serial arrangement of the motion mechanisms responsible for movement in different degrees of freedom in the joint device, it is convenient to modularize the motion mechanisms in the joint device, and it is easy to disassemble, replace and maintain it.

[0038] In addition, the present disclosure provides a motion drive device and a robot having such a motion drive device. The motion drive device and the robot having such a motion drive device have advantages corresponding to the above-mentioned joint device. For the sake of brevity, no further description will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some exemplary embodiments of the present disclosure, and a person of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

[0040] Herein, in the accompanying drawings:

[0041] Figure 1 A joint device according to the present disclosure is shown in a perspective view;

[0042] Figure 2 shows an exploded view of a joint device according to the present disclosure;

[0043] Figure 3A and Figure 3B The right side view shows different motion states of the joint device according to the present disclosure around the first axis;

[0044] Figure 4A and Figure 4B The following views show different motion states of the joint device according to the present disclosure around the second axis;

[0045] Figure 5 A schematic diagram of a robot having a joint device according to the present disclosure is shown;

[0046] Figure 6 A motion driving device according to the present disclosure is shown in a three-dimensional diagram;

[0047] Figure 7 A schematic diagram of a robot having a motion driving device according to the present disclosure is shown. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present disclosure more obvious, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0049] Furthermore, in the present specification and the drawings, steps and elements having substantially the same or similar features are denoted by the same or similar reference numerals, and repeated descriptions of these steps and elements will be omitted.

[0050] In addition, in this specification and the accompanying drawings, elements are described in singular or plural form, depending on the embodiment. However, the singular and plural forms are appropriately selected for the proposed situation only for the convenience of explanation and are not intended to limit the present disclosure thereto. Therefore, the singular form may include the plural form, and the plural form may also include the singular form, unless the context clearly indicates otherwise.

[0051] In addition, in this specification and the drawings, the terms "first\second" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence of "first\second" can be interchanged where permitted, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0052] In addition, in this specification and the drawings, the terms "upper", "lower", "vertical", "horizontal", "front", etc., which are used to refer to directions or positional relationships, are only used to facilitate description of the embodiments according to the present disclosure, and are not intended to limit the present disclosure thereto. Therefore, they should not be understood as limiting the present disclosure.

[0053] Furthermore, in this specification and the drawings, unless explicitly stated otherwise, “connection” does not necessarily mean “direct connection” or “direct contact”, and here, “connection” may mean both direct connection and indirect connection via an additional mechanism.

[0054] As an example, the present disclosure can be applied to the field of robotics combined with artificial intelligence (AI). Among them, artificial intelligence is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that the machines have the functions of perception, reasoning and decision-making.

[0055] Artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0056] At present, with the research and progress of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, drones, robots, smart medical care, smart services, interactive entertainment, etc. At present, using the perception, reasoning and decision-making functions of artificial intelligence, artificial intelligence has been combined with robots, especially humanoid robots, and applied to the fields of smart services, interactive entertainment, etc., for example, to achieve the purpose of providing a good simulated interactive experience instead of manual labor.

[0057] The design of the joint device can adopt a parallel design or a series design. In the parallel design, the ankle joint is designed as a mechanical structure that can realize the above-mentioned flipping motion and pitching motion in an integrated manner, such as a universal joint. However, the mechanical structure according to this design method is relatively complex, has poor reliability and is not conducive to subsequent disassembly and maintenance. In the series design, different motion devices are responsible for the above-mentioned pitching motion and flipping motion of the foot. The transmission method of the series ankle joint can adopt motor direct drive, single-ring connecting rod drive and belt drive. These transmission methods often have the disadvantages of low transmission accuracy, low efficiency, poor bearing capacity of joint structural parts, and slow joint rotation speed. In addition, the series ankle joint is mainly driven by a rotating shaft connecting rod and a screw connecting rod, both of which have the problems of small joint rotation angle, complex structure and large joint mass.

[0058] A first aspect of the present disclosure relates to a joint device 100 . Figure 1 A joint device 100 according to the present disclosure is shown in a perspective view. Figure 2 The joint device 100 according to the present disclosure is shown in an exploded view. Here, the joint device 100 according to the present disclosure is shown by taking the ankle joint device as an example. Figure 1 and Figure 2 The embodiments of the present disclosure are described below, wherein the same components are marked with the same reference numerals.

[0059] According to an embodiment of the present disclosure, the joint device 100 is used to drive the end of the robot's mechanical arm to move. Here, the driven mechanical arm end 110 is exemplarily shown as a foot mechanism. Here, the joint device 100 includes: a first motion mechanism 120, the first motion mechanism includes a first transmission device, which includes a first connecting rod 121 and a second connecting rod 122, the lower end of the first connecting rod is transmission-connected to the first end of the mechanical arm end 110, and the lower end of the second connecting rod is transmission-connected to the second end of the mechanical arm end 110. Figure 1The lower end of the first connecting rod and the lower end of the second connecting rod are connected to the robot arm end 110 via a support frame 130 (the specific arrangement of the support frame 130 is described later). Of course, it is also conceivable that the lower end of the first connecting rod 121 and the lower end of the second connecting rod 122 can be connected to the robot arm end 110 via another element or directly. The first end and the second end of the robot arm end 110 are two opposite ends of the robot arm end 110 and have opposite movement directions, and the robot arm end 110 is driven on both sides by the first connecting rod and the second connecting rod. In addition, the first motion mechanism also includes a first driving device 140, which is configured to drive the movement of the first connecting rod 121 and the second connecting rod 122, and through the bilateral transmission of the first connecting rod 121 and the second connecting rod 122, the robot arm end 110 is driven to rotate around the first axis direction shown by the dotted line 150.

[0060] Here, according to the joint device disclosed in the present invention, the double-sided transmission of the first connecting rod 121 and the second connecting rod 122 is used to drive the robot arm end 110. As a result, the clearance between the rotational pairs existing in each rotational pair used for transmission when driving the robot arm end 110 can be effectively alleviated, thereby improving the transmission accuracy when driving the robot arm end 110. In addition, since both the first connecting rod 121 and the second connecting rod 122 have a transmission function, both can independently transmit the robot arm end 110. In the event of a failure on a single connecting rod, the transmission of the robot arm end 110 can also be achieved by using another connecting rod. Therefore, the double-sided transmission of the first connecting rod 121 and the second connecting rod 122 further enhances the fault tolerance of the joint device 100.

[0061] According to a more detailed design scheme of the joint device disclosed in the present invention, the double-sided transmission can be achieved by rotating the output flange around its axial direction to drive the connecting rods to move in different directions respectively. In the joint device 100, the first drive device 140 includes a rotation drive device; and the first transmission device includes a first output flange 123, wherein the rotation drive device 141 drives the first output flange 123 to rotate around its axial direction, and the first end of the first output flange 123 is transmission-connected to the upper end of the first connecting rod 121, and the second end of the first output flange is transmission-connected to the upper end of the second connecting rod 122, wherein the robot end 110 is double-sidedly transmitted by the first connecting rod 121 and the second connecting rod 122, and the rotational movement of the rotation drive device is converted into the movement of the robot end around the first axis 150.

[0062] Here, the transmission connection can be realized, for example, in an articulated manner. Figure 2An exploded view of a joint device according to the present disclosure is shown. Figure 2 As shown, the upper output hole 121-1 of the first connecting rod 121 is hinged to the first output hole 123-1 of the first output flange 123, the lower output hole 121-2 of the first connecting rod 121 is hinged to the first output hole 130-1 of the support frame 130, the upper output hole 122-1 of the second connecting rod 122 is hinged to the second output hole 123-2 of the first output flange 123, the lower output hole 122-2 of the second connecting rod 122 is hinged to the second output hole 130-2 of the support frame 130, and each hinged component is connected via a bearing 200.

[0063] Here, the rotary drive device 141 may include a driving device for reciprocating rotation such as a rotary motor, a rotary hydraulic motor, a rotary cylinder, etc. When the rotary drive device 141 drives the first output flange 123 to rotate, the first output flange 123 also drives the first connecting rod 121 and the second connecting rod 122 to move in opposite directions and with corresponding movement amplitudes, thus realizing double-sided transmission in the sense of the present disclosure. Figure 3A and Figure 3B The right view shows different motion states of the joint device around the first axis according to the above-mentioned alternative design solution. Figure 3A As shown, for example, when the first output flange 123 rotates clockwise, causing the first output flange 123 to push the robot arm end 110 to rotate downward at one end of the robot arm end 110 via the second connecting rod 122, the first output flange 123 pulls the robot arm end 110 to rotate upward at the opposite end of the robot arm end 110 via the first connecting rod 121. Figure 3B As shown, for example, when the counterclockwise rotation of the first output flange 123 causes the first output flange 123 to pull the mechanical arm end 110 to rotate upward at one end of the mechanical arm end 110 via the second connecting rod 122, the first output flange 123 pushes the mechanical arm end 110 to rotate downward at the opposite end of the mechanical arm end 110 via the first connecting rod 121. Thus, as described above, the clearance of the revolute pair can be effectively offset, and the transmission accuracy when driving the mechanical arm end 110 is improved. Moreover, for example, in the event of a failure in which the first connecting rod 121 and the first output flange 123 fall off, the first output flange 123 can still drive the mechanical arm end 110 to move via the second connecting rod 122. Thus, as described above, the fault tolerance of the joint device 100 is further enhanced.

[0064] In addition, it is also conceivable that the first drive device that is transmission-connected to the first connecting rod 121 and the second connecting rod 122 can be implemented as a linear drive device (e.g., two separate linear drive devices) that can perform motions in opposite directions and corresponding motion amplitudes to achieve bilateral transmission. Therefore, according to another optional design scheme of the joint device disclosed in the present invention, in the joint device 100, the first drive device includes a linear drive device, and the linear drive device and the first transmission device are jointly configured to perform bilateral transmission in opposite directions.

[0065] According to a more detailed embodiment of the joint device disclosed in the present invention, the double-sided transmission is realized by a double-ring four-bar linkage. Figure 1 and Figure 2 This embodiment is explained. In the joint device, the first transmission device includes a double-loop four-bar linkage, and the first transmission device is configured to convert the rotational movement of the rotation drive device 141 into ankle joint movement through bilateral transmission in opposite directions of movement of two links 121 and 122 in the double-loop four-bar linkage at different positions of the robot arm end 110, wherein the section between the rotation center point of the first output flange 123 and its first end (for example, the first output hole 123-1), the section between the first link 121, the first end of the robot arm end 110 (for example, the first output hole 130-1 of the support frame 130) and the rotation center point of the robot arm end, and the section between the rotation center point of the robot arm end and the first output flange The virtual connecting rod between the rotation center points constitutes the first transmission ring of the double-ring four-bar linkage, and the section between the rotation center point of the first output flange and its second end (for example, the second output hole 123-2), the second connecting rod 122, the section between the second end of the robotic arm end (for example, the first output hole 130-2 of the support frame 130) and the rotation center point of the robotic arm end, and the virtual connecting rod between the rotation center point of the robotic arm end and the rotation center point of the first output flange constitute the second transmission ring of the double-ring four-bar linkage, wherein, through the first transmission ring and the second transmission ring of the double-ring four-bar linkage for bilateral transmission, the rotational motion of the rotation drive device is converted into the motion of the robotic arm end around the first axis.

[0066] Here, the first transmission ring and the second transmission ring in the double-ring four-bar linkage are used to perform bilateral transmission on the two opposite ends of the robot arm end 110. Compared with the single-ring four-bar linkage, on the one hand, as mentioned above, the bilateral transmission of the first transmission ring and the second transmission ring of the double-ring four-bar linkage effectively offsets the clearance of the revolute pair and improves the reliability of the transmission. On the other hand, the first transmission ring and the second transmission ring of the double-ring four-bar linkage both have an over-constraint effect, which also improves the mechanical strength of the joint device.

[0067] According to a more detailed embodiment of the joint device disclosed herein, Figure 2 As shown, the joint device 100 also includes: a calf frame 160, which is configured to be used for fixedly connecting the joint device to the calf mechanism of the robot; and connecting frames 171, 172. Here, the connecting frames can be constructed as a first connecting frame 171 and a second connecting frame 172. The connecting frame can be fixedly connected to the calf frame (for example, the first connecting frame 171 is fixedly connected to the calf frame 160 via bolts or the like, and the second connecting frame 172 is hinged to the calf frame 160 at the output hole 160-1 of the calf frame 160 via an axis), and the connecting frame can be transmission-connected to the rotation center point of the end of the robot arm. As shown Figure 2 As shown, the second connecting frame 172 can, for example, realize a transmission connection between the connecting frame and the rotation center point of the end of the robot arm by means of the hinge connection between its output hole 172 - 1 and the third output hole 130 - 3 of the support frame 130 .

[0068] Thus, through the transmission connection between the connecting frame and the rotation center point of the end of the mechanical arm, an additional connection point between the connecting frame and the end of the mechanical arm is provided, that is, for example, the connection point between the output hole 172-1 of the second connecting frame 172 and the third output hole 130-3 of the support frame 130. Thus, the mechanical strength of the joint device is further improved. In addition, a common connecting rod of the first transmission ring and the second transmission ring of the double-ring four-bar linkage is constructed between the additional connection point and the rotation center point of the first output flange. That is, the first connecting frame 171, the first output flange 123, the first connecting rod 121, the support frame 130, the second connecting rod 122, and the second connecting frame 172 together form a double-ring parallelogram mechanism. Here, the joint device can also optionally include a first reducer 170 to achieve further speed regulation. The rotation drive device 141 and the first reducer 170 output power to drive the first output flange 123 to rotate. Then, the first connecting rod 121 and the second connecting rod 122 pull or push the support frame 130 in parallel to rotate at the same angle as the first output flange 123. Thus, the above movement realizes the rotation movement of the robot arm end 110 around the center of the output hole 172-1 of the second connecting frame 172, that is, the movement of the robot arm end 110 around the first axis direction 150.

[0069] According to a more detailed embodiment of the joint device disclosed herein, Figure 1 and Figure 2 As shown, the joint device also includes a support frame 130, wherein the lower end of the first connecting rod 121 is transmission-connected to the first end of the robotic arm end 110 via the first end of the support frame, and the lower end of the second connecting rod 122 is transmission-connected to the second end of the robotic arm end 110 via the second end of the support frame.

[0070] According to a more detailed embodiment of the joint device disclosed in the present invention, the joint device also includes: a second motion mechanism 180, the second motion mechanism 180 includes: a second driving device 181, and the support frame 130 is used to accommodate the second driving device 181, wherein the second driving device 181 is driven and connected to the robot arm end 110 via the support frame 130, and is configured to drive the robot arm end to move around the second axis 151.

[0071] Here, the second motion mechanism may be constructed in the same or different manner as the first motion mechanism. Also, the second motion mechanism 180 may be arranged so that the direction of the second axis 151 is the same as the direction of the first axis 150 ( Figure 1By using multiple motion mechanisms, for example, when the direction of the second axis 151 is the same as the direction of the first axis 150, the deflection of the multiple motion mechanisms can further increase the joint angle range of the joint device 100, making the joint device 100 more flexible.

[0072] In addition, if Figure 1 As shown, the second motion mechanism 180 can also be arranged so that the direction of the second axis 151 is different from the direction of the first axis 150. According to a more detailed embodiment of the joint device of the present disclosure, in the joint device, the first motion mechanism 120 and the second motion mechanism 180 are arranged in series, and the first motion mechanism 120 drives the robot arm end 110 to move around the first axis 150, and the second motion mechanism 180 drives the robot arm end 110 to move around the second axis 151, and the first axis 150 and the second axis 151 have a predetermined angle.

[0073] Here, for example, the movement around the first axis 150 may be defined as the pitch movement, and the movement around the second axis 151 may be defined as the roll movement. Figure 4A and Figure 4B The following diagrams show different motion states of the joint device 100 according to the present disclosure around the second axis. Figure 4A and Figure 4B As shown, the second motion mechanism, i.e., the second drive device 181 contained in the support frame 130, serves as an output power source to drive the robot arm end 110 to rotate around the axis of the second drive device 181, i.e., the second axis 151, to achieve the above-mentioned flipping movement of the ankle joint. Thus, according to the joint device disclosed in the present invention, the movement of the robot arm end 110 in different degrees of freedom can be achieved. Moreover, due to the serial arrangement of the motion mechanisms responsible for the movement in different degrees of freedom, i.e., the first motion mechanism 120 and the second motion mechanism 180, each motion mechanism can be conveniently designed, maintained, repaired, and replaced in a modular manner, and the structure is simple and convenient to use.

[0074] According to a more detailed embodiment of the joint device disclosed herein, Figure 2 As shown, in the joint device 100, the second motion mechanism 180 drives the robot arm end 110 in a direct drive manner, that is, the joint device also includes output frames 131, 136, the output end of the second drive device 181 is transmission-connected to the output frames 131, 136, the output frames 131, 136 are fixedly connected to the robot arm end 110, and the second drive device is configured to directly drive the robot arm end to move around the second axis direction.

[0075] Here, since the second drive device is directly accommodated in the support frame near the end of the robotic arm, the second drive device drives the end of the robotic arm in a direct drive manner. Here, the joint device may also optionally include a second reducer 190 to achieve further speed regulation. Thereby, the transmission efficiency and transmission accuracy of the second drive device are further improved. Correspondingly, the transmission accuracy and transmission efficiency of the joint device in the second axis direction are also further improved.

[0076] According to another embodiment of the joint device of the present disclosure, the second motion mechanism further includes a second transmission device, and the second drive device is connected to the end of the robot arm via the second transmission device. The second motion mechanism can also drive the end of the robot arm to move around the second axis in a double-sided transmission manner. In this case, the second transmission device can be constructed in the same manner as the first transmission device, that is, the end of the robot arm is driven to move around the second axis by performing double-sided transmission on the end of the robot arm via two connecting rods.

[0077] Therefore, for the second motion mechanism, similar to the first motion mechanism, it can also effectively alleviate the rotational pair clearance that exists when driving the end of the robotic arm to move around the second axis direction, thereby improving the transmission accuracy. Moreover, since both sides of the transmission can independently transmit the end of the robotic arm, the fault tolerance and reliability of the joint device when moving around the second axis direction are enhanced.

[0078] In summary, the present disclosure provides a joint device. Among them, due to the bilateral transmission of the end of the robot arm, especially due to the bilateral transmission of the two opposite ends of the end of the robot arm by the first transmission ring and the second transmission ring in the double-ring four-bar linkage respectively, the clearance of the rotating pair is effectively alleviated, the reliability of the transmission is improved, and the mechanical strength of the joint device is improved. In addition, due to the bilateral transmission, that is, the two opposite ends of the end of the robot arm can be transmitted in parallel, the fault tolerance and reliability of the joint device are enhanced. In addition, the double-ring four-bar linkage provides a plurality of load-bearing connection points, which further improves the mechanical strength of the joint device. In addition, due to the serial arrangement of the motion mechanisms responsible for movement in different degrees of freedom in the joint device, it is convenient to modularize the motion mechanisms in the joint device, and it is easy to disassemble, replace and maintain it.

[0079] A second aspect of the present disclosure relates to a robot having a joint device provided according to any of the above embodiments. Figure 5 A schematic diagram of a robot 500 according to at least one embodiment of the present disclosure is shown. The robot 500 includes a joint device provided according to any of the above embodiments, and the joint device is used to drive the end of a robot arm of the robot to move.

[0080] like Figure 5 As shown, the robot 500 is a humanoid robot and has two wrist joint devices 511, 512 and two joint devices 521, 522. As described above, for a humanoid robot, in addition to using joint devices to realize the movement of multiple degrees of freedom of the sole mechanism, such as pitching movement around a first axis and flipping movement around a second axis, it is also necessary to use wrist joints to realize the above-mentioned similar pitching movement and flipping movement in multiple degrees of freedom. Therefore, the joint device according to at least one embodiment of the present disclosure can be used as the two wrist joint devices 511, 512 and two joint devices 521, 522 of the robot. As a result, the robot 500 has the advantages corresponding to the above-mentioned joint devices, that is, due to the bilateral transmission of the joint device and the wrist joint device of the robot 500, especially the bilateral transmission by means of a double-ring four-bar linkage, the clearance of the revolute joint is effectively offset and the reliability of the transmission is improved, and the mechanical strength and fault tolerance of the joint device are improved. In addition, the joint device and the wrist joint device of the robot 500 have multiple load-bearing connection points, which further improves the mechanical strength of the robot 500. In addition, since the motion mechanisms responsible for movement in different degrees of freedom in the joint device and wrist joint device of the robot 500 are arranged in series, it is convenient to modularize the motion mechanisms therein, and it is easy to disassemble, replace and maintain the robot 500.

[0081] It should be understood that, in addition to humanoid robots, the joint device according to the embodiment of the present disclosure can also be applied to robots such as robot dogs. Moreover, in the field of robots, other joints of other types of robots (such as robotic arms) also have the need to perform transmission with high precision in different degrees of freedom.

[0082] Therefore, the third aspect of the present disclosure relates to a motion drive device. Here, the driven object of the motion drive device is no longer limited to the foot mechanism and the palm mechanism of a humanoid robot (or an animal-shaped robot), but can be a driven object in any type of robot that needs to be driven to rotate around two axis directions (i.e., the first axis direction and the second axis direction).

[0083] Figure 6The motion driving device 600 according to the present disclosure is shown in a structure corresponding to the above-mentioned joint device. The motion driving device 600 is connected to a driven object 610 and is used to drive the driven object 610 to move, including: a first motion mechanism 620 and a second motion mechanism 680 connected in series, wherein the second motion mechanism 680 is connected to the driven object 610, and is used to drive the driven object 610 to move around a second axis 651, wherein the first motion mechanism 620 includes: a first connecting rod 621 and a second connecting rod 622, the lower end of the first connecting rod 620 is transmission-connected to the first end of the second motion mechanism 680, and the lower end of the second connecting rod 622 is connected to the first end of the second motion mechanism 680. The first driving device 640 is configured to drive the movement of the first connecting rod 621 and the second connecting rod 622, and drive the driven object 610 to rotate around the first axis 650 through the bilateral transmission of the first connecting rod 621 and the second connecting rod 622.

[0084] In the sense of the present disclosure, the motion drive device according to the present disclosure also utilizes double-sided transmission to drive the driven object, thereby effectively alleviating the rotational pair clearance existing in each rotational pair used for transmission when driving the driven object, thereby improving the transmission accuracy when driving the end of the robotic arm.

[0085] The more detailed embodiments of the motion drive device according to the present disclosure correspond to the embodiments of the joint device according to the present disclosure. Therefore, the more detailed embodiments of the motion drive device according to the present disclosure refer to the embodiments of the joint device according to the present disclosure, which will not be described here for the sake of brevity.

[0086] Furthermore, a fourth aspect of the present disclosure relates to a robot having the motion drive device according to the present disclosure. Figure 7 FIG. 1 is a schematic diagram of a robot 700 according to at least one embodiment of the present disclosure. The robot 700 includes a motion driving device according to the present disclosure, and the motion driving device is used to drive a driven object in the robot. The robot 700 is not limited to a humanoid robot, but can be a robot in any form. Figure 7 As shown, the robot 700 according to the present disclosure is schematically shown as an industrial robot arm. For the industrial robot arm, its end joints, elbow joints, etc. also need to be able to perform multiple degrees of freedom, such as pitch motion and flip motion. Therefore, the robot 700 includes the motion drive device according to the present disclosure. Figure 7As shown, the end joint 710 is constructed as the motion driving device according to the present disclosure. The motion driving device is used to drive the driven object 720 in the robot to move. Here, according to the use requirements, the driven object 720 can be an end actuator such as a mechanical gripper, or can be each mechanical arm in an industrial mechanical arm.

[0087] The robot has the advantages corresponding to those of the above-mentioned motion drive device, namely, due to the double-sided transmission of the driven object, especially the double-sided transmission of the two opposite ends of the driven object through the double-ring four-bar linkage, the robot drives the driven object accurately and efficiently, and it is convenient to modularly design the various motion mechanisms in the motion drive device, which are easy to disassemble, replace and maintain.

[0088] There are a few points to note:

[0089] (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure, and other structures may refer to the general design.

[0090] (2) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0091] In addition, the exemplary embodiments of the present disclosure described in detail above are merely illustrative, rather than restrictive. It should be understood by those skilled in the art that various modifications and combinations may be made to these embodiments or their features without departing from the principles and spirit of the present disclosure, and such modifications should fall within the scope of the present disclosure.

Claims

1. A joint device for a robot, used to drive the end of the robot's mechanical arm to move, include: A first motion mechanism, wherein the first motion mechanism comprises: A first transmission device, comprising a first connecting rod and a second connecting rod, wherein the lower end of the first connecting rod is transmission-connected to the first end of the end of the robotic arm, and the lower end of the second connecting rod is transmission-connected to the second end of the end of the robotic arm, wherein the first end and the second end of the end of the robotic arm are two opposite ends of the end of the robotic arm and have opposite movement directions, and the end of the robotic arm is bilaterally transmitted through the first connecting rod and the second connecting rod; and The first driving device is configured to drive the movement of the first connecting rod and the second connecting rod, and drive the end of the robot arm to rotate around the first axis through the double-sided transmission of the first connecting rod and the second connecting rod.

2. The joint device according to claim 1, in, The first drive means comprises a rotary drive device; and The first transmission device comprises a first output flange, wherein the rotary drive device drives the first output flange to rotate around its axial direction, and the first end of the first output flange is transmission-connected to the upper end of the first connecting rod, and the second end of the first output flange is transmission-connected to the upper end of the second connecting rod, The first connecting rod and the second connecting rod are used to perform bilateral transmission on the end of the robot arm, so that the rotational motion of the rotation driving device is converted into the motion of the end of the robot arm around the first axis.

3. The joint device according to claim 1, in, The first drive device includes a linear drive device, and the linear drive device and the first transmission device are jointly configured to perform double-sided transmission with opposite movement directions.

4. The joint device according to claim 2, in, The first transmission device comprises a double-loop four-bar linkage, and the first transmission device is configured to convert the rotational motion of the rotation drive device into ankle joint motion by bilateral transmission in opposite directions of movement of two links in the double-loop four-bar linkage at different positions of the end of the robotic arm, The first output flange comprises a section between the rotation center point of the first output flange and the first end thereof, the first connecting rod, a section between the first end of the mechanical arm end and the rotation center point of the mechanical arm end, and a virtual connecting rod between the rotation center point of the mechanical arm end and the rotation center point of the first output flange, which constitute a first transmission ring of the double-ring four-bar linkage. The section between the rotation center point of the first output flange and its second end, the second connecting rod, the section between the second end of the mechanical arm end and the rotation center point of the mechanical arm end, and the virtual connecting rod between the rotation center point of the mechanical arm end and the rotation center point of the first output flange constitute the second transmission ring of the double-ring four-bar linkage. Wherein, the first transmission ring and the second transmission ring of the double-ring four-bar linkage are used to perform double-sided transmission, so as to convert the rotational motion of the rotation driving device into the motion of the end of the robot arm around the first axis.

5. The joint device according to claim 4, further comprising: include: A calf frame, the calf frame being configured to fixedly connect the joint device to a calf mechanism of a robot; as well as A connecting frame is fixedly connected to the calf frame and is drivingly connected to the rotation center point of the end of the mechanical arm.

6. The joint device according to claim 2, further comprising: include: A support frame, wherein the lower end of the first connecting rod is transmission-connected to the first end of the end of the robotic arm via the first end of the support frame, and the lower end of the second connecting rod is transmission-connected to the second end of the end of the robotic arm via the second end of the support frame.

7. The joint device according to claim 6, further comprising: include: a second motion mechanism, wherein the second motion mechanism comprises: a second driving device, and the support frame is used to accommodate the second driving device, Wherein, the second driving device is drivingly connected to the end of the robot arm and is configured to drive the end of the robot arm to move around a second axis direction.

8. The joint device according to claim 7, in: The first motion mechanism and the second motion mechanism are arranged in series, and the first motion mechanism drives the end of the robot arm to move around a first axis, and the second motion mechanism drives the end of the robot arm to move around a second axis, and the first axis and the second axis have a predetermined angle.

9. The joint device according to claim 7, in: The joint device also includes an output frame, the output end of the second drive device is drivingly connected to the output frame, the output frame is fixedly connected to the end of the robot arm, and the second drive device is configured to directly drive the end of the robot arm to move around the second axis direction.

10. A robot, comprising the joint device according to any one of claims 1 to 9, wherein the joint device is used to drive the end of a robot arm of the robot to move.

11. A motion driving device, connected to a driven object and used to drive the driven object to move, include: a first motion mechanism and a second motion mechanism connected in series, The second motion mechanism is connected to the driven object and is used to drive the driven object to move around a second axis. Wherein, the first motion mechanism comprises: A first transmission device, comprising a first connecting rod and a second connecting rod, wherein the lower end of the first connecting rod is transmission-connected to the first end of the second motion mechanism, and the lower end of the second connecting rod is transmission-connected to the second end of the second motion mechanism, wherein the first end and the second end of the second motion mechanism are two opposite ends of the second motion mechanism and have opposite motion directions, and the driven object is bilaterally transmitted through the first connecting rod and the second connecting rod; and The first driving device is configured to drive the movement of the first connecting rod and the second connecting rod, and drive the driven object to rotate around the first axis direction through the double-sided transmission of the first connecting rod and the second connecting rod.

12. The motion driving device according to claim 11, in, The first drive means comprises a rotary drive device; and The first transmission device comprises a double-loop four-bar linkage, and the first transmission device is configured to convert the rotational motion of the rotation driving device into the motion of the driven object by two-sided transmission in opposite directions of motion of two connecting rods in the double-loop four-bar linkage at different positions of the driven object, The double-ring four-bar linkage includes a first output flange, wherein the rotary drive device drives the first output flange to rotate around its axial direction, and the first end of the first output flange is transmission-connected to the upper end of the first connecting rod, and the second end of the first output flange is transmission-connected to the upper end of the second connecting rod. wherein the section between the rotation center point and the first end of the first output flange, the first connecting rod, the section between the first end of the driven object and the rotation center point of the driven object, and the virtual connecting rod between the rotation center point of the driven object and the rotation center point of the first output flange constitute a first transmission ring of the double-ring four-bar linkage, and the section between the rotation center point and the second end of the first output flange, the second connecting rod, the section between the second end of the driven object and the rotation center point of the driven object, and the virtual connecting rod between the rotation center point of the driven object and the rotation center point of the first output flange constitute a second transmission ring of the double-ring four-bar linkage, Wherein, the first transmission ring and the second transmission ring of the double-ring four-bar linkage are used to perform double-sided transmission, so as to convert the rotational motion of the rotation driving device into the motion of the driven object around the first axis.

13. The motion driving device according to claim 11, further comprising: include: A fixed frame configured to fixedly connect the motion drive device to another mechanism; as well as A connecting frame is fixedly connected to the fixing frame and is drivingly connected to the rotation center point of the driven object.

14. The motion driving device according to claim 11, in, The output end of the second motion mechanism is fixedly connected to the driven object, and the second motion mechanism is configured to directly drive the driven object to move around a second axis direction.

15. A robot, comprising the motion driving device according to any one of claims 11 to 14, wherein the motion driving device is used to drive a driven object in the robot to move.

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