Parallel dual-drive module

Abstract

The invention relates to a parallel type dual-drive module which comprises a drive motor, a speed reducer, a transmission part, a supporting part and an output flange. The driving motor and the speed reducer are arranged side by side, and two sets of driving devices are arranged in the module and used for controlling the pitching freedom degree and the side-sway freedom degree respectively. The driving module can move independently and is suitable for a shank or a forearm, and control over the pitching freedom degree and the side-sway freedom degree of the joint is achieved through coordinated movement of the two sets of driving devices, or multi-freedom-degree movement is achieved through linkage control; a driving motor, a speed reducer and a transmission part are integrated in a sealing cavity, a plurality of groups of driving devices are symmetrically arranged to improve load balance and motion stability, and an expansion interface is reserved to integrate a sensor or a servo control element. The technical problems that in the prior art, a joint module is heavy, poor in flexibility and low in reliability and maintainability due to the fact that the transverse size is too large, the structure is bloated and the integration degree is low are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment and humanoid robots, and specifically relates to a parallel dual-drive module Background Art

[0002] In the field of humanoid robots and collaborative robots, existing joint modules usually use a drive motor and a reducer in series. Although this traditional design method is widely used, it has many limitations and defects in actual use.

[0003] The horizontal dimensions are too large: The lateral dimensions of the joint modules arranged in series are long, which makes it difficult to make the overall structure compact, especially in the space-constrained positions such as the ankle joints and wrist joints of the humanoid robot. These joints need to achieve two degrees of freedom of movement, pitch and sway. The traditional design makes the calves and forearms look bulky, which does not meet the requirements of the slender and beautiful humanoid robots.

[0004] Inharmonious structure and bulky appearance: The existing joint module design lacks aesthetics, making the robot look bulky and not meeting the requirements of bionic design. This affects the acceptance of robots in medical, service and entertainment scenarios.

[0005] Bulky structure and low integration: To achieve two degrees of freedom control, multiple independent drive systems and additional support frames are usually required. This increases the weight and complexity of the module and reduces the flexibility and production efficiency of the robot.

[0006] High reliability and maintenance difficulty: Low integration and complex assembly structure lead to a large number of parts, high failure rate, and time-consuming and costly maintenance process.

[0007] Limitations of application scenarios: Due to their large lateral size and bulky structure, existing joint modules are difficult to meet the requirements of high simulation and flexible movements, limiting their performance in scenarios such as complex terrain or delicate operations.

[0008] The existence of the above problems shows that improving and innovating the design of joint modules is the key to improving the performance of humanoid robots and collaborative robots. Summary of the invention

[0009] In a possible embodiment, a parallel dual-drive module is provided, including: a drive motor, a reducer, a transmission component 31, a support component 32 and an output flange; wherein the drive motor and the reducer are arranged side by side, and two groups of drive devices are arranged in the module, which are respectively used to control the pitch degree of freedom and the roll degree of freedom; the drive module can move independently, and is suitable for the calf or the forearm, and the pitch degree of freedom and the roll degree of freedom of the joint are controlled by the coordinated movement of the two groups of drive devices, or multi-degree-of-freedom movement is achieved through linkage control; the drive motor, the reducer, the transmission component 31 and the support component 32 are integrated in a sealed cavity, and the sealed cavity provides protection for multiple groups of drive devices; the drive motor transmits power to the input end of the reducer through gears or pulleys or sprockets, and the output end of the reducer is connected to the external load through the output flange to realize the driving of the external load; the module adopts a symmetrical layout to improve load balance and motion stability; the module reserves an expansion interface for integrating sensors or servo control elements.

[0010] In a possible implementation manner, the sealing cavity isolates the driving cavity from the transmission cavity through a sealing ring and an oil seal to improve protection performance and service life.

[0011] In a possible implementation, the drive motor includes a motor stator, a multi-stage magnetic ring and a rotating shaft, wherein the motor stator is fixed to the support component 32, the multi-stage magnetic ring is fixed to the rotating shaft, and the rotating shaft is supported by a bearing and connected to the power wheel.

[0012] In a possible implementation, one end of the rotating shaft is connected to the encoder code disc through the code disc mounting shaft, and the encoder reader is mounted on the supporting component 32 to achieve real-time monitoring of the rotation state.

[0013] In a possible implementation, the transmission component 31 includes a gear transmission, a transmission belt, and a sprocket, wherein the gear transmission is used in high-precision scenarios, and the pulley and sprocket are used in scenarios with higher flexibility requirements.

[0014] In a possible implementation, the reducer includes a planetary reducer, a harmonic reducer or an RV reducer, which is used to meet the accuracy and load requirements of motion with different degrees of freedom.

[0015] In a possible implementation, the reducer output flange is connected to the output flange via an inner flange and is supported by a bearing to improve stability under high load conditions.

[0016] In one possible embodiment, a humanoid robot calf includes: a parallel dual-drive module as in the above possible embodiment; the parallel dual-drive module is installed on the robot calf to control the ankle joint, and the pitch freedom and lateral swing freedom control the forward and backward swing and left and right swing of the ankle through collaborative movement, or realize the linkage control of the ankle; and the supporting shell of the module is integrated with the calf supporting frame to optimize space utilization and reduce module weight.

[0017] In one possible embodiment, a humanoid robot forearm includes: a parallel dual-drive module as in the above possible embodiment; the parallel dual-drive module is installed on the robot forearm, and is used to control the wrist joint, and the pitch degree of freedom and the roll degree of freedom control the up and down rotation and left and right rotation of the wrist joint through collaborative movement, or realize the linkage control of the wrist joint; and the supporting shell of the module is integrated with the forearm supporting frame to optimize space utilization and reduce module weight.

[0018] Based on the above technical scheme, the parallel dual-drive module of the present invention integrates the drive motor, reducer, transmission component 31 and support component 32 in a sealed cavity, and realizes high-precision control of the joints with a symmetrical layout, while providing independent or linkage control of the pitch degree of freedom and the roll degree of freedom, thereby solving the complexity problem of multi-degree-of-freedom robot joint control, significantly improving the control accuracy, load balance and motion stability, and supporting function expansion through a reserved expansion interface, further improving adaptability and scalability. Beneficial Effects

[0019] The present invention provides a parallel dual-drive module, and its technical solution brings significant innovation and practical value, which is specifically reflected in the following aspects:

[0020] Compactness and coordination: By placing the drive motor and reducer side by side, the lateral size of the module is greatly shortened, making the humanoid robot more slender in appearance and more beautiful in structure. This compact design also significantly improves the overall coordination and movement balance.

[0021] Flexibility and performance improvement: The optionality of multiple transmission modes (such as gears, drive belts or idler pulleys) provides great flexibility for adapting to different loads and usage scenarios. By adjusting the transmission ratio of the motor and the reducer, you can flexibly balance between efficiency and accuracy to further optimize the overall performance of the system.

[0022] High performance and high efficiency: The dual-drive independent control mode can achieve high-precision independent control and support multi-degree-of-freedom linkage when controlling the pitch and roll degrees of freedom. The modular and highly integrated design not only improves the energy efficiency ratio, but also significantly enhances the accuracy and reliability of motion control.

[0023] Reduce production and maintenance costs: The modular and integrated structural design effectively reduces the number of parts and assembly complexity, significantly shortening the production cycle. The parts are more versatile and compatible, and the maintenance process is simplified, which further reduces the subsequent maintenance costs.

[0024] Wide applicability: This parallel dual-drive module can be widely used in humanoid robots, collaborative robots and other fields with high requirements for high precision and high flexibility (such as medical rehabilitation robots and industrial automation equipment), and has good versatility and expansion potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of a parallel dual-drive module.

[0025] Figure 2 It is a cross-sectional view of a parallel dual-drive module.

[0027] Figure 3 This is an exploded diagram of a parallel dual-drive module.

[0028] In the figure: 1. right support shell; 2. drive motor; 3. multi-stage magnetic ring; 4. rotating shaft; 5. bearing seat; 6. bearing seat end cover; 7. bearing one; 8. encoder reader; 9. encoder code disk; 10. code disk mounting shaft; 11. power wheel; 12. bearing two; 13. oil seal one; 14. idler wheel; 15. idler wheel shaft; 16. bearing three; 17. bearing four; 18. bearing end cover; 19. oil seal two; 20. output flange; 21. inner flange; 22. reducer; 23. bearing five; 24. bearing six; 25. driven spindle; 26. pin; 27. driven wheel; 28. seal ring one; 29. ​​seal ring two; 30. left support shell; 31. transmission component; 32. support component. DETAILED DESCRIPTION

[0029] like Figure 1-Figure 3 As shown, an embodiment of the present invention discloses a parallel dual-drive module including a drive motor 2, a reducer 22, a transmission component 31, a support component 3232 and an output flange 20. The drive motor 2 and the reducer 22 are arranged side by side to form a compact structure. Two sets of drive devices are arranged in the module, which are used to control the pitch freedom and the roll freedom, respectively. Each set of drive devices can operate independently, so as to achieve precise control of the pitch motion and roll motion of the joint. Through the coordinated control of the two sets of drive devices, multi-degree-of-freedom linkage motion can also be achieved to adapt to complex application scenarios.

[0030] In this embodiment, the driving motor 2 transmits power to the input end of the reducer 22 through gears, pulleys or sprockets. After being decelerated by the reducer 22, the output end is connected to the external load through the output flange 20, thereby driving the external mechanism to achieve the required movement. The driving motor 2, the reducer 22, the transmission component 31 and the support component 32 are all integrated in a sealed cavity, which not only provides reliable protection, but also simplifies the structural design of the module and improves the overall integration.

[0031] In order to ensure the smooth operation of the module under high load conditions, the module adopts a symmetrical layout design, which can effectively improve the balance of the load and the stability of the movement. The sealed cavity also provides environmental protection to prevent dust and moisture from entering, improving the durability and reliability of the module. In addition, in order to meet the needs of intelligent control, the module has reserved expansion interfaces for installing sensors or servo control components. These components can monitor the operating status of the module in real time, further improving the accuracy and adaptability of the system.

[0032] Through this design, the module can achieve efficient motion control in space-constrained locations, especially suitable for the motion joints of the calves and arms of humanoid robots. The high integration and modular design of the module reduce the complexity of production and maintenance, while also providing a wide range of possibilities for diverse scene applications.

[0033] like Figure 1-Figure 3 As shown in a possible implementation manner, the parallel dual drive module includes a sealed cavity, and the drive cavity and the transmission cavity are isolated by a sealing ring 28, a sealing ring 29 and an oil seal 13 to improve the protection performance and service life.

[0034] The sealed cavity of the parallel dual-drive module is divided into a drive cavity and a transmission cavity. In order to ensure the protection performance and service life of the module, the drive cavity and the transmission cavity are isolated by a sealing ring 28 and an oil seal 13. The sealing ring 28 and the oil seal 13 are respectively installed at the connection position of the sealed cavity to prevent dust, liquid or other contaminants from entering the drive cavity and the transmission cavity, and to prevent the lubricating oil inside the cavity from leaking into the external environment.

[0035] The sealing ring 28 has high wear resistance and good elasticity to adapt to the complex movement and sealing requirements inside the module. The oil seal 13 is made of high temperature and corrosion resistant materials, which can provide a stable sealing effect under high speed and high pressure difference conditions. Through this design, the drive chamber and the transmission chamber can operate independently, reducing mutual interference, thereby improving the overall working efficiency and reliability of the module.

[0036] In addition, the optimized design of the sealing structure not only improves the protection level of the module, but also effectively extends the service life of the module. In actual use, the sealed cavity can adapt to a variety of complex environments, such as working scenes with high humidity, dust or corrosive gases, to ensure the stable operation of the module.

[0037] Through the cooperation of the sealing ring 28 and the oil seal 13, the module achieves efficient protection and isolation functions. This design is suitable for application scenarios with high requirements for environmental protection, such as joint modules of humanoid robots or collaborative robots.

[0038] like Figure 1-Figure 3 In a possible embodiment, the driving motor of the parallel dual-drive module includes a motor stator 2, a multi-stage magnetic ring 3 and a rotating shaft 4. The motor stator 2 is fixed on a support component 32 to provide a stable fixed support. The multi-stage magnetic ring 3 is fixedly connected to the rotating shaft 4, and the multi-stage magnetic ring 3 forms a rotating magnetic field through the electromagnetic action generated between the motor stator 2, thereby driving the rotating shaft 4 to rotate.

[0039] The two ends of the rotating shaft 4 are supported by bearing 1 7 and bearing 2 12. Bearing 1 7 is installed inside the bearing seat 5, and bearing 2 12 is installed on the supporting shell 1. This can effectively reduce the friction force when the rotating shaft rotates and improve the operating efficiency and stability of the system. One end of the rotating shaft 4 is connected to the power wheel 11, which is used to transmit the output power of the driving motor to the transmission component 31.

[0040] The multi-stage magnetic ring 3 is made of high magnetic flux density material, and its distribution design optimizes the magnetic field strength and energy utilization efficiency of the motor. The shaft 4 is made of high-strength alloy steel to ensure stable operation under high load conditions and improve the fatigue resistance and durability of the module.

[0041] Through this design, the drive motor can achieve high-efficiency and high-precision power output while maintaining a compact structure. The fixing method of the motor stator 2 and the support component 32 further enhances the overall mechanical strength of the module and adapts to high vibration and complex working environments. The close connection between the multi-stage magnetic ring 3 and the rotating shaft 4 ensures the efficient transmission of rotational power, thereby improving the performance of the module in robot joint applications.

[0042] like Figure 1-Figure 3 In a possible implementation, one end of the rotating shaft 4 of the parallel dual-drive module is connected to the encoder disc 9 through the disc mounting shaft 10. The encoder disc 9 is made of high-precision material and is provided with fine scales for recording the rotation angle and speed of the rotating shaft 4. The disc mounting shaft 10 transmits the movement of the rotating shaft 4 to the encoder disc 9, ensuring that the encoder can accurately capture the rotation information.

[0043] The encoder reader 8 is fixedly mounted on the support component 32, maintaining an appropriate distance from the encoder code disk 9, and is used to read the scale information on the code disk 9. The encoder reader 8 monitors the rotation state of the code disk 9 in real time by optical, magnetic or electric induction, converts the collected data into electrical signals, and transmits them to the control module. The control module realizes precise control and feedback adjustment of the module rotation state based on these signals.

[0044] In order to ensure the monitoring accuracy and stability, the code disc mounting shaft 10 is made of high-precision processing technology, and the connection with the rotating shaft 4 is fixed in a tightly matched manner to avoid slippage or offset problems during rotation. At the same time, the adjustment of the installation position of the encoder reader 8 has a fine-tuning function to ensure that the distance between the reader and the code disc is always in the best state, thereby improving the accuracy of monitoring.

[0045] Through this design, the cooperation between the encoder reader 8 and the encoder code disc 9 enables the module to monitor the rotation state of the shaft 4 in real time and provide accurate angle and speed feedback data. This design is suitable for robot joint control scenarios with high precision requirements, such as the ankle and wrist joints in humanoid robots, to ensure the stability and accuracy of their motion control.

[0046] like Figure 1-Figure 3 As shown in a possible implementation manner, the transmission component 31 of the parallel dual-drive module can be selected from gear transmission, transmission belt or sprocket according to specific application requirements.

[0047] Gear transmission: Gear transmission is suitable for high-precision motion control scenarios, such as when robot joints require strict angle control. Gears are made of high-strength alloy steel and are precision machined and surface hardened to ensure transmission accuracy and durability. The meshing method of the gears optimizes power transmission efficiency while reducing mechanical losses and noise during the transmission process.

[0048] Drive belts: Drive belts are suitable for applications that require high flexibility, such as joint control of complex movement patterns. Drive belts are made of wear-resistant rubber or high-performance composite materials, with strong tensile resistance and durability. The elastic properties of the drive belt enable it to effectively absorb vibrations, reduce the operating noise of the system, and adapt to rapid start and stop conditions.

[0049] Sprocket drive: Sprocket drive is suitable for scenarios with longer transmission distances or larger torque requirements. The sprocket is made of high-strength steel and the chain part is treated with corrosion resistance to adapt to complex working environments. The rigidity of the sprocket drive enables it to maintain stable power transmission under high load conditions while reducing the risk of mechanical slippage.

[0050] According to actual needs, the above transmission methods can be flexibly selected or used in combination to achieve optimized performance. For example, in scenarios where high joint control accuracy is required, gear transmission can be used as the main transmission method, and transmission belts or sprockets can be used in parts that require flexible adjustment.

[0051] This design not only improves the adaptability and flexibility of the module, but also optimizes cost and performance according to different application scenarios, enabling the module to operate efficiently in a variety of scenarios such as humanoid robots, collaborative robots, and industrial automation equipment.

[0052] like Figure 1-Figure 3 As shown in a possible implementation, the reducer of the parallel dual-drive module can select a planetary reducer, a harmonic reducer or an RV reducer to adapt to the accuracy and load requirements of different degrees of freedom.

[0053] Planetary reducer: Planetary reducer is suitable for scenarios with medium precision and load requirements. It has a compact structure and high transmission efficiency. Planetary reducer realizes power transmission through the distributed transmission of multiple planetary gears. Its advantage is that it can provide a large reduction ratio and high efficiency in a small volume. The material of planetary reducer is usually high-strength alloy steel, and the surface is quenched to enhance wear resistance and service life.

[0054] Harmonic reducer: Harmonic reducer is suitable for scenarios with high precision and low load requirements, such as when robot joints require extremely small positioning errors. Harmonic reducer uses the elastic deformation of flexible gears and the interaction of wave generators to achieve deceleration, with the characteristics of zero backlash and high reduction ratio. Its materials are usually high-strength aluminum alloy or stainless steel to ensure accuracy and long-term reliability.

[0055] RV reducer: RV reducer is suitable for scenarios with high load and high precision requirements, such as when industrial robots or collaborative robots need to withstand large external forces. RV reducer achieves high torque transmission and low noise operation by engaging multiple teeth at the same time. It has strong rigidity, high precision and strong durability, and can provide stable power output under heavy load conditions.

[0056] The above reducer types can be flexibly selected according to the actual application scenario. For example, in the robot calf joint with a large load, the RV reducer can be preferred to ensure stability; in the scenario where high-precision motion is required, the harmonic reducer can be selected to meet the needs of fine operation. Through this design, the reducer can provide accurate and stable power support in multi-degree-of-freedom motion control, thereby improving the overall performance of the module.

[0057] like Figure 1-Figure 3In a possible embodiment, the output flange 20 of the reducer 22 of the parallel dual-drive module is connected to the output flange 20 through the inner flange 21. The inner flange 21 is made of high-strength metal material, which can effectively transmit the torque of the output end of the reducer while ensuring the reliability and fatigue resistance of the connection. The inner flange 21 and the output flange 20 are threaded or keyed to reduce the risk of slippage and looseness during the transmission process.

[0058] The output flange 20 is directly connected to the external load and is used to drive the external mechanism to achieve the predetermined movement. The output flange 20 is supported by the bearing four 17, and the bearing is installed on the support housing 1 to ensure the smooth operation of the output flange 20 under high load or high speed conditions. The bearing four 17 uses a deep groove ball bearing or a cross roller bearing to meet the requirements of accuracy and durability in different scenarios.

[0059] The structure of the inner flange 21 and the output flange 20 is optimized to reduce weight while maintaining high strength, thereby reducing the overall load of the module. In order to improve adaptability, the size of the flange and the layout of the mounting holes reserve space for flexible adjustment to be compatible with different types of external load connections.

[0060] Through this design, the power at the output end of the reducer 22 can be smoothly transmitted to the external system, while maintaining the stability and accuracy of movement under high load conditions. This structure is suitable for robot joints that have high requirements for load balance and operational reliability, especially in industrial robots or collaborative robots, and can significantly improve the operating performance and service life of the module.

[0061] like Figure 1-Figure 3 In a possible implementation, the humanoid robot calf adopts the parallel dual-drive module as described in claim 1. The module is installed on the support frame of the robot calf to control the movement of the ankle joint. By controlling the pitch freedom and the lateral freedom of the two independent drive devices respectively, the module can realize the front and back swing and left and right swing of the ankle. At the same time, through the coordinated control of the drive device, the multi-degree-of-freedom linkage movement of the ankle can also be realized to adapt to complex terrain or diverse movement requirements.

[0062] In order to optimize space utilization and reduce the weight of the module, the module's support shell and calf support frame adopt an integrated design. The support shell is made of lightweight materials, such as high-strength aluminum alloy or carbon fiber composite materials, which not only ensures structural strength but also reduces the overall weight of the module. The integrated design reduces the assembly links between components, improves the compactness and installation efficiency of the module, and enhances the overall rigidity and stability of the calf.

[0063] In terms of motion control, the module integrates high-precision sensors and servo control elements, which can monitor the motion state of joints in real time and provide precise control feedback. By adjusting the motion parameters of pitch and sway degrees of freedom, the module can simulate the natural motion trajectory of human ankles in walking, running and complex movements, and improve the robot's adaptability in various terrain environments.

[0064] This design enables the robot's calf to have higher load-bearing capacity and movement accuracy while maintaining high flexibility. It is suitable for fields such as service robots and medical humanoid robots that have high requirements for foot and ankle flexibility and movement coordination.

[0065] like Figure 1-Figure 3 In a possible embodiment, the humanoid robot forearm adopts the parallel dual-drive module as described in claim 1. The module is installed on the forearm support frame to control the movement of the wrist joint. Through two sets of independent drive devices, the module realizes precise control of the pitch freedom and the lateral swing freedom of the wrist joint, thereby supporting the up and down rotation and left and right rotation of the wrist joint. In addition, through the coordinated control of the drive device, the multi-degree-of-freedom linkage movement of the wrist joint can be realized to meet complex operation requirements.

[0066] The module's support shell and arm support frame adopt an integrated design, and the shell structure uses lightweight materials such as aluminum-magnesium alloy or high-performance composite materials, thereby significantly reducing weight while maintaining strength. This design effectively improves the flexibility and operating efficiency of the arm, while reducing the space occupied by the module, leaving more room for the integration of other components.

[0067] The module integrates high-precision sensors to monitor the movement of the wrist joint in real time and provide instant feedback adjustment through servo control elements. The control system can dynamically adjust the movement parameters of the wrist joint according to different task requirements, enabling the robot arm to complete delicate operations such as object grasping, tool use and complex assembly tasks.

[0068] Through this design, the robot arm has higher load-bearing capacity and flexibility while achieving high-precision motion control. This module is particularly suitable for use in service robots, medical rehabilitation robots, collaborative robots and other fields that require high flexibility and complex operating capabilities, helping to improve the overall performance and scope of application of robots.

Claims

1. A parallel dual-drive module, comprising: A driving motor (2), a speed reducer (22), a transmission component 31, a supporting component 3232 and an output flange (20); Features: The drive motor (2) and the reducer (22) are arranged side by side, and two sets of drive devices are arranged in the module, which are used to control the pitch freedom degree and the roll freedom degree respectively; The drive module can move independently and is suitable for the lower leg or lower arm. The pitch and roll degrees of freedom of the joints can be controlled through the coordinated movement of the two sets of drive devices, or multi-degree-of-freedom movement can be achieved through linkage control. The driving motor (2), the speed reducer (22) and the transmission component 31 are integrated in a sealed cavity, and the sealed cavity provides protection for multiple sets of driving devices; The driving motor (2) transmits power to the input end of the reducer (22) through a gear or a pulley or a sprocket, and the output end of the reducer (22) is connected to an external load through an output flange (20) to achieve driving of the external load; The modules are arranged symmetrically to improve load balance and motion stability; The module reserves an expansion interface for integrating sensors or servo control elements.

2. The parallel dual drive module according to claim 1, characterized in that: The sealing cavity isolates the driving cavity from the transmission cavity through a sealing ring (28) and an oil seal (13), thereby improving protection performance and service life.

3. The parallel dual drive module according to claim 1 or 2, characterized in that: The driving motor (2) comprises a motor stator (2), a multi-stage magnetic ring (3) and a rotating shaft (4), wherein the motor stator (2) is fixed to a supporting component 32, the multi-stage magnetic ring (3) is fixed to the rotating shaft (4), and the rotating shaft (4) is supported by a bearing (7) and connected to a power wheel (11).

4. The parallel dual drive module according to claim 3, characterized in that: One end of the rotating shaft (4) is connected to the encoder disc (9) via a disc mounting shaft (10), and the encoder reader (8) is mounted on the supporting component 32 to achieve real-time monitoring of the rotation state.

5. The parallel dual drive module according to claim 4, characterized in that: The transmission component 31 includes gear transmission, transmission belt and sprocket, wherein the gear transmission is used in high-precision scenarios, and the belt wheel and sprocket are used in scenarios with higher flexibility requirements.

6. The parallel dual-drive module according to claim 1, characterized in that: The reducer (22) comprises a planetary reducer, a harmonic reducer or an RV reducer, and is used to meet the accuracy and load requirements of movements with different degrees of freedom.

7. The parallel dual drive module according to claim 6, characterized in that: The output flange (20) of the reducer (22) is connected to the output flange (20) via an inner flange (21) and is supported by a bearing (23) to improve stability under high load conditions.

8. A humanoid robot calf, comprising: The parallel dual-drive module as described in claim 1 is characterized in that the parallel dual-drive module is installed on the robot calf to control the ankle joint, and the pitch degree of freedom and the lateral swing degree of freedom control the forward and backward swinging and left and right swinging of the ankle through joint collaborative movement, or realize the linkage control of the ankle; and the supporting shell of the module is integrated with the calf supporting frame to optimize space utilization and reduce module weight.

9. A humanoid robot forearm, comprising: The parallel dual-drive module as described in claim 1 is characterized in that the parallel dual-drive module is installed on the robot forearm to control the wrist joint, and the pitch degree of freedom and the roll degree of freedom control the up and down rotation and left and right rotation of the wrist joint through collaborative movement, or realize the linkage control of the wrist joint; and the supporting shell of the module is integrated with the forearm supporting frame to optimize space utilization and reduce module weight.

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