Transmission device, transmission assembly, intelligent service system, intelligent mobile system and intelligent terminal

Abstract

The invention provides a transmission device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal. The transmission device comprises a first joint module, a second joint module and a first connecting piece; the joint axis of the first joint module is arranged in the first direction, the joint axis of the second joint module is arranged in the second direction, and the first direction is perpendicular to the second direction; the fixed end of the first joint module is connected with the output end of the second joint module through the first connecting piece, and the output end of the first joint module is used for being connected with a mechanical execution piece. The pivot structure is arranged between the first joint module and the mechanical execution piece, the mechanical execution piece can be directly connected with the output end of the first joint module, a tail end installation base does not need to be installed, the joint stability is improved, and the transmission assembly obtains better performance in the aspects of improving operation flexibility, optimizing joint torque and avoiding obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent service systems, and in particular to a transmission device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal. Background Art

[0002] The transmission assembly is an important tool for connecting the main body of the intelligent terminal system with the mechanical actuators. In recent years, the rapid development of service-oriented intelligent terminals, space intelligent terminals, and special operation intelligent terminals has put forward higher requirements on the performance of the transmission assembly. As an important actuator of the transmission assembly, the transmission device can cooperate with other anthropomorphic components to realize a series of anthropomorphic behaviors such as grasping and carrying. However, the existing transmission device has the problems of complex structure and small joint angle of the joint module. For example, when simulating flexion and extension, the joint angle of the joint module cannot reach close to ±180°, and it cannot realize rich postures similar to human arms. Summary of the invention

[0003] The present invention provides a transmission device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal to solve the problems of complex structure of the existing transmission device and small joint angle of the joint module.

[0004] A transmission device comprises a first joint module, a second joint module and a first connecting member; The joint axis of the first joint module is arranged along a first direction, the joint axis of the second joint module is arranged along a second direction, and the first direction is perpendicular to the second direction; The fixed end of the first joint module is connected to the output end of the second joint module through the first connecting member, and the output end of the first joint module is used to connect a mechanical actuator.

[0005] Preferably, the transmission device further comprises a third joint module and a second connecting member; The joint axis of the third joint module is arranged along the first direction; The second joint module is connected to the output end of the third joint module through the second connecting piece, and the fixed end of the third joint module is used to be connected to the output end of the connecting joint assembly.

[0006] Preferably, the transmission device further comprises an output flange, which is connected to the output end of the first joint module and is used for mounting a mechanical actuator.

[0007] Preferably, the first connecting member includes a first connecting portion and a second connecting portion extending from a side edge of the first connecting portion in a direction perpendicular to the first connecting portion; The first connection portion is connected to the fixed end of the first joint module, and the second connection portion is connected to the output end of the second joint module.

[0008] Preferably, the second connecting member comprises a connecting shaft and a third connecting portion extending from one end of the connecting shaft along the axial direction of the connecting shaft; The other end of the connecting shaft is connected to the output end of the third joint module, and the third connecting portion is connected to the portion of the second joint module close to the output end.

[0009] A transmission assembly, comprising the transmission device and a connecting joint assembly, wherein the connecting joint assembly comprises a first sub-joint and / or a second sub-joint; The output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed.

[0010] Preferably, the first sub-joint comprises a fourth joint module, a third connecting member and a fourth connecting member; The joint axis of the fourth joint module is arranged along the second direction; The output end of the fourth joint module is connected to the fixed end of the transmission device through the third connecting member, and the fixed end of the fourth joint module is connected to the output end of the structure to be installed or the second sub-joint through the fourth connecting member.

[0011] Preferably, the second sub-joint comprises a fifth joint module, a fifth connecting piece, a sixth joint module, a sixth connecting piece, a seventh joint module and a structure to be installed; The joint axis of the fifth joint module is arranged along the first direction; The joint axis of the sixth joint module is arranged along the third direction; The joint axis of the seventh joint module is arranged along the second direction; The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module is connected to the output end of the sixth joint module through the fifth connecting piece, the sixth joint module is connected to the output end of the seventh joint module through the sixth connecting piece, and the fixed end of the seventh joint module is used to be connected to the structure to be installed.

[0012] Preferably, the joint axis of the fifth joint module, the joint axis of the sixth joint module and the joint axis of the seventh joint module intersect at one point.

[0013] Preferably, the connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member; The single-side arm connecting member includes a connecting body and a first transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first transfer arm is used to be fixedly connected to an output end of another joint module; The double-sided arm connecting member includes a connecting body and a first transfer arm and a second transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body. The connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of another joint module.

[0014] An intelligent service system, comprising a manipulator and the transmission assembly; In the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; The manipulator is arranged at the output end of the first joint module of the wrist joint unit.

[0015] An intelligent mobile system, comprising a mechanical foot and the transmission assembly; In the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; The mechanical sole is arranged at the output end of the first joint module of the ankle joint unit.

[0016] An intelligent terminal, comprising a main body, and also comprising the intelligent service system and / or the intelligent mobile system; The intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body. The transmission device can be used as the wrist joint of the intelligent service system or as the ankle joint of the intelligent mobile system, and specifically includes a first joint module, a second joint module and a first connecting member; during installation, the joint axis of the first joint module is set along the first direction, and the joint axis of the second joint module is set along the second direction, and the first direction is perpendicular to the second direction; the output end of the first joint module is used to install a mechanical actuator, which can be a manipulator to control the movement of the manipulator; the mechanical actuator can also be a mechanical sole to control the movement of the mechanical sole. The forward or reverse rotation of the first joint module can control the mechanical actuator to rotate around the joint axis of the first joint module to perform radial flexion and ulnar flexion movements, realizing left and right swings similar to those of a human wrist joint or a human ankle joint, and the joint rotation angle can be close to ±180°, expanding the swing range. The fixed end of the first joint module is connected to the output end of the second joint module through the first connecting piece. The second joint module rotates forward or reversely. The first connecting piece can drive the first joint module to rotate around the joint axis of the second joint module, and the mechanical actuator can be controlled to rotate around the joint axis of the second joint module to perform wrist flexion and extension movements, realizing up and down swings similar to human wrist joints or human ankle joints, and the joint angle can be close to ±180°, expanding the swing range. In this example, there is a pivot structure between the first joint module and the mechanical actuator. The mechanical actuator can be directly connected to the output end of the first joint module, and there is no need to install the end mounting seat, which increases the joint stability and enables the transmission assembly to obtain better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles; the joint direct connection method is adopted, without coupling, the structure is simpler, the cost is low, and the joint angle can be close to ±180°; the first joint module and the second joint module cooperate, so that the transmission device has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0018] Figure 1 is an isometric view of a transmission device in one embodiment of the present invention; Figure 2 It is an isometric view of an intelligent service system in one embodiment of the present invention.

[0019] Among them, 1. the first joint module; 2. the second joint module; 3. the first connecting part; 31. the first connecting part; 32. the second connecting part; 4. the third joint module; 5. the second connecting part; 51. the connecting shaft; 52. the third connecting part; 6. the output flange; 7. the fourth joint module; 8. the third connecting part; 9. the fourth connecting part; 10. the fifth joint module; 11. the fifth connecting part; 12. the sixth joint module; 13. the sixth connecting part; 14. the seventh joint module; 15. the structure to be installed. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention 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 invention and are not used to limit the present invention.

[0021] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The embodiment of the present invention provides a transmission device, referring to Figure 1 The transmission device includes a first joint module 1, a second joint module 2 and a first connecting member 3; the joint axis of the first joint module 1 is arranged along a first direction, and the joint axis of the second joint module 2 is arranged along a second direction, and the first direction is perpendicular to the second direction; the fixed end of the first joint module 1 is connected to the output end of the second joint module 2 through the first connecting member 3, and the output end of the first joint module 1 is used to install a mechanical actuator. As an example, the transmission device serves as the wrist joint of the intelligent service system and can also serve as the ankle joint of the intelligent mobile system, specifically including a first joint module 1, a second joint module 2 and a first connecting member 3; during installation, the joint axis of the first joint module 1 is set along the first direction, and the joint axis of the second joint module 2 is set along the second direction, and the first direction is perpendicular to the second direction; the output end of the first joint module 1 is used to install a mechanical actuator, which can be a manipulator to control the movement of the manipulator; the mechanical actuator can also be a mechanical sole to control the movement of the mechanical sole. The forward or reverse rotation of the first joint module 1 can control the mechanical actuator to rotate around the joint axis of the first joint module 1 to perform radial flexion and ulnar flexion movements, realizing a swing similar to that of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right, and the joint angle can be close to ±180°, expanding the swing range. The fixed end of the first joint module 1 is connected to the output end of the second joint module 2 through the first connecting member 3. The second joint module 2 rotates forward or reversely. The first connecting member 3 can drive the first joint module 1 to rotate around the joint axis of the second joint module 2, and the mechanical actuator can be controlled to rotate around the joint axis of the second joint module 2 to perform wrist flexion and wrist extension movements, so as to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up and down swing or a left and right swing, and the joint angle can be close to ±180°, expanding the swing range. In this example, there is a pivot structure between the first joint module 1 and the mechanical actuator, and the mechanical actuator can be directly connected to the output end of the first joint module 1, and there is no need to install the end mounting seat, which increases the joint stability, so that the transmission assembly can obtain better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles; the joint direct connection method is adopted, without coupling, the structure is simpler, the cost is low, and the joint angle can be close to ±180°; the first joint module 1 and the second joint module 2 cooperate, so that the transmission device has two degrees of freedom, which is more flexible, has a wider range of motion and is more human-like. The rotation of the joint axis of the first joint module 1 is defined as up and down swing, and the rotation of the joint axis of the second joint module 2 is defined as left and right swing; the reverse is also true.

[0024] In one embodiment, referring to Figure 1 The transmission device also includes a third joint module 4 and a second connecting member 5; the joint axis of the third joint module 4 is arranged along the first direction; the second joint module 2 is connected to the output end of the third joint module 4 through the second connecting member 5, and the fixed end of the third joint module 4 is used to be connected to the output end of the connecting joint assembly.

[0025] As an example, the transmission device also includes a third joint module 4 and a second connecting member 5; the joint axis of the third joint module 4 is arranged along the first direction, and the part of the second joint module 2 near the output end is connected to the output end of the third joint module 4 through the second connecting member 5. In this way, the third joint module 4 is arranged to rotate forward or reverse, and the second connecting member 5 can be driven to rotate around the joint axis of the third joint module 4, and the second joint module 2, the first joint module 1 and the mechanical actuator can be driven to rotate around the joint axis of the third joint module 4 through the second connecting member 5, so as to realize the driving of the mechanical actuator along the joint axis of the third joint module 4. The transmission device has two degrees of freedom in two directions, and the whole is more flexible. The three joint modules of the transmission device can use joint modules of the same size to simplify the configuration of the joint modules. The fixed end of the third joint module 4 is used to connect the connecting joint assembly, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint, the connecting joint assembly can be an elbow joint or a shoulder joint; when the transmission device is set as an ankle joint, the connecting joint assembly can be a knee joint or a hip joint. Different combinations are designed according to actual needs.

[0026] In this example, by arranging the three joint modules in the transmission device, the transmission device has three degrees of freedom, is more flexible, more human-like, and is less likely to have singular points, further improving the working capacity of the mechanical actuators of the intelligent terminal system.

[0027] In one embodiment, referring to Figure 1 The transmission device also includes an output flange 6, which is connected to the output end of the first joint module 1 and is used for installing a mechanical actuator. As an example, the transmission device also includes an output flange 6, which is a mechanical actuator connected to the output end of the first joint module 1 and is used to install the manipulator to control the movement of the mechanical actuator through the first joint module 1. In one embodiment, referring to Figure 1 The first connecting member 3 includes a first connecting portion 31 and a second connecting portion 32 extending from a side edge of the first connecting portion 31 in a direction perpendicular to the first connecting portion 31; the first connecting portion 31 is connected to the fixed end of the first joint module 1, and the second connecting portion 32 is connected to the output end of the second joint module 2. As an example, the first connecting member 3 includes a first connecting portion 31 and a second connecting portion 32, and the second connecting portion 32 extends from a side edge of the first connecting portion 31 in a direction perpendicular to the first connecting portion 31; during installation, the first connecting portion 31 is connected to the fixed end of the first joint module 1, and the second connecting portion 32 is connected to the output end of the second joint module 2, so that the second joint module 2 can drive the first joint module 1 to rotate through the first connecting portion 31 and the second connecting portion 32, thereby controlling the mechanical actuator to rotate around the joint axis of the second joint module 2 to perform wrist flexion and extension movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right. In one embodiment, referring to Figure 1 The second connecting member 5 includes a connecting shaft 51 and a third connecting portion 52 extending from the first end of the connecting shaft 51 along the axial direction of the connecting shaft 51; the first end of the connecting shaft 51 is connected to the output end of the third joint module 4, and the third connecting portion 52 is connected to the part of the second joint module 2 close to the output end. As an example, the second connecting member 5 includes a connecting shaft 51 and a third connecting portion 52, and the third connecting portion 52 extends from one end of the connecting shaft 51 along the axial direction of the connecting shaft 51; the other end of the connecting shaft 51 is connected to the output end of the third joint module 4, and the third connecting portion 52 is connected to the part of the second joint module 2 close to the output end, so that the third joint module 4 can drive the second joint module 2 and the first joint module 1 to rotate through the connecting shaft 51 and the third connecting portion 52, so as to control the mechanical actuator to rotate around the joint axis of the third joint module 4 to perform radial flexion and ulnar flexion movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint, and the swing here can be an up and down swing or a left and right swing.

[0028] The embodiment of the present invention provides a transmission assembly, referring to Figure 2 , including a transmission device and a connecting joint assembly, the connecting joint assembly includes a first sub-joint and / or a second sub-joint; the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed 15; or, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed 15; or, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed 15.

[0029] The structure to be installed 15 is a structure on which a transmission assembly needs to be installed. For example, when the transmission assembly is arranged on a smart terminal, the structure to be installed 15 may be the body of the smart terminal.

[0030] As an example, the transmission assembly includes a transmission device and a connecting joint assembly. The transmission device serves as a wrist joint unit of an intelligent service system and can also serve as an ankle joint unit of an intelligent mobile system. Specifically, it includes a first joint module 1, a second joint module 2 and a first connecting member 3. During installation, the joint axis of the first joint module 1 is set along a first direction, and the joint axis of the second joint module 2 is set along a second direction, and the first direction is perpendicular to the second direction. The output end of the first joint module 1 is used to install a mechanical actuator, which can be a manipulator to control the movement of the manipulator. The mechanical actuator can also be a mechanical sole to control the movement of the mechanical sole. The forward or reverse rotation of the first joint module 1 can control the mechanical actuator to rotate around the joint axis of the first joint module 1 to perform radial flexion and ulnar flexion movements, thereby achieving left and right swings similar to those of a human wrist joint or a human ankle joint, and the joint rotation angle can be close to ±180°, expanding the swing range. The fixed end of the first joint module 1 is connected to the output end of the second joint module 2 through the first connecting member 3. The second joint module 2 rotates forward or reversely. The first connecting member 3 can drive the first joint module 1 to rotate around the joint axis of the second joint module 2, and the mechanical actuator can be controlled to rotate around the joint axis of the second joint module 2 to perform wrist flexion and wrist extension movements, so as to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up and down swing or a left and right swing, and the joint angle can be close to ±180°, expanding the swing range. In this example, there is a pivot structure between the first joint module 1 and the mechanical actuator, and the mechanical actuator can be directly connected to the output end of the first joint module 1, and there is no need to install the end mounting seat, which increases the joint stability, so that the transmission assembly can obtain better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles; the joint direct connection method is adopted, without coupling, the structure is simpler, the cost is low, and the joint angle can be close to ±180°; the first joint module 1 and the second joint module 2 cooperate, so that the transmission device has two degrees of freedom, which is more flexible, has a wider range of motion and is more human-like.

[0031] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set to a wrist joint unit, the connecting joint assembly can be an elbow joint unit or a shoulder joint unit or both; when the transmission device is set to an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit or both. Different combinations are designed according to actual needs.

[0032] As an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit. When the connecting joint assembly only includes the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 15, and the movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, or the movement of the ankle joint unit is controlled by the knee joint unit. When the connecting joint assembly only includes the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15, and the movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint unit is controlled by the shoulder joint unit, or the movement of the ankle joint unit is controlled by the hip joint unit. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, and the movement of the elbow joint unit and the wrist joint unit are controlled by the shoulder joint unit, or the movement of the ankle joint unit is controlled by the knee joint unit, and the movement of the knee joint unit and the ankle joint unit are controlled by the hip joint unit.

[0033] In one embodiment, referring to Figure 2 The first sub-joint includes a fourth joint module 7, a third connecting member 8 and a fourth connecting member 9; the joint axis of the fourth joint module 7 is arranged along the second direction; the output end of the fourth joint module 7 is connected to the fixed end of the transmission device through the third connecting member 8, and the fixed end of the fourth joint module 7 is connected to the structure to be installed 15 or the output end of the second sub-joint through the fourth connecting member 9. As an example, the first sub-joint includes a fourth joint module 7, a third connecting member 8 and a fourth connecting member 9; the joint axis of the fourth joint module 7 is arranged along the second direction; the output end of the fourth joint module 7 is connected to the fixed end of the transmission device through the third connecting member 8; by controlling the forward or reverse rotation of the fourth joint module 7, the entire transmission device can be driven to bend or extend through the third connecting member 8, thereby achieving a swing similar to that of the elbow or knee joint unit of a human hand, where the swing can be up and down or left and right. The fixed end of the fourth joint module 7 is connected to the structure to be installed 15 or the output end of the second sub-joint through the fourth connecting member 9, that is, in the first case, when the fixed end of the fourth joint module 7 is connected to the output end of the second sub-joint through the fourth connecting member 9, and the second sub-joint is connected to the structure to be installed 15, the second sub-joint can drive the fourth joint module 7 to move through the fourth connecting member 9, that is, the fixed end of the fourth joint module 7 is in an active state relative to the structure to be installed 15, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 7 moves; in the second case, when the fixed end of the fourth joint module 7 is connected to the structure to be installed 15 through the fourth connecting member 9, that is, the fixed end of the fourth joint module 7 is in a fixed state relative to the structure to be installed 15, so that the elbow joint or knee joint unit simulated by the fourth joint module 7 cannot move. In one embodiment, referring to Figure 2 The second sub-joint includes a fifth joint module 10, a fifth connecting piece 11, a sixth joint module 12, a sixth connecting piece 13 and a seventh joint module 14; the joint axis of the fifth joint module 10 is arranged along the first direction; the joint axis of the sixth joint module 12 is arranged along the third direction; the joint axis of the seventh joint module 14 is arranged along the second direction; the output end of the fifth joint module 10 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module 10 is connected to the output end of the sixth joint module 12 through the fifth connecting piece 11, the sixth joint module 12 is connected to the output end of the seventh joint module 14 through the sixth connecting piece 13, and the fixed end of the seventh joint module 14 is used to be connected to the structure to be installed 15. As an example, the second sub-joint includes a fifth joint module 10, a fifth connecting part 11, a sixth joint module 12, a sixth connecting part 13 and a seventh joint module 14; during installation, the fixed end of the seventh joint module 14 is used to be connected to the structure to be installed 15 on the main body, and the output end of the fifth joint module 10 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint. When the output end of the fifth joint module 10 is connected to the fixed end of the transmission device, the fifth joint module 10 can drive the entire transmission device to move, thereby controlling the movement of the wrist joint or ankle joint unit; when the output end of the fifth joint module 10 is connected to the fixed end of the first sub-joint, the fifth joint module 10 can drive the entire transmission device, the third connecting part 8 and the fourth joint module 7 to move through the fourth connecting part 9, thereby controlling the movement of the elbow joint assembly or the knee joint unit. The joint axis of the fifth joint module 10 is arranged along the first direction; the joint axis of the sixth joint module 12 is arranged along the third direction; the joint axis of the seventh joint module 14 is arranged along the second direction; the part of the fifth joint module 10 close to the output end is connected to the output end of the sixth joint module 12 through the fifth connecting member 11, the part of the sixth joint module 12 close to the output end is connected to the output end of the seventh joint module 14 through the sixth connecting member 13, and the fixed end of the seventh joint module 14 is used to be connected to the structure to be installed 15; this arrangement controls the fifth joint module 10 to rotate forward or reverse, and drives the fourth joint module 14 through the fourth connecting member 9. 7. The third connecting member 8 and the entire transmission device move around the joint axis in the first direction; the sixth joint module 12 is controlled to rotate forward or reverse, and the fifth joint module 10, the fourth connecting member 9, the fourth joint module 7, the third connecting member 8 and the entire transmission device can be driven to move around the joint axis in the third direction through the fifth connecting member 11; the seventh joint module 14 is controlled to rotate forward or reverse, and the sixth joint module 12, the fifth connecting member 11, the fifth joint module 10, the fourth connecting member 9, the fourth joint module 7, the third connecting member 8 and the entire transmission device can be driven to move around the joint axis in the second direction through the sixth connecting member 13.

[0034] In one embodiment, referring to Figure 2 , the joint axis of the fifth joint module 10, the joint axis of the sixth joint module 12 and the joint axis of the seventh joint module 14 intersect at one point.

[0035] As an example, the joint axes of the fifth joint module 10, the sixth joint module 12 and the seventh joint module 14 intersect at one point, and the joint axes of the three joint modules of the shoulder joint intersect at one point, which can be regarded as a virtual spherical joint, and can rotate in three directions around this intersection at the same time, similar to the human shoulder, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the fifth joint module 10 is perpendicular to the joint axis of the sixth joint module 12, and the joint axis of the sixth joint module 12 is perpendicular to the joint axis of the seventh joint module 14; when the sixth joint module 12 is in the first state, the joint axis of the fifth joint module 10 is perpendicular to the joint axis of the seventh joint module 14; when the sixth joint module 12 changes from the first state to the second state, the joint axis of the fifth joint module 10 is parallel or coaxial with the joint axis of the seventh joint module 14. In addition, the joint axes of the third joint module 4, the joint axes of the fourth joint module 7 and the joint axes of the fifth joint module 10 intersect at one point, which can be regarded as a virtual spherical joint, and can rotate in two directions around this intersection at the same time, similar to the elbow or knee of the human body, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the third joint module 4 and the joint axis of the fourth joint module 7 are perpendicular to each other, and the joint axis of the fourth joint module 7 and the joint axis of the fifth joint module 10 are perpendicular to each other; when the fourth joint module 7 is in the first state, the joint axis of the third joint module 4 and the joint axis of the fifth joint module 10 are parallel or coaxial to each other; when the fourth joint module 7 changes from the first state to the second state, the joint axis of the third joint module 4 and the joint axis of the fifth joint module 10 are perpendicular to each other. The joint axis of the third joint module 4, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 intersect at one point, which can be regarded as a virtual spherical joint. The joint axis can rotate in two directions around this intersection at the same time, similar to the human wrist or ankle, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the third joint module 4 is perpendicular to the joint axis of the second joint module 2, and the joint axis of the second joint module 2 is perpendicular to the joint axis of the first joint module 1; when the joint axis of the second joint module 2 changes from the first state to the second state, the joint axis of the first joint module 1 and the joint axis of the third joint module 4 change from being parallel or coaxial to being perpendicular to each other.

[0036] In one embodiment, referring to Figure 2The connecting piece in the transmission assembly is set as a single-sided arm connecting piece or a double-sided arm connecting piece; the single-sided arm connecting piece includes a connecting body and a first transfer arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first transfer arm is used to be fixedly connected to the output end of another joint module; the double-sided arm connecting piece includes a connecting body and a first transfer arm and a second transfer arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of another joint module.

[0037] As an example, the connecting member in the transmission assembly is set as a single-sided arm connecting member or a double-sided arm connecting member; the single-sided arm connecting member includes a connecting body and a first connecting arm, the first connecting arm extends from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first connecting arm is used to be fixedly connected to the output end of another joint module, so as to realize forward or reverse rotation of one joint module to drive the other joint module to rotate around the joint axis of the joint module.

[0038] In one example, the double-sided arm connector includes a connecting body and a first transfer arm and a second transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of another joint module, so that one joint module can rotate forward or reverse to drive another joint module to rotate around the joint axis of the joint module. In this example, the connectors in the transmission assembly include a first connector 3, a second connector 5, a third connector 8, a fourth connector 9, a fifth connector 11 and a sixth connector 13, and these connectors can all be set as single-sided arm connectors or double-sided arm connectors, and can achieve a connection effect; in addition, the double-sided arm connector can enhance the connection stiffness and increase the life of the transmission assembly compared to the single-sided arm connector.

[0039] An embodiment of the present invention provides an intelligent service system, including a manipulator and a transmission assembly; in the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged at the output end of the first joint module 1 of the wrist joint unit.

[0040] As an example, the intelligent service system includes a manipulator and a transmission assembly; in the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged on the output end of the first joint module 1 of the wrist joint unit. The transmission assembly includes a transmission device and a connecting joint assembly, and the transmission device specifically includes a first joint module 1, a second joint module 2 and a first connecting member 3; during installation, the joint axis of the first joint module 1 is set along the first direction, and the joint axis of the second joint module 2 is set along the second direction, and the first direction is perpendicular to the second direction; the output end of the first joint module 1 is used to install the manipulator to realize the control of the manipulator movement. The forward or reverse rotation of the first joint module 1 can control the mechanical actuator to rotate around the joint axis of the first joint module 1 to perform radial flexion and ulnar flexion movements, realizing a swing similar to that of a human wrist joint, where the swing can be up and down, or left and right, and the joint angle can be close to ±180°, expanding the swing range. The fixed end of the first joint module 1 is connected to the output end of the second joint module 2 through the first connecting member 3. The second joint module 2 rotates forward or reversely. The first connecting member 3 can drive the first joint module 1 to rotate around the joint axis of the second joint module 2, and the mechanical actuator can be controlled to rotate around the joint axis of the second joint module 2 to perform wrist flexion and wrist extension movements, so as to achieve a swing similar to that of a human wrist joint. The swing here can be up and down swing, or left and right swing, and the joint angle can be close to ±180°, expanding the swing range. In this example, there is a pivot structure between the first joint module 1 and the mechanical actuator. The mechanical actuator can be directly connected to the output end of the first joint module 1, and there is no need to install the end mounting seat, which increases the joint stability and enables the transmission assembly to obtain better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles; the joint direct connection method is adopted, without coupling, the structure is simpler, the cost is low, and the joint angle can be close to ±180°; the first joint module 1 and the second joint module 2 cooperate, so that the transmission device has two degrees of freedom, which is more flexible, has a wider range of motion and is more human-like.

[0041] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint unit, the connecting joint assembly can be an elbow joint unit or a shoulder joint unit or both. Different combinations are designed according to actual needs.

[0042] As an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit. When the connecting joint assembly includes only the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 15. The movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint unit is controlled by the elbow joint unit. When the connecting joint assembly includes only the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15. The movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint unit is controlled by the shoulder joint unit. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, and the movement of the elbow joint unit and the wrist joint unit are controlled by the shoulder joint unit.

[0043] An embodiment of the present invention provides an intelligent mobility system, including a mechanical foot and a transmission assembly; in the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; the mechanical foot is arranged at the output end of the first joint module 1 of the ankle joint unit.

[0044] As an example, the intelligent mobile system includes a mechanical sole and a transmission assembly; in the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; the mechanical sole is arranged on the output end of the first joint module 1 of the ankle joint unit. The transmission assembly includes a transmission device and a connecting joint assembly, and the transmission device specifically includes a first joint module 1, a second joint module 2 and a first connecting member 3; when installing, the joint axis of the first joint module 1 is set along the first direction, and the joint axis of the second joint module 2 is set along the second direction, and the first direction is perpendicular to the second direction; the output end of the first joint module 1 is used to install the mechanical sole to realize the control of the mechanical sole movement. The first joint module 1 can control the mechanical actuator to rotate around the joint axis of the first joint module 1 to perform radial flexion and ulnar flexion movements by forward or reverse rotation, so as to realize the swing similar to the human ankle joint, where the swing can be up and down swing, or left and right swing, and the joint angle can be close to ±180°, expanding the swing range. The fixed end of the first joint module 1 is connected to the output end of the second joint module 2 through the first connecting member 3. The second joint module 2 rotates forward or reversely. The first connecting member 3 can drive the first joint module 1 to rotate around the joint axis of the second joint module 2, and the mechanical actuator can be controlled to rotate around the joint axis of the second joint module 2 to perform wrist flexion and wrist extension movements, so as to achieve a swing similar to that of a human ankle joint. The swing here can be up and down swing or left and right swing, and the joint angle can be close to ±180°, expanding the swing range. In this example, there is a pivot structure between the first joint module 1 and the mechanical actuator. The mechanical actuator can be directly connected to the output end of the first joint module 1, and there is no need to install the end mounting seat, which increases the joint stability and enables the transmission assembly to obtain better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles; the joint direct connection method is adopted, without coupling, the structure is simpler, the cost is low, and the joint angle can be close to ±180°; the first joint module 1 and the second joint module 2 cooperate, so that the transmission device has two degrees of freedom, which is more flexible, has a wider range of motion and is more human-like.

[0045] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit or both, and different combinations are designed according to actual needs.

[0046] As an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit. When the connecting joint assembly only includes the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 15, and the movement of the transmission device is controlled by the first sub-joint, that is, the movement of the ankle joint unit is controlled by the knee joint unit. When the connecting joint assembly only includes the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15, and the movement of the transmission device is controlled by the second sub-joint, that is, the movement of the ankle joint unit is controlled by the hip joint unit. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 15, that is, the movement of the ankle joint unit is controlled by the knee joint unit, and the movement of the knee joint unit and the ankle joint unit are controlled by the hip joint unit.

[0047] An embodiment of the present invention provides an intelligent terminal, including a main body, and also including an intelligent service system and / or an intelligent mobile system; the intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body. As an example, the intelligent terminal includes a main body and also includes an intelligent service system and / or an intelligent mobile system; the intelligent service system is set at a first position of the main body, and the intelligent mobile system is set at a second position of the main body; in this example, when the control system receives information on the change in posture of the mechanical actuator, the control system can calculate the updated value of the joint angle of each joint module based on the inverse kinematics of the intelligent service system or the intelligent mobile system, and then input the updated value into each joint module, so that the joint angle of the joint module reaches a predetermined position, thereby driving the posture of the mechanical actuator to change. The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A transmission device, characterized in that: It includes a first joint module, a second joint module and a first connecting piece; The joint axis of the first joint module is arranged along a first direction, the joint axis of the second joint module is arranged along a second direction, and the first direction is perpendicular to the second direction; The fixed end of the first joint module is connected to the output end of the second joint module through the first connecting member, and the output end of the first joint module is used to connect a mechanical actuator.

2. The transmission device according to claim 1, characterized in that: Also includes a third joint module and a second connecting member; The joint axis of the third joint module is arranged along the first direction; The second joint module is connected to the output end of the third joint module through the second connecting piece, and the fixed end of the third joint module is used to be connected to the output end of the connecting joint assembly.

3. The transmission device according to claim 1, characterized in that: It also includes an output flange, which is connected to the output end of the first joint module and is used for installing a mechanical actuator.

4. The transmission device according to claim 1, characterized in that: The first connecting member includes a first connecting portion and a second connecting portion extending from a side edge of the first connecting portion in a direction perpendicular to the first connecting portion; The first connection portion is connected to the fixed end of the first joint module, and the second connection portion is connected to the output end of the second joint module.

5. The transmission device according to claim 2, characterized in that: The second connecting member includes a connecting shaft and a third connecting portion extending from one end of the connecting shaft along the axial direction of the connecting shaft; The other end of the connecting shaft is connected to the output end of the third joint module, and the third connecting portion is connected to the portion of the second joint module close to the output end.

6. A transmission assembly, characterized in that: A transmission device and a connecting joint assembly comprising any one of claims 1 to 5, wherein the connecting joint assembly comprises a first sub-joint and / or a second sub-joint; The output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed.

7. The transmission assembly according to claim 6, characterized in that: The first sub-joint includes a fourth joint module, a third connecting member and a fourth connecting member; The joint axis of the fourth joint module is arranged along the second direction; The output end of the fourth joint module is connected to the fixed end of the transmission device through the third connecting member, and the fixed end of the fourth joint module is connected to the output end of the structure to be installed or the second sub-joint through the fourth connecting member.

8. The transmission assembly according to claim 6, characterized in that: The second sub-joint includes a fifth joint module, a fifth connecting piece, a sixth joint module, a sixth connecting piece, a seventh joint module and a structure to be installed; The joint axis of the fifth joint module is arranged along the first direction; The joint axis of the sixth joint module is arranged along the third direction; The joint axis of the seventh joint module is arranged along the second direction; The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module is connected to the output end of the sixth joint module through the fifth connecting piece, the sixth joint module is connected to the output end of the seventh joint module through the sixth connecting piece, and the fixed end of the seventh joint module is used to be connected to the structure to be installed.

9. The transmission assembly according to claim 8, characterized in that: The joint axis of the fifth joint module, the joint axis of the sixth joint module and the joint axis of the seventh joint module intersect at one point.

10. The transmission assembly according to claim 8, characterized in that: The connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member; The single-side arm connecting member includes a connecting body and a first transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first transfer arm is used to be fixedly connected to an output end of another joint module; The double-sided arm connecting member includes a connecting body and a first transfer arm and a second transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body. The connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of another joint module.

11. An intelligent service system, characterized in that: Comprising a manipulator and a transmission assembly as claimed in any one of claims 6 to 10; In the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; The manipulator is arranged at the output end of the first joint module of the wrist joint unit.

12. An intelligent mobile system, characterized in that: It comprises a mechanical foot and a transmission assembly as claimed in any one of claims 6 to 10; In the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; The mechanical sole is arranged at the output end of the first joint module of the ankle joint unit.

13. An intelligent terminal, comprising a main body, characterized in that: Also includes the intelligent service system according to claim 11 and / or the intelligent mobile system according to claim 12; The intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body.

Images