Integrated joint module, mechanical system and robot shank

Abstract

The invention provides an integrated joint module, a mechanical system and a robot shank, the integrated joint module comprises a first joint module and a second joint module, the first joint module and the second joint module are arranged side by side, the first joint module comprises a first motor and a first speed reducer which are electrically connected with each other, and the second joint module comprises a second motor and a second speed reducer which are electrically connected with each other; the first joint module comprises a first motor and a first speed reducer which are electrically connected with each other, the second joint module comprises a second motor and a second speed reducer which are electrically connected with each other, the first motor and the second motor are oppositely arranged, the first speed reducer and the second speed reducer are oppositely arranged, and the first joint module and the second joint module are both used for being connected with a part to be driven. Therefore, the output power of the to-be-driven part is enhanced, that is, the driving effect of the to-be-driven part is enhanced, and the transmission mechanism is uniformly stressed.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to an integrated joint module, a mechanical system, and a robotic calf. Background Art

[0002] The development of automation technology is inseparable from the development of drive mechanisms, or the foundation or core of the development of automation technology is the drive mechanism, conventional equipment with power output mechanisms or industrial robots (such as assembly robots, etc.), service robots (such as window cleaning robots, etc.), humanoid robots, quadruped robots, wheeled robots, etc. As one of the construction methods of the drive mechanism, the combination of motor and reducer is sometimes called a joint module. Of course, this is just an analogy name, not a new definition of the drive mechanism, and does not play a limiting role.

[0003] The joint module composed of the motor and the reducer has various configurations. This diversity is determined by the specific application scenario of the joint module, the specific location of the application equipment, the output power requirements, and other factors such as stability, installation accuracy, connection accuracy, and control convenience.

[0004] Based on the above factors, the existing design configuration of the joint module is mainly that the motor and the reducer output shaft are coaxial, etc. This configuration design method can only be applied to specific application scenarios and specific power requirements. When the scene needs to be changed and greater output power, higher installation accuracy, and connection accuracy are required, this configuration is not applicable. Summary of the invention

[0005] The embodiments of the present application provide an integrated joint module, a mechanical system and a robot calf to adapt to new application scenarios, installation accuracy, connection accuracy, control convenience and other requirements, and to improve the high power output in the scenario.

[0006] To solve the above problems, this application is implemented as follows:

[0007] In the first aspect, an embodiment of the present application provides an integrated joint module, comprising: a first joint module and a second joint module, the first joint module and the second joint module are arranged side by side, the first joint module comprises a first motor and a first reducer electrically connected to each other, the second joint module comprises a second motor and a second reducer electrically connected to each other, the first motor and the second motor are arranged opposite to each other, the first reducer and the second reducer are arranged opposite to each other, and the first joint module and the second joint module are both used to connect to the driven part.

[0008] In the embodiment of the present application, since the integrated joint module includes: a first joint module and a second joint module, that is, it includes two joint modules, the first joint module and the second joint module. When the integrated joint module is replaced with a scenario of driving the part to be driven, the above-mentioned first joint module and the second joint module can be connected to the part to be driven, thereby enhancing the output power to the part to be driven, that is, enhancing the driving effect of the part to be driven.

[0009] As an optional implementation, the direction of the output shaft of the first reducer is opposite to the direction of the output shaft of the second reducer, and the output shaft of the first reducer and the output shaft of the second reducer are respectively used to connect to the driven member.

[0010] In the implementation manner of the present application, the direction of the output shaft of the first reducer is opposite to the direction of the output shaft of the second reducer, and when the first reducer and the second reducer are connected to the driven member, the driving stability of the driven member is further enhanced, that is, the control of the driven member can be made more convenient, and the convenience of controlling the driven member is enhanced. The above-mentioned "opposite" includes opposite and opposite. Opposite refers to the two output shafts facing outward, such as the case of the embodiment in the following implementation manner, and opposite refers to the two output shafts facing inward, such as keeping the direction of the two joint modules in the following embodiment unchanged and swapping their positions so that the output shaft is between the two joint modules. This opposite scheme can make it easier to connect a transmission mechanism and make the transmission mechanism located on the midline.

[0011] As an optional implementation, the integrated joint module includes a module shell, and the first joint module and the second joint module are both located in the module shell.

[0012] In the embodiment of the present application, the first joint module and the second joint module are both located in the module shell, so that the module shell can enhance the accommodation effect of the first joint module and the second joint module, and further enhance the positioning and limiting effect of the first joint module and the second joint module, so as to facilitate the respective control of the distance between the first joint module and the second joint module and the driven part, thereby enhancing the installation accuracy and connection accuracy of the first joint module and the second joint module.

[0013] As an optional embodiment, the module housing includes a first housing portion and a second housing portion, the first joint module is located in the first housing portion, and the second joint module is located in the second housing portion;

[0014] The first shell portion and the second shell portion are detachably connected; or the first shell portion and the second shell portion are an integrally formed structure.

[0015] In the implementation manner of the present application, when the first shell portion and the second shell portion are detachably connected, the first shell portion and the second shell portion can be processed separately, and then the first shell portion and the second shell portion are assembled to obtain a module shell. In this way, the manufacturing cost of the module shell can be reduced and the assembly efficiency of the module shell can be improved; when the first shell portion and the second shell portion are an integrally formed structure, the connection strength between the first shell portion and the second shell portion can be enhanced.

[0016] As an optional embodiment, the first joint module includes a first annular driving plate, a first gap is formed between the first motor and the first reducer and the inner wall of the module housing, the first annular driving plate is arranged in the first gap, and the first annular driving plate is electrically connected to the first motor; and / or,

[0017] The second joint module includes a second annular drive plate, a second gap is formed between the second motor and the second reducer and the inner wall of the module housing, the second annular drive plate is arranged in the second gap, and the second annular drive plate is electrically connected to the second motor.

[0018] In the embodiment of the present application, the first annular drive plate is arranged in the first gap, and the second annular drive plate is arranged in the second gap, so that the volume of the entire integrated joint module can be reduced, the utilization rate of the space in the module shell is improved, and the use cost is reduced. At the same time, the first annular drive plate can enhance the control effect of the first motor, and the second annular drive plate can enhance the control effect of the second motor, that is, enhance the control convenience of the first motor and the second motor.

[0019] As an optional implementation, the first joint module includes a first synchronous transmission mechanism, and the first motor and the first reducer are connected via the first synchronous transmission mechanism; and / or,

[0020] The second joint module includes a second synchronous transmission mechanism, and the second motor and the second reducer are connected via the second synchronous transmission mechanism.

[0021] In the implementation manner of the present application, the first motor and the first reducer are connected via a first synchronous transmission mechanism, so that the first motor can drive the first reducer to move synchronously, and the first synchronous transmission mechanism enhances the transmission effect between the first motor and the first reducer; similarly, the second motor and the second reducer are connected via a second synchronous transmission mechanism, so that the second motor can drive the second reducer to move synchronously, and the second synchronous transmission mechanism enhances the transmission effect between the second motor and the second reducer.

[0022] As an optional implementation, the first motor and the first reducer are arranged side by side, and the direction of the axis of the first motor is parallel to the direction of the axis of the first reducer; and / or,

[0023] The second motor and the second reducer are arranged side by side, and the direction of the axis of the second motor is parallel to the direction of the axis of the second reducer.

[0024] In the implementation manner of the present application, the first motor and the first reducer are arranged side by side, and the second motor and the second reducer are arranged side by side, which can save the installation space in the integrated joint module and improve the utilization rate of the installation space.

[0025] As an optional implementation, the first motor includes a first rotor, and the blades of the first rotor are profiled blades; and / or,

[0026] The second motor includes a second rotor, and the blades of the second rotor are profiled blades.

[0027] In the embodiment of the present application, the blades of the first rotor and / or the blades of the second rotor are contoured blades, and the contoured blades can be understood as contoured blades that are similar to or the same as the shape of leaves. In this way, the contoured blades can act as a fan to drive the air flow, thereby conveniently removing the heat generated by the rotation of the first rotor and / or the second rotor, thereby enhancing the heat dissipation effect.

[0028] As an optional embodiment, the first joint module further includes a first rear cover, the first rear cover abuts against the module housing, and the first motor is located in a space enclosed by the first rear cover and the module housing; and / or,

[0029] The second joint module also includes a second rear cover, which is in contact with the module housing. The second motor is located in a space formed by the second rear cover and the module housing.

[0030] In the embodiment of the present application, the first motor is located in the space formed by the first rear cover and the module shell, and the second motor is located in the space formed by the second rear cover and the module shell. In this way, the limiting effect on the first motor and the second motor can be enhanced, as well as the positioning effect on the first motor and the second motor can be enhanced.

[0031] As an optional implementation manner, at least one first heat dissipation hole is provided on the first rear cover, and the first heat dissipation hole is arranged opposite to the first motor; and / or,

[0032] The second rear cover is provided with at least one second heat dissipation hole, and the second heat dissipation hole is arranged opposite to the second motor.

[0033] In the embodiment of the present application, at least one first heat dissipation hole is arranged on the first back cover, and the first heat dissipation hole is arranged opposite to the first motor, so that the heat dissipation effect of the heat generated by the first motor can be further enhanced. At least one second heat dissipation hole is arranged on the second back cover, and the second heat dissipation hole is arranged opposite to the second motor, so that the heat dissipation effect of the heat generated by the second motor can be further enhanced. At the same time, the heat in the module casing can also be discharged through the first heat dissipation hole and the second heat dissipation hole, thereby avoiding the occurrence of heat accumulation in the module casing and improving the heat dissipation capacity of the integrated joint module.

[0034] As an optional embodiment, the first joint module further includes a first pressure cover, the first pressure cover abuts against the module shell, and the first reducer is located in a space enclosed by the first pressure cover and the module shell; and / or,

[0035] The second joint module also includes a second pressure cover, which is in contact with the module shell. The second reducer is located in a space enclosed by the second pressure cover and the module shell.

[0036] In the embodiment of the present application, the first reducer is located in the space formed by the first pressure cover and the module shell, thereby enhancing the positioning and limiting effect on the first reducer; the second reducer is located in the space formed by the second pressure cover and the module shell, thereby enhancing the positioning and limiting effect on the second reducer.

[0037] As an optional implementation, the first pressure cover and the first rear cover are arranged in a stepped manner, and the first rear cover is located at an upper step position, and the first pressure cover is located at a lower step position; and / or,

[0038] The second pressure cover and the second rear cover are distributed in a stepped manner, and the second rear cover is located at an upper step position, and the second pressure cover is located at a lower step position.

[0039] In the implementation mode of the present application, the position corresponding to the difference in setting height between the first rear cover and the first pressure cover is equivalent to reserving a setting space for the part to be driven, thereby enhancing the assembly effect of the integrated joint module and the part to be driven, and when the part to be driven is connected to the output shaft of the first reducer of the integrated joint module, the thickness of the part to be driven in the radial direction of the output shaft matches the difference, so that when the module housing encapsulates the first joint module and the part to be driven together, the overall thickness of the package is not so thick, and the difference is conducive to the movement of the part to be driven. Similarly, the position corresponding to the difference in setting height between the second rear cover and the second pressure cover is equivalent to reserving a setting space for the part to be driven, so that when the module housing encapsulates the second joint module and the part to be driven together, the overall thickness of the package is not so thick, and the difference in setting height between the second rear cover and the second pressure cover is conducive to the movement of the part to be driven.

[0040] As an optional embodiment, at least one of a first accommodating groove and a second accommodating groove is formed on the module housing, and the first motor and the first reducer are arranged side by side in the first accommodating groove; and / or,

[0041] The second motor and the second reducer are arranged side by side in the second accommodating groove.

[0042] In the embodiment of the present application, the first motor and the first reducer are arranged side by side in the first accommodating groove, and the second motor and the second reducer are arranged side by side in the second accommodating groove. In this way, the limiting effect on the first motor, the first reducer, the second motor and the second reducer can be enhanced.

[0043] As an optional embodiment, at least one of a first fixed shaft and a second fixed shaft is provided on the module housing;

[0044] The first reducer is connected to the first fixed shaft; and / or the second reducer is connected to the second fixed shaft.

[0045] In the implementation manner of the present application, a first fixed shaft and a second fixed shaft are provided on the module housing, that is, the first fixed shaft and the second fixed shaft can be pre-assembled on the module housing. During assembly, it is only necessary to directly connect the first reducer to the first fixed shaft and the second reducer to the second fixed shaft, so as to achieve the fixation of the first reducer and the second reducer, thereby improving the assembly efficiency and enhancing the fixing effect of the first reducer and the second reducer.

[0046] As an optional implementation, when the first joint module further includes a first motor encoder, the first motor encoder is arranged on a first part of the pulley included in the first synchronous transmission mechanism; and / or,

[0047] When the second joint module further includes a second motor encoder, the second motor encoder is arranged on a second partial pulley included in the second synchronous transmission mechanism.

[0048] In the implementation manner of the present application, the first motor encoder is arranged on the first part of the pulley, and the first motor is connected to the first part of the pulley, that is, the first motor drives the first motor encoder to rotate, so that the first motor encoder can more accurately calculate the output parameters of the first motor, and improve the accuracy of the determination result of the output parameters of the first motor. Similarly, the second motor encoder is arranged on the second part of the pulley, so that the second motor encoder can more accurately calculate the output parameters of the second motor, and improve the accuracy of the determination result of the output parameters of the second motor.

[0049] As an optional implementation, when the first joint module includes a first joint encoder, the first joint encoder is arranged on a first planetary gear train included in the first reducer; and / or,

[0050] When the second joint module includes a second joint encoder, the second joint encoder is arranged on a second planetary gear train included in the second reducer.

[0051] In the implementation manner of the present application, the first joint encoder is arranged on the first planetary gear train, so that the first planetary gear train can drive the first joint encoder to move, so that the first joint encoder can more accurately calculate the output parameters of the first reducer, thereby improving the accuracy of the determination result of the output parameters of the first reducer. Similarly, the second joint encoder is arranged on the second planetary gear train, so that the second joint encoder can more accurately calculate the output parameters of the second reducer, thereby improving the accuracy of the determination result of the output parameters of the second reducer.

[0052] As an optional implementation, at least one of the following is also included:

[0053] The first annular driving plate is bonded to the inner wall of the module housing;

[0054] The first annular driving plate is fixed to a raised threaded hole provided on the inner wall of the module housing by means of screws;

[0055] The second annular driving plate is bonded to the inner wall of the module housing;

[0056] The second annular driving plate is fixed in a raised threaded hole opened on the inner wall of the module housing by means of screws.

[0057] In the embodiment of the present application, the first annular drive plate is bonded to the inner wall of the module housing, which can enhance the fixing effect of the first annular drive plate, and the first annular drive plate is fixed to the raised threaded hole opened on the inner wall of the module housing by screws. In this way, it can be ensured that there is a certain distance between the first annular drive plate and the inner wall of the module housing, thereby enhancing the heat dissipation effect of the first annular drive plate. Similarly, the second annular drive plate is bonded to the inner wall of the module housing, which can enhance the fixing effect of the second annular drive plate, and the second annular drive plate is fixed to the raised threaded hole opened on the inner wall of the module housing by screws. In this way, it can be ensured that there is a certain distance between the second annular drive plate and the inner wall of the module housing, thereby enhancing the heat dissipation effect of the second annular drive plate.

[0058] As an optional implementation, a wire outlet hole is provided on the module housing.

[0059] In the implementation manner of the present application, a cable may be provided in the above-mentioned outlet hole, and the cable may be electrically connected to the components inside the module housing, thereby enhancing the power supply effect to the components inside the module housing.

[0060] As an optional embodiment, the module shell further includes a partition plate, which is arranged between the first joint module and the second joint module, and the first shell portion, the partition plate and the second shell portion are an integrally formed structure.

[0061] In the implementation mode of the present application, the above-mentioned partition can be used to isolate the first joint module and the second joint module, so that the isolation effect of the first joint module and the second joint module can be enhanced, and the first shell portion, the partition and the second shell portion are an integrally formed structure, so as to further enhance the structural strength of the module shell. At the same time, the first joint module and the second joint module can be connected to the partition respectively, so that the first joint module and the second joint module can dissipate heat through the partition, that is, the heat dissipation effect of the first joint module and the second joint module is further enhanced.

[0062] In the second aspect, the embodiment of the present application provides a mechanical system, including a transmission mechanism and the above-mentioned integrated joint module; the transmission mechanism is used to transmit the power of the first joint module and the second joint module to the driven part. The transmission mechanism can be one or more, and the transmission mechanism can be one or a combination of gear transmission, connecting rod transmission, chain transmission, synchronous belt transmission, etc. In this way, the transmission mechanism can enhance the transmission effect between the integrated joint module and the driven part.

[0063] As an optional implementation, the transmission mechanism includes a first transmission mechanism and a second transmission mechanism;

[0064] The first connection point of the first transmission mechanism is connected to the first joint module of the integrated joint module, and the second connection point of the first transmission mechanism is connected to the driven member; the distance between the first connection point of the first transmission mechanism and the second connection point of the first transmission mechanism is a first distance;

[0065] The first connection point of the second transmission mechanism is connected to the second joint module of the integrated joint module, and the second connection point of the second transmission mechanism is connected to the driven member; the distance between the first connection point of the second transmission mechanism and the second connection point of the second transmission mechanism is the second distance.

[0066] In the embodiment of the present application, the second connection point of the first transmission mechanism is connected to the part to be driven, and the second connection point of the second transmission mechanism is connected to the part to be driven, so that the first transmission mechanism and the second transmission mechanism are both connected to the part to be driven, thereby improving the transmission efficiency of the part to be driven and enhancing the transmission effect of the part to be driven.

[0067] As an optional implementation, the first distance and the second distance are equal.

[0068] In the implementation mode of the present application, since the first distance and the second distance are equal, that is, the present implementation mode can be applied to the driven part in which the first distance is equal to the second distance, and the first distance can be understood as the length of the transmission mechanism of the first joint module driving the driven part, and the second distance can be understood as the length of the transmission mechanism of the second joint module driving the driven part, that is, the transmission mechanism of the first joint module driving the driven part and the transmission mechanism of the second joint module driving the driven part can be uniformly stressed, thereby avoiding the occurrence of the above-mentioned bending deformation due to uneven stress.

[0069] In addition, since the length of the transmission mechanism of the first joint module driving the driven member is equal to the length of the transmission mechanism of the second joint module driving the driven member, the first transmission mechanism and the second transmission mechanism can synchronously drive the driven member to move, thereby further enhancing the driving effect on the driven member. Of course, the rotation speeds of the first joint module and the second joint module can also be different to achieve asynchronous driving of the driven member.

[0070] As an optional implementation, when it is necessary to drive the driven member to perform a more complex movement, the first distance and the second distance may be unequal.

[0071] In the implementation mode of the present application, since the first distance and the second distance are not equal, that is, the present implementation mode can be applied to the driven part in which the first distance and the second distance are not equal, and the first distance can be understood as the length of the transmission mechanism of the first joint module driving the driven part, and the second distance can be understood as the length of the transmission mechanism of the second joint module driving the driven part, which further increases the application scenarios of the mechanical system provided by the present application.

[0072] In addition, since the length of the transmission mechanism of the first joint module driving the driven part is not equal to the length of the transmission mechanism of the second joint module driving the driven part, the first transmission mechanism and the second transmission mechanism can drive the driven part to move asynchronously, thereby further enhancing the driving effect on the driven part, such as the orbital movement, cone-like rotation and other movement forms of the driven part.

[0073] As an optional embodiment, the first transmission mechanism and / or the second transmission mechanism is a connecting rod transmission mechanism. That is, in a specific application scenario, at least one of the first transmission mechanism and the second transmission mechanism is a connecting rod transmission mechanism. In the embodiment of the present application, the first transmission mechanism and / or the second transmission mechanism is a connecting rod transmission mechanism, so that the transmission efficiency is high, the transmission is stable, and the use cost is low.

[0074] As an optional implementation, the first transmission mechanism includes a first crank and a first connecting rod, and the second transmission mechanism includes a second crank and a second connecting rod;

[0075] The first connection point of the first connecting rod is connected to the output shaft of the first joint module through the first crank, and the second connection point of the first connecting rod is connected to the driven member; the output shaft of the first joint module is the output shaft of the first reducer.

[0076] The first connection point of the second connecting rod is connected to the output shaft of the second joint module through the second crank, and the second connection point of the second connecting rod is connected to the driven member; the output shaft of the second joint module is the output shaft of the second reducer.

[0077] In the implementation manner of the present application, by providing the first crank and the second crank, the driven member can be better driven to move, that is, the driving effect on the driven member can be further increased.

[0078] In a third aspect, an embodiment of the present application further provides a robot calf, comprising the mechanical system described in the second aspect.

[0079] In an embodiment of the present application, the robot calf includes the mechanical system in the above embodiment, and the mechanical system includes an integrated joint module, so that the flexibility of the application scenarios of the integrated joint module can be increased.

[0080] As an optional implementation, the robot calf is connected to the robot thigh, and the part to be driven is the robot foot;

[0081] When the robot shank and the robot thigh are in a relatively bent state, neither the first transmission mechanism included in the mechanical system nor the second transmission mechanism included in the mechanical system touches the robot thigh.

[0082] In the implementation manner of the present application, when the robot calf and the robot thigh are in a relatively bent state, the first transmission mechanism and the second transmission mechanism do not touch the robot thigh, thereby avoiding the interference between the first transmission mechanism, the second transmission mechanism and the robot thigh, and enhancing the bending effect of the robot thigh. At the same time, when the first transmission mechanism includes a first connecting rod and the second transmission mechanism includes a second connecting rod, the implementation manner can also shorten the length of the first transmission connecting rod and the second transmission connecting rod, thereby improving the compressive stability.

[0083] As an optional implementation, a receiving groove is provided on the robot calf, and the receiving groove and the module shell of the integrated joint module included in the mechanical system are an integrally formed structure.

[0084] In the implementation manner of the present application, the module shell that accommodates the groove and the integrated joint module is an integrally formed structure, which can be understood as the module shell that accommodates the groove and the integrated joint module is the same structure. In this way, there is no need to separately set up a connection structure between the integrated joint module and the robot calf, which simplifies assembly and increases structural strength. At the same time, there is no need to separately set up a module shell, which reduces the cost of use. In addition, the first motor, the first reducer, the second motor and the second reducer of the integrated joint module can directly contact the robot calf and can dissipate heat with the help of the robot calf, further enhancing the heat dissipation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0086] Figure 1A is an assembly diagram of the integrated joint module provided in an embodiment of the present application;

[0087] Figure 1B is an assembly diagram of a first joint module in the integrated joint module provided in an embodiment of the present application;

[0088] Figure 2is an exploded view of the first joint module in the integrated joint module provided in the embodiment of the present application;

[0089] Figure 3 It is a structural schematic diagram of the first joint module in the integrated joint module provided in the embodiment of the present application;

[0090] Figure 4 This is one of the structural schematic diagrams of the module housing in the integrated joint module provided in the embodiment of the present application;

[0091] Figure 5 This is the second structural schematic diagram of the module housing in the integrated joint module provided in the embodiment of the present application;

[0092] Figure 6 It is one of the structural schematic diagrams of the mechanical system provided in the embodiment of the present application;

[0093] Figure 7 This is the second structural diagram of the mechanical system provided in the embodiment of the present application;

[0094] Figure 8 The embodiment of this application provides Figure 6 One of the structural diagrams of the mechanical system shown in the figure when it is applied;

[0095] Fig. 9 The embodiment of this application provides Figure 6 The second structural diagram of the mechanical system shown in the figure when it is applied;

[0096] Fig.10 This is one of the structural schematic diagrams of the robot calf provided in the embodiment of the present application;

[0097] Fig.11 This is the second structural schematic diagram of the robot calf provided in the embodiment of the present application. DETAILED DESCRIPTION

[0098] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0099] The terms "first", "second" etc. in the embodiments of the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. In addition, the terms "include" and "have" and any variation thereof are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. In addition, "and / or" is used in the present application to represent at least one of connected objects, such as A and / or B and / or C, representing the inclusion of separate A, separate B, separate C, and A and B all exist, B and C all exist, A and C all exist, and 7 situations that A, B and C all exist.

[0100] See also Figure 1A , Figure 1B and Figure 2 , Figure 1A is an assembly diagram of the integrated joint module provided in the embodiment of the present application, Figure 1B is an assembly diagram of the first joint module 100 in the integrated joint module provided in the embodiment of the present application, Figure 2 is an exploded view of the first joint module 100 in the integrated joint module provided in the embodiment of the present application, such as Figure 1A , Figure 1B and Figure 2 As shown, the integrated joint module 1000 includes: a first joint module 100 and a second joint module 200, wherein the first joint module 100 and the second joint module 200 are arranged side by side. Fig.10 The first joint module 100 includes a first motor 10 and a first reducer 20 which are electrically connected to each other, and the second joint module 200 includes a second motor 201 and a second reducer 202 which are electrically connected to each other. The first motor 10 and the second motor 201 are arranged relatively to each other, and the first reducer 20 and the second reducer 202 are arranged relatively to each other. The first joint module 100 and the second joint module 200 are both used to connect to the driven part.

[0101] It should be noted that the specific type of the part to be driven is not limited here. Optionally, just as an example, when the integrated joint module 1000 is applied to a robot, the part to be driven can be at least one of the robot's foot, robot calf, robot thigh, dexterous hand, arm or other parts, or a certain part of the aforementioned parts that is ultimately driven by the integrated joint module 1000. Optionally again, when the integrated joint module 1000 is applied to equipment in other fields, the part to be driven can be a part of the equipment that is ultimately driven by the integrated joint module 1000.

[0102] The working principle of the embodiment of the present application can be described as follows:

[0103] Since the integrated joint module 1000 includes: the first joint module 100 and the second joint module 200, that is, it includes two joint modules, the first joint module 100 and the second joint module 200, when the integrated joint module 1000 is replaced with a scenario of driving the part to be driven, the above-mentioned first joint module 100 and the second joint module 200 can both be connected to the part to be driven, and the first joint module 100 and the second joint module 200 can both be used to drive the part to be driven, thereby enhancing the output power to the part to be driven, that is, enhancing the driving effect of the part to be driven.

[0104] Among them, the structures of the first joint module 100 and the second joint module 200 can be the same, so that the versatility of the first joint module 100 and the second joint module 200 can be improved, thereby reducing the production cost and maintenance cost of the integrated joint module 1000.

[0105] It should be noted that since the integrated joint module 1000 includes: the first joint module 100 and the second joint module 200, that is, the integrated joint module 1000 can include the first joint module 100 and the second joint module 200, which are joint modules with two degrees of freedom, that is, the joint modules with one degree of freedom each are packaged into an integrated joint module 1000 with two degrees of freedom, so that the packaged first joint module 100 and the second joint module 200 can still be connected to the part to be driven. Without reducing the degrees of freedom, it is convenient to arrange and adjust the connection accuracy with the part to be driven, for example, adjusting the connection distances between the first joint module 100 and the second joint module 200 and the part to be driven respectively to make them equal.

[0106] As an optional embodiment, the direction of the output shaft of the first reducer 20 is opposite to the direction of the output shaft of the second reducer 202, and the output shaft of the first reducer 20 and the output shaft of the second reducer 202 are respectively used to connect to the driven member.

[0107] In the embodiment of the present application, the direction of the output shaft of the first reducer 20 is opposite to the direction of the output shaft of the second reducer 202, and when the first reducer 20 and the second reducer 202 are connected to the driven member, the driving stability of the driven member is further enhanced, that is, the control of the driven member is made more convenient, thereby enhancing the convenience of controlling the driven member.

[0108] As an optional implementation, the integrated joint module 1000 includes a module shell 40 , and the first joint module 100 and the second joint module 200 are both located in the module shell 40 .

[0109] The specific shape and material of the module housing 40 are not limited here, and are only used as examples. Optionally, the shape of the module housing 40 can be circular, elliptical or rectangular, and the material of the module housing 40 can be plastic or metal, etc.

[0110] In the embodiment of the present application, the first joint module 100 and the second joint module 200 are both located in the module shell 40. In this way, the module shell 40 can enhance the accommodation effect of the first joint module 100 and the second joint module 200, and further enhance the positioning and limiting effect of the first joint module 100 and the second joint module 200, so as to facilitate the respective control of the distance between the first joint module 100 and the second joint module 200 and the driven part, thereby enhancing the installation accuracy and connection accuracy of the first joint module 100 and the second joint module 200.

[0111] As an optional embodiment, the module housing 40 includes a first housing portion 401 and a second housing portion 402 , the first joint module 100 is located in the first housing portion 401 , and the second joint module 200 is located in the second housing portion 402 ;

[0112] The first shell portion 401 and the second shell portion 402 are detachably connected; or, the first shell portion 401 and the second shell portion 402 are an integrally formed structure.

[0113] In the embodiment of the present application, when the first shell portion 401 and the second shell portion 402 are detachably connected, the first shell portion 401 and the second shell portion 402 can be processed separately, and then the first shell portion 401 and the second shell portion 402 are assembled to obtain the module shell 40. In this way, the manufacturing cost of the module shell 40 can be reduced and the assembly efficiency of the module shell 40 can be improved; when the first shell portion 401 and the second shell portion 402 are an integrally formed structure, the connection strength between the first shell portion 401 and the second shell portion 402 can be enhanced.

[0114] As an optional embodiment, the first joint module 100 includes a first annular driving plate 30, a first gap is provided between the first motor 10 and the first reducer 20 and the inner wall of the module housing 40, the first annular driving plate 30 is arranged in the first gap, and the first annular driving plate 30 is electrically connected to the first motor 10; and / or,

[0115] The second joint module 200 includes a second annular driving plate, and a second gap is provided between the second motor 201 and the second reducer 202 and the inner wall of the module housing 40, and the second annular driving plate is arranged in the second gap, and the second annular driving plate is electrically connected to the second motor 201.

[0116] The first annular driving plate 30 can control the movement of the first motor 10, and the second annular driving plate can control the movement of the second motor 201. Optionally, the first annular driving plate 30 can store a first control program, and the first control program can be used to control the movement of the first motor 10; similarly, the second annular driving plate can store a second control program, and the second control program can be used to control the movement of the second motor 201.

[0117] In the embodiment of the present application, the first annular driving plate 30 is arranged in the first gap, and the second annular driving plate is arranged in the second gap, so that the volume of the entire integrated joint module 1000 can be reduced, the utilization rate of the space in the module housing 40 is improved, and the use cost is reduced. At the same time, the first annular driving plate 30 can enhance the control effect of the first motor 10, and the second annular driving plate can enhance the control effect of the second motor 201, that is, the control convenience of the first motor 10 and the second motor 201 is enhanced.

[0118] As an optional implementation, the first joint module 100 includes a first synchronous transmission mechanism 70, and the first motor 10 and the first reducer 20 are connected via the first synchronous transmission mechanism 70; and / or,

[0119] The second joint module 200 includes a second synchronous transmission mechanism, and the second motor 201 and the second reducer 202 are connected via the second synchronous transmission mechanism.

[0120] It should be noted that the specific structures of the first synchronous transmission mechanism 70 and the second synchronous transmission mechanism are not limited here. Optionally, the first synchronous transmission mechanism 70 and the second synchronous transmission mechanism can both be at least one of the transmission components such as a transmission rod, a transmission belt and a transmission gear.

[0121] In the implementation manner of the present application, the first motor 10 and the first reducer 20 are connected via the first synchronous transmission mechanism 70, so that the first motor 10 can drive the first reducer 20 to move synchronously, and the first synchronous transmission mechanism 70 enhances the transmission effect between the first motor 10 and the first reducer 20; similarly, the second motor 201 and the second reducer 202 are connected via the second synchronous transmission mechanism, so that the second motor 201 can drive the second reducer 202 to move synchronously, and the second synchronous transmission mechanism enhances the transmission effect between the second motor 201 and the second reducer 202.

[0122] As an optional implementation, the first motor 10 and the first reducer 20 are arranged side by side, and the direction of the axis of the first motor 10 is parallel to the direction of the axis of the first reducer 20; and / or,

[0123] The second motor 201 and the second reducer 202 are arranged side by side, and the direction of the axis of the second motor 201 is parallel to the direction of the axis of the second reducer 202 .

[0124] In the embodiment of the present application, the first motor 10 and the first reducer 20 are arranged side by side, and the second motor 201 and the second reducer 202 are arranged side by side, which can save the installation space in the integrated joint module 1000 and improve the utilization rate of the installation space.

[0125] As an optional implementation, see Figure 3 , the first motor 10 includes a first rotor 11, and the blades 111 of the first rotor 11 are contoured blades; and / or,

[0126] The second motor 201 includes a second rotor, and the blades of the second rotor are profiled blades.

[0127] The first motor 10 may include a first rotor 11 and a first stator 12 , and the first rotor 11 may rotate relative to the first stator 12 to output a driving force.

[0128] The number of the blades 111 of the first rotor 11 may be multiple, and any two adjacent blades 111 among the multiple blades 111 may be arranged at equal intervals.

[0129] It should be noted that Figure 3 The rotation direction of the blades 111 of the first rotor 11 is not limited here. Optionally, the blades 111 of the first rotor 11 can be along Figure 3 The heat source 110 rotates counterclockwise in the direction of the blade 111 , and the heat flow direction can be from the direction of the blade 111 to the direction of the first rear cover 50 .

[0130] In the embodiment of the present application, the blades 111 of the first rotor 11 and / or the second rotor are contoured blades, and the contoured blades can be understood as contoured blades that are similar to or the same as the shape of leaves. In this way, the contoured blades can act as a fan to drive the air flow, thereby conveniently removing the heat generated by the rotation of the first rotor 11 and / or the second rotor, thereby enhancing the heat dissipation effect.

[0131] It should be noted that the corresponding description of the second rotor can refer to the corresponding description of the first rotor 11, and has the same beneficial technical effects, and the details are not repeated here.

[0132] As an optional implementation, see Figure 1B, the first joint module 100 further includes a first rear cover 50, the first rear cover 50 abuts against the module housing 40, and the first motor 10 is located in a space enclosed by the first rear cover 50 and the module housing 40; and / or,

[0133] The second joint module 200 further includes a second rear cover, which is in contact with the module housing 40 . The second motor 201 is located in a space enclosed by the second rear cover and the module housing 40 .

[0134] In the embodiment of the present application, the first motor 10 is located in the space enclosed by the first rear cover 50 and the module housing 40, and the second motor 201 is located in the space enclosed by the second rear cover and the module housing 40. In this way, the limiting effect on the first motor 10 and the second motor 201 can be enhanced, and the positioning effect on the first motor 10 and the second motor 201 can be enhanced.

[0135] It should be noted that the shape of the first back cover 50 can be adapted to the shape of the first motor 10, that is, when the first motor 10 is circular, the first back cover 50 can be circular, and when the first motor 10 is rectangular, the first back cover 50 can be rectangular; similarly, the shape of the second back cover can also be adapted to the shape of the second motor 201.

[0136] As an optional implementation, see Figure 3 , the first rear cover 50 is provided with at least one first heat dissipation hole 51, and the first heat dissipation hole 51 is arranged opposite to the first motor 10; and / or,

[0137] The second rear cover is provided with at least one second heat dissipation hole (located on the opposite side of the first heat dissipation hole 51 , not shown), and the second heat dissipation hole is arranged opposite to the second motor 201 .

[0138] Among them, when there are multiple first heat dissipation holes 51, optionally, the multiple first heat dissipation holes 51 can be evenly distributed on the first back cover 50, so that the heat dissipation effect at various positions of the first motor 10 can be better; optionally, the multiple first heat dissipation holes 51 can be concentratedly distributed relative to the heat accumulation position of the first motor 10, so that the heat dissipation efficiency of the heat generated by the first motor 10 can be improved.

[0139] The specific shape of the first heat dissipation hole 51 is not limited here. Optionally, the first heat dissipation hole 51 may be a rectangular hole. Alternatively, the first heat dissipation hole 51 may be a circular hole.

[0140] In the embodiment of the present application, at least one first heat dissipation hole 51 is provided on the first back cover 50, and the first heat dissipation hole 51 is arranged opposite to the first motor 10. In this way, the heat dissipation effect of the heat generated by the first motor 10 can be further enhanced. At the same time, the heat in the module housing 40 can also be discharged through the first heat dissipation hole 51 and the second heat dissipation hole, thereby avoiding the occurrence of heat accumulation in the module housing 40 and improving the heat dissipation capacity of the integrated joint module 1000.

[0141] Similarly, the second heat dissipation hole can also achieve the same beneficial technical effect as the first heat dissipation hole 51, and the details are not repeated here. That is, at least one second heat dissipation hole is provided on the second back cover, and the second heat dissipation hole is arranged opposite to the second motor 201, so as to further enhance the heat dissipation effect of the heat generated by the second motor 201.

[0142] As an optional implementation, see Figure 1B , Figure 2 and Figure 3 , the first joint module 100 further includes a first pressure cover 60, the first pressure cover 60 abuts against the module housing 40, and the first reducer 20 is located in a space enclosed by the first pressure cover 60 and the module housing 40; and / or,

[0143] The second joint module 200 further includes a second pressure cover, which is in contact with the module housing 40 . The second reducer 202 is located in a space enclosed by the second pressure cover and the module housing 40 .

[0144] The shape of the first gland 60 may also be adapted to the shape of the first reducer 20 , and the shape of the second gland may also be adapted to the shape of the second reducer 202 .

[0145] In the embodiment of the present application, the first reducer 20 is located in the space formed by the first pressure cover 60 and the module shell 40, so as to enhance the positioning and limiting effect on the first reducer 20; the second reducer 202 is located in the space formed by the second pressure cover and the module shell 40, so as to enhance the positioning and limiting effect on the second reducer 202.

[0146] As an optional implementation, see Figure 1B , Figure 2 and Figure 3 , the first pressure cover 60 and the first rear cover 50 are arranged in a stepped manner, and the first rear cover 50 is located at an upper step position, and the first pressure cover 60 is located at a lower step position; and / or,

[0147] The second pressure cover and the second rear cover are distributed in a stepped manner, and the second rear cover is located at an upper step position, and the second pressure cover is located at a lower step position.

[0148] Among them, the implementation mode of the present application can also be understood as: the first pressure cover 60 and the first back cover 50 are arranged on the same horizontal plane, and the distance between the first back cover 50 and the horizontal plane is greater than the distance between the first pressure cover 60 and the horizontal plane, that is, the setting height of the first back cover 50 can be greater than the setting height of the first pressure cover 60; similarly, the second pressure cover and the second back cover can also refer to the corresponding description of the above-mentioned first pressure cover 60 and the first back cover 50.

[0149] In this way, when the integrated joint module 1000 is applied to the part to be driven, the integrated joint module 1000 and the part to be driven can be connected through a transmission mechanism, and the thickness of the transmission mechanism can be smaller than the difference in setting height between the first rear cover 50 and the first pressure cover 60, and the thickness of the transmission mechanism can also be smaller than the difference in setting height between the second rear cover and the second pressure cover, thereby enhancing the overall aesthetics. At the same time, the position corresponding to the difference in setting height between the first rear cover 50 and the first pressure cover 60, and the position corresponding to the difference in setting height between the second rear cover and the second pressure cover are equivalent to reserving a setting space for the transmission mechanism, that is, reserving a suitable accommodating space for the transmission mechanism between the integrated joint module 1000 and the part to be driven, to facilitate its movement and enhance the assembly effect of the integrated joint module 1000 and the transmission mechanism.

[0150] That is, the position corresponding to the difference in setting height between the first rear cover 50 and the first pressure cover 60 is equivalent to reserving a setting space for the transmission mechanism, thereby enhancing the assembly effect of the integrated joint module and the transmission mechanism, and when the transmission mechanism is connected to the output shaft of the first reducer 20 of the integrated joint module, the thickness of the transmission mechanism in the radial direction of the output shaft matches the difference, so that when the first joint module 100 and the transmission mechanism are assembled together in the module housing 40, the overall thickness of the assembly is not so thick, and the difference is conducive to the movement of the transmission mechanism. Similarly, the position corresponding to the difference in setting height between the second rear cover and the second pressure cover is equivalent to reserving a setting space for the transmission mechanism, so that when the second joint module 200 and the transmission mechanism are assembled together in the module housing 40, the overall thickness of the assembly is not so thick, and the difference in setting height between the second rear cover and the second pressure cover is conducive to the movement of the transmission mechanism.

[0151] The specific structure of the transmission mechanism can be found in the corresponding description in the following text.

[0152] As an optional implementation, see Figure 4 and Figure 5 The module housing 40 is provided with at least one of a first accommodating groove 41 and a second accommodating groove, and the first motor 10 and the first reducer 20 are arranged side by side in the first accommodating groove 41; and / or,

[0153] The second motor 201 and the second reducer 202 are arranged side by side in the second receiving groove.

[0154] The first pressure cover 60 and the first back cover 50 can be used to close the first receiving groove 41, and the second pressure cover and the second back cover can be used to close the second receiving groove. In this way, the waterproof and dustproof effects can be enhanced.

[0155] Optionally, the first accommodating groove 41 and the second accommodating groove may be respectively disposed on two opposite surfaces of the module housing 40 , that is, the opening directions of the first accommodating groove 41 and the second accommodating groove may be opposite.

[0156] Alternatively, the first accommodating groove 41 and the second accommodating groove may be disposed on the same surface of the module housing 40 , that is, the opening directions of the first accommodating groove 41 and the second accommodating groove may be the same.

[0157] In the embodiment of the present application, the first motor 10 and the first reducer 20 are arranged side by side in the first accommodating groove 41, and the second motor 201 and the second reducer 202 are arranged side by side in the second accommodating groove, so as to enhance the limiting effect of the first motor 10, the first reducer 20, the second motor 201 and the second reducer 202.

[0158] As an optional implementation, see Figure 4 and Figure 5 The integrated joint module 1000 includes a module housing 40, and the module housing 40 is provided with at least one of a first fixed axis 43 and a second fixed axis;

[0159] The first reducer 20 is connected to the first fixed shaft 43; and / or the second reducer 202 is connected to the second fixed shaft.

[0160] In the embodiment of the present application, the module housing 40 is provided with a first fixed shaft 43 and a second fixed shaft, that is, the module housing 40 can be pre-assembled with the first fixed shaft 43 and the second fixed shaft, and during assembly, it is only necessary to directly connect the first reducer 20 with the first fixed shaft 43, and directly connect the second reducer 202 with the second fixed shaft, thereby improving assembly efficiency and enhancing the fixing effect of the first reducer 20 and the second reducer 202.

[0161] As an optional implementation, see Figure 1B and Figure 2The first synchronous transmission mechanism 70 includes a first partial transmission mechanism, the first partial transmission mechanism includes a first belt 71, a first partial pulley 72 and a third partial pulley 73, the first partial pulley 72 and the third partial pulley 73 are arranged at intervals, the first belt 71 is sleeved on the first partial pulley 72 and the third partial pulley 73, and the first belt 71 is respectively in contact with the first partial pulley 72 and the third partial pulley 73, the first motor 10 is connected to the first partial pulley 72, and the third partial pulley 73 is connected to the first reducer 20; and / or,

[0162] The second synchronous transmission mechanism includes a fourth part transmission mechanism, and the fourth part transmission mechanism includes a second belt, a second part pulley and a fourth part pulley (all located on the opposite side of the first synchronous transmission mechanism, not shown), the second part pulley and the fourth part pulley are arranged at intervals, the second belt is sleeved on the second part pulley and the fourth part pulley, and the second belt is respectively in contact with the second part pulley and the fourth part pulley, the second motor 201 is connected to the second part pulley, and the fourth part pulley is connected to the second reducer 202.

[0163] Among them, optionally, the first annular drive plate 30 is sleeved around the first belt 71, and the first annular drive plate 30 is non-contact with the first belt 71, and there is a gap, and the first belt 71, the first part pulley 72 and the third part pulley 73 themselves have thickness, so the first annular drive plate 30 can be understood as using the gap corresponding to the thickness of the first belt 71, the first part pulley 72 and the third part pulley 73 themselves for layout, and the gap corresponding to the thickness of the first belt 71, the first part pulley 72 and the third part pulley 73 themselves can be understood as: the gap between the first belt 71, the first part pulley 72, the third part pulley 73 and the inner wall of the module housing 40, so that there is no need to set up an additional accommodating space for the first annular drive plate 30, which further reduces the volume of the entire integrated joint module 1000, that is, makes the overall volume of the entire integrated joint module 1000 smaller.

[0164] Similarly, the second annular driving plate can also have the same beneficial technical effects as the first annular driving plate 30 described above.

[0165] In addition, the first transmission mechanism includes a first belt 71, a first pulley 72 and a third pulley 73, so that the driving effect of the first motor 10 on the first reducer 20 is stable and reliable, and at the same time, the transmission cost when the first motor 10 drives the first reducer 20 can be reduced. Similarly, the fourth transmission mechanism can also refer to the corresponding description of the first transmission mechanism, and the details are not repeated here.

[0166] It should be noted that when the first motor 10 drives the third part pulley 73 to rotate through the first part pulley 72 and the first belt 71, the second motor drives the fourth part pulley to rotate through the second part pulley and the second belt, and the integrated joint module 1000 includes a module housing 40, the rotation of the first part pulley 72, the first belt 71 and the third part pulley 73, as well as the rotation of the second part pulley, the second belt and the fourth part pulley can drive the flow of heat in the module housing 40, thereby further enhancing the heat dissipation effect of the integrated joint module 1000.

[0167] As an optional implementation, see Figure 1B and Figure 2 , when the first joint module 100 further includes a first motor encoder 13, the first motor encoder 13 is arranged on a first part pulley 72 included in the first synchronous transmission mechanism 70; and / or,

[0168] When the second joint module 200 further includes a second motor encoder, the second motor encoder is arranged on a second pulley included in the second synchronous transmission mechanism.

[0169] In the implementation mode of the present application, the first motor encoder 13 is arranged on the first part of the pulley 72, and the first motor 10 is connected to the first part of the pulley 72, that is, the first motor 10 drives the first motor encoder 13 to rotate, so that the first motor encoder 13 can more accurately calculate the output parameters of the first motor 10, thereby improving the accuracy of the determination result of the output parameters of the first motor 10; similarly, the second motor encoder is arranged on the second part of the pulley, and the second motor encoder can also more accurately calculate the output parameters of the second motor 201, thereby improving the accuracy of the determination result of the output parameters of the second motor 201.

[0170] As an optional implementation, see Figure 1B and Figure 2 , the first reducer 20 includes a first sun gear 21 and a first planetary gear train 22, the first synchronous transmission mechanism 70 also includes: a second part transmission mechanism, the second part transmission mechanism includes a first part sun gear bearing 74, a second part sun gear bearing 75, a first ring gear 76 and a first output bearing 77, the first part sun gear bearing 74 is respectively connected to the third part pulley 73 and the first sun gear 21, the first sun gear 21 is connected to the first planetary gear train 22 through the second part sun gear bearing 75, and the first planetary gear train 22 is connected to the first output bearing 77 through the first ring gear 76; and / or,

[0171] The second reducer 202 includes a second sun gear and a second planetary gear train, and the second synchronous transmission mechanism also includes: a fifth part transmission mechanism, the fifth part transmission mechanism includes a third part sun gear bearing, a fourth part sun gear bearing, a second ring gear and a second output bearing, the third part sun gear bearing is respectively connected to the fourth part pulley and the second sun gear, the second sun gear is connected to the second planetary gear train through the third part sun gear bearing, and the second planetary gear train is connected to the second output bearing through the second ring gear.

[0172] Among them, in the embodiment of the present application, the first sun gear 21 and the first planetary gear train 22 can play the role of the first reducer 20, that is, reduce the driving speed of the first motor 10, so as to more accurately drive the driven member to move. Similarly, the second sun gear and the second planetary gear train can play the role of the second reducer 202, that is, reduce the driving speed of the second motor 201, so as to more accurately drive the driven member to move.

[0173] In addition, the second part of the transmission mechanism can better and more accurately play a transmission effect between the first motor 10 and the first reducer 20, that is, the transmission effect is enhanced; similarly, the fifth part of the transmission mechanism can better and more accurately play a transmission effect between the second motor 201 and the second reducer 202, which also enhances the transmission effect.

[0174] As an optional implementation, see Figure 1B and Figure 2 , when the first joint module 100 includes a first joint encoder 23, the first joint encoder 23 is arranged on the first planetary gear train 22 included in the first reducer 20; and / or,

[0175] When the second joint module 200 includes a second joint encoder, the second joint encoder is disposed on the second planetary gear train included in the second reducer 202 .

[0176] In the embodiment of the present application, the first joint encoder 23 is arranged on the first planetary gear train 22, so that the first planetary gear train 22 can drive the first joint encoder 23 to move, so that the first joint encoder 23 can more accurately calculate the output parameters of the first reducer 20, thereby improving the accuracy of the determination result of the output parameters of the first reducer 20. Similarly, the second joint encoder is arranged on the second planetary gear train, so that the second joint encoder can more accurately calculate the output parameters of the second reducer 202, thereby improving the accuracy of the determination result of the output parameters of the second reducer 202.

[0177] Optionally, in an optional embodiment, the first planetary gear train 22 is connected to the third part pulley 73 through the second part sun gear bearing 75, the first sun gear 21, and the first part sun gear bearing 74, that is, the third part pulley 73 drives the first joint encoder 23 to rotate, so that the first joint encoder 23 can more accurately calculate the output parameters of the first reducer 20, thereby improving the accuracy of the determination result of the output parameters of the first reducer 20. Similarly, the second joint encoder can refer to the corresponding description of the first joint encoder 23 mentioned above, and has the same beneficial technical effect, which will not be described in detail here.

[0178] As an optional implementation, see Figure 1B and Figure 2 , the first motor 10 includes a first rotor 11 and a first stator 12, the first synchronous transmission mechanism 70 also includes: a third partial transmission mechanism, the third partial transmission mechanism includes a first partial rotor bearing 78, a second partial rotor bearing 79 and a first stator seat 710, the first partial rotor bearing 78 and the second partial rotor bearing 79 are respectively located on both sides of the first stator seat 710, the first stator 12 is connected to the first stator seat 710, and the connecting portion of the first rotor 11 passes through the first stator 12, the first partial rotor bearing 78, the first stator seat 710, the second partial rotor bearing 79 and is connected to the first partial pulley 72 in sequence; and / or,

[0179] The second motor 201 includes a second rotor and a second stator, and the second synchronous transmission mechanism also includes: a sixth-part transmission mechanism, the sixth-part transmission mechanism includes a third-part rotor bearing, a fourth-part rotor bearing and a second stator seat, the third-part rotor bearing and the fourth-part rotor bearing are respectively located on both sides of the second stator seat, the second stator is connected to the second stator seat, and the connecting part of the second rotor passes through the second stator, the third-part rotor bearing, the second stator seat, the fourth-part rotor bearing in sequence and is connected to the second-part pulley.

[0180] In the embodiment of the present application, the transmission effect between the first motor 10 and the first partial pulley 72 can be further enhanced, and the transmission effect between the second motor 201 and the second partial pulley can be further enhanced.

[0181] As an optional implementation, at least one of the following is also included:

[0182] The first annular driving plate 30 is bonded to the inner wall of the module housing 40;

[0183] The first annular driving plate 30 is fixed to a raised threaded hole opened on the inner wall of the module housing 40 by means of screws;

[0184] The second annular driving plate is bonded to the inner wall of the module housing 40;

[0185] The second annular driving plate is fixed in a raised threaded hole opened on the inner wall of the module housing 40 by means of screws.

[0186] In the embodiment of the present application, the first annular drive plate 30 is bonded to the inner wall of the module housing 40, which can enhance the fixing effect of the first annular drive plate 30, and the first annular drive plate 30 is fixed in the raised threaded hole opened on the inner wall of the module housing 40 by screws. In this way, it can be ensured that there is a certain distance between the first annular drive plate 30 and the inner wall of the module housing 40, so that the heat dissipation effect of the first annular drive plate 30 can be enhanced. Similarly, the second annular drive plate is bonded to the inner wall of the module housing 40, which can enhance the fixing effect of the second annular drive plate, and the second annular drive plate is fixed in the raised threaded hole opened on the inner wall of the module housing 40 by screws. In this way, it can be ensured that there is a certain distance between the second annular drive plate and the inner wall of the module housing 40, so that the heat dissipation effect of the second annular drive plate can be enhanced.

[0187] As an optional implementation, see Figures 2 to 4 , the module housing 40 is provided with a wire outlet hole 42. Thus, a cable may be provided in the wire outlet hole 42, and the cable may be electrically connected to components inside the module housing 40 (such as the first annular driving plate 30, the first motor 10, the second annular driving plate, and the second motor 201, etc.), thereby enhancing the power supply effect to the components inside the module housing 40.

[0188] At the same time, only one wire outlet hole 42 may be provided on the module housing 40, that is, all cables electrically connected to the components inside the module housing 40 need to be uniformly connected through the wire outlet hole 42, thereby enhancing the reliability of the cables and enhancing the aesthetics.

[0189] It should be noted that see Figure 4 and Figure 5Since the module shell 40 includes the first joint module 100 and the second joint module 200, and there is only one wire outlet hole 42 on the module shell 40, internal wiring holes 101 can be respectively set in the module shell 40 and on the first joint module 100 and the second joint module 200. The cable set in the above-mentioned internal wiring hole 101 can be a cable for connecting the first joint module 100 and the second joint module 200, that is, the cable can be called an internal cable. In this way, there is only one wire outlet hole 42 on the entire integrated module, and the cable set in the wire outlet hole 42 can be used to connect with the outside, that is, the number of wire outlet holes for external wiring on the integrated module is reduced, and the internal wiring hole 101 of the cable between the first joint module 100 and the second joint module 200 is set inside the module shell 40, thereby improving the stability of the wiring.

[0190] As an optional implementation, see Figure 4 The module shell 40 also includes a partition 44, which is arranged between the first joint module 100 and the second joint module 200, and the first shell part 401, the partition 44 and the second shell part 402 are an integrally formed structure.

[0191] In the embodiment of the present application, the above-mentioned partition 44 can be used to isolate the first joint module 100 and the second joint module 200, so that the isolation effect of the first joint module 100 and the second joint module 200 can be enhanced, and the first shell part 401, the partition 44 and the second shell part 402 are an integrally formed structure, so as to further enhance the structural strength of the module shell 40. At the same time, the first joint module 100 and the second joint module 200 can be respectively connected to the partition 44, so that the first joint module 100 and the second joint module 200 can dissipate heat through the partition 44, that is, the heat dissipation effect of the first joint module 100 and the second joint module 200 is further enhanced.

[0192] An embodiment of the present application provides a mechanical system, including a transmission mechanism and the above-mentioned integrated joint module 1000; the transmission mechanism is used to transmit the power of the first joint module 100 and the second joint module 200 to the driven part.

[0193] In the embodiment of the present application, the first joint module 100 can be connected to the driven member through a transmission mechanism, so that the transmission mechanism can transmit the power of the first joint module 100 to the driven member, thereby enhancing the driving effect on the driven member; at the same time, the second joint module 200 can also be connected to the driven member through a transmission mechanism, so that the transmission mechanism can transmit the power of the second joint module 200 to the driven member, thereby enhancing the driving effect on the driven member. That is, the transmission mechanism can enhance the transmission effect between the integrated joint module 1000 and the driven member.

[0194] It should be noted that the specific structure of the transmission mechanism is not limited here. Optionally, the number of transmission mechanisms can be one, and one end of the transmission mechanism can be connected to the first joint module 100 and the second joint module 200 respectively, and the other end of the transmission mechanism is connected to the driven member. Optionally, the transmission mechanism can include a first transmission mechanism and a second transmission mechanism, the first transmission mechanism is connected to the first joint module 100 and the driven member respectively, and the second transmission mechanism is connected to the second joint module 200 and the driven member respectively.

[0195] Optionally, the first transmission mechanism and the second transmission mechanism are respectively used to connect with opposite sides of the driven member, and the opposite sides of the driven member may refer to opposite ends of the driven member, or, optionally, the opposite sides of the driven member may refer to opposite surfaces of the driven member.

[0196] As an optional implementation, the transmission mechanism includes a first transmission mechanism and a second transmission mechanism;

[0197] See also Figure 6 and Figure 7 , the first connection point K1 of the first transmission mechanism is connected to the first joint module 100 of the integrated joint module 1000, and the second connection point K2 of the first transmission mechanism is connected to the driven member; the distance between the first connection point K1 of the first transmission mechanism and the second connection point K2 of the first transmission mechanism is a first distance K12;

[0198] The first connection point H1 of the second transmission mechanism is connected to the second joint module 200 of the integrated joint module 1000, and the second connection point H2 of the second transmission mechanism is connected to the driven part; the distance between the first connection point H1 of the second transmission mechanism and the second connection point H2 of the second transmission mechanism is the second distance H12.

[0199] In the embodiment of the present application, the second connection point K2 of the first transmission mechanism is connected to the part to be driven, and the second connection point H2 of the second transmission mechanism is connected to the part to be driven, so that both the first transmission mechanism and the second transmission mechanism are connected to the part to be driven, thereby improving the transmission efficiency of the part to be driven and enhancing the transmission effect of the part to be driven.

[0200] It should be noted that if the first distance K12 and the second distance H12 are not equal, that is, the length of the transmission mechanism of the first joint module 100 driving the driven part is not equal to the length of the transmission mechanism of the second joint module 200 driving the driven part, resulting in uneven force on the transmission mechanism of the first joint module 100 driving the driven part and the transmission mechanism of the second joint module 200 driving the driven part in the process of driving the driven part to move, thereby causing the transmission mechanism of the first joint module 100 driving the driven part and the transmission mechanism of the second joint module 200 driving the driven part to be driven. The longer transmission mechanism is easy to bend and deform. In view of the above situation, the embodiment of the present application provides the following solutions:

[0201] As an optional implementation, see Figure 6 , the first distance K12 and the second distance H12 are equal.

[0202] In the implementation mode of the present application, since the first distance K12 and the second distance H12 are equal, that is, the present implementation mode can be applied to the driven part in which the first distance K12 is equal to the second distance H12, and the first distance K12 can be understood as the length of the transmission mechanism of the first joint module 100 driving the driven part, and the second distance H12 can be understood as the length of the transmission mechanism of the second joint module 200 driving the driven part, that is, the transmission mechanism of the first joint module 100 driving the driven part and the transmission mechanism of the second joint module 200 driving the driven part can be uniformly stressed, thereby avoiding the occurrence of the above-mentioned bending and deformation phenomenon due to uneven stress.

[0203] In addition, since the length of the transmission mechanism of the first joint module 100 driving the driven member is equal to the length of the transmission mechanism of the second joint module 200 driving the driven member, the first transmission mechanism and the second transmission mechanism can synchronously drive the driven member to move, thereby further enhancing the driving effect on the driven member. Of course, the rotation speeds of the first joint module 100 and the second joint module 200 can also be different to achieve asynchronous driving of the driven member.

[0204] It should be noted that since the first distance K12 is equal to the second distance H12, it can be understood that the length of the transmission mechanism of the first joint module 100 driving the driven part is the same as the length of the transmission mechanism of the second joint module 200 driving the driven part, that is, the transmission mechanism of the first joint module 100 driving the driven part and the transmission mechanism of the second joint module 200 driving the driven part can be interchangeable with each other, thereby improving the versatility, and then improving the modularity and stability of the product, and reducing the difficulty of disassembly and maintenance.

[0205] As an optional implementation, see Figure 7When it is necessary to drive the driven member to perform a more complex motion, the first distance K12 and the second distance H12 are not equal.

[0206] In the implementation mode of the present application, since the first distance K12 and the second distance H12 are not equal, that is, the present implementation mode can be applied to the driven part in which the first distance K12 and the second distance H12 are not equal, and the first distance K12 can be understood as the length of the transmission mechanism of the first joint module 100 driving the driven part, and the second distance H12 can be understood as the length of the transmission mechanism of the second joint module 200 driving the driven part, which further increases the application scenarios of the mechanical system provided by the present application.

[0207] In addition, since the length of the transmission mechanism of the first joint module 100 driving the driven part is not equal to the length of the transmission mechanism of the second joint module 200 driving the driven part, the first transmission mechanism and the second transmission mechanism can drive the driven part to move asynchronously, and can also realize the control of various motion forms of the driven part, such as the orbital movement, conical rotation and other motion forms of the driven part, thereby further enhancing the driving effect on the driven part.

[0208] As an optional implementation, the first transmission mechanism and / or the second transmission mechanism is a connecting rod transmission mechanism. That is, in a specific application scenario, at least one of the first transmission mechanism and the second transmission mechanism is a connecting rod transmission mechanism.

[0209] In the implementation manner of the present application, the first transmission mechanism and / or the second transmission mechanism is a connecting rod transmission mechanism, so that the transmission efficiency is higher, the transmission is more stable, and the use cost is lower.

[0210] It should be noted that the specific type of the driven part 2000 is not limited here. Optionally, when the integrated joint module 1000 is applied to a robot, the driven part 2000 can be at least one of the robot's foot, robot calf, robot thigh, dexterous hand, arm or other parts or a part thereof. The part that the integrated joint module 1000 ultimately drives. Optionally again, when the integrated joint module 1000 is applied to equipment in other fields, the driven part can be a part of the equipment that is ultimately driven by the integrated joint module 1000.

[0211] Specifically, as an optional implementation, see Figure 8, the first transmission mechanism includes a first crank 1004 and a first connecting rod 1001, the second transmission mechanism includes a second crank (opposite to the first crank 1004, not shown) and a second connecting rod 1002, the first connecting point of the first connecting rod 1001 is connected to the output shaft of the first joint module 100 (i.e., the output shaft of the first reducer) through the first crank 1004, and the second connecting point of the first connecting rod 1001 is connected to the driven member 2000;

[0212] The first connection point of the second connecting rod 1002 is connected to the output shaft of the second joint module 200 (ie, the output shaft of the second reducer) through the second crank, and the second connection point of the second connecting rod 1002 is connected to the driven member 2000 .

[0213] It should be noted that the structures of the first connecting rod 1001 and the second connecting rod 1002 can be the same, and the sizes of the first connecting rod 1001 and the second connecting rod 1002 can be the same, so that the driven member 2000 can be driven to move synchronously, thereby enhancing the driving effect of the driven member 2000.

[0214] Among them, the first crank 1004 can be connected to the output shaft of the first reducer 20 of the first joint module 100. Optionally, the thickness of the first crank 1004 can be smaller than the difference in setting heights between the first rear cover 50 and the first pressure cover 60, and the second crank can be connected to the output shaft of the second reducer 202 of the second joint module 200. Optionally, the thickness of the second crank can be smaller than the difference in setting heights between the second rear cover and the second pressure cover. In this way, the aesthetics of the entire mechanical system can be increased. At the same time, compared with the protruding arrangement of the first crank 1004 and the second crank, it can also avoid the occurrence of collisions between the first crank 1004 and the second crank and other components in the outside world, thereby improving safety performance.

[0215] In the embodiment of the present application, by providing the first connecting rod 1001, the first crank 1004, the second connecting rod 1002 and the second crank, the driven member 2000 can be better driven to move, that is, the driving effect on the driven member 2000 can be further increased.

[0216] Specifically, as an optional implementation, see Fig.10 The first motor 10 included in the first joint module 100 and the second motor 201 included in the second joint module 200 are arranged relative to each other, and the first reducer 20 included in the first joint module 100 and the second reducer 202 included in the second joint module 200 are arranged relative to each other.

[0217] In the implementation manner of the present application, it can be understood that the first motor 10 and the second motor 201 are symmetrically arranged, and the first reducer 20 and the second reducer 202 are symmetrically arranged. In this way, the overall mass distribution of the integrated joint module 1000 is more uniform and the force is also more uniform.

[0218] Among them, optionally, the direction of the axis of the first motor 10 and the direction of the axis of the second motor 201 can be the same, and the direction of the axis of the first reducer 20 and the direction of the axis of the second reducer 202 can be the same. In this way, the overall mass distribution of the integrated joint module 1000 can be further made more uniform and the force can be more uniform.

[0219] The present application also provides a robot calf, including the mechanical system in the above embodiment. Since the robot calf in the present application includes the mechanical system in the above embodiment, it has the same beneficial technical effects as the above embodiment, and the specific structure of the mechanical system can refer to the corresponding description in the above embodiment, which will not be described in detail here.

[0220] In an embodiment of the present application, the robot calf includes the mechanical system in the above embodiment, and the mechanical system includes an integrated joint module, so that the flexibility of the application scenarios of the integrated joint module can be increased.

[0221] As an optional implementation, see Figure 8 , the robot shank 3000 is connected to the robot thigh 4000, and the driven part 2000 is the robot foot;

[0222] When the robot shank 3000 and the robot thigh 4000 are in a relatively bent state, the first transmission mechanism and the second transmission mechanism included in the mechanical system do not touch the robot thigh, that is, the first connecting rod, the first crank, the second connecting rod and the second crank do not touch the robot thigh 4000, especially the outer shell of the robot thigh 4000.

[0223] Among them, see Figure 8 Optionally, the robot shank 3000 may also be connected to the robot foot via the robot ankle 5000, so that the flexibility of the robot's movement may be further enhanced.

[0224] In the implementation mode of this application, see Fig. 9When the robot calf 3000 and the robot thigh 4000 are in a relatively bent state, the first transmission mechanism and the second transmission mechanism do not touch the robot thigh, thereby avoiding the interference between the first transmission mechanism and / or the second transmission mechanism and the robot thigh 4000, and enhancing the bending effect of the robot thigh 4000. At the same time, when the first transmission mechanism includes the first connecting rod 1001 and the second transmission mechanism includes the second connecting rod 1002, this embodiment can also make the lengths of the first connecting rod 1001 and the second connecting rod 1002 relatively short, thereby improving the compressive stability.

[0225] In addition, by making the length of the first link 1001 and the second link 1002 relatively short, on the one hand, it can avoid the occurrence of collisions and impacts on the robot that may cause the first link 1001 and the second link 1002 to be deformed and damaged by force. On the other hand, it is also conducive to the compact and integrated design of the robot's appearance, avoiding the impact of excessive protrusion of local structures on the appearance design.

[0226] As an optional implementation, see Fig.11 The robot calf 3000 is provided with a receiving groove 3001 , and the receiving groove 3001 and the module housing 40 of the integrated joint module 1000 included in the mechanical system are an integrally formed structure.

[0227] In the embodiment of the present application, the module housing 40 that accommodates the groove 3001 and the integrated joint module 1000 is an integrally formed structure, which can be understood as the module housing 40 that accommodates the groove 3001 and the integrated joint module 1000 is the same structure. In this way, there is no need to separately set up a connection structure between the integrated joint module 1000 and the robot calf 3000, which simplifies assembly and increases structural strength. At the same time, there is no need to separately set up the module housing 40, which reduces the cost of use. In addition, the first motor, the first reducer, the second motor 201 and the second reducer 202 of the integrated joint module 1000 can directly contact the robot calf 3000 and can dissipate heat with the aid of the robot calf 3000, thereby further enhancing the heat dissipation effect.

[0228] The above is a preferred implementation of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An integrated joint module, characterized in that: include: A first joint module and a second joint module, the first joint module and the second joint module are arranged side by side, the first joint module includes a first motor and a first reducer electrically connected to each other, the second joint module includes a second motor and a second reducer electrically connected to each other, the first motor and the second motor are arranged opposite to each other, the first reducer and the second reducer are arranged opposite to each other, and the first joint module and the second joint module are both used to connect with a part to be driven.

2. The integrated joint module according to claim 1, characterized in that: The direction of the output shaft of the first reducer is opposite to the direction of the output shaft of the second reducer, and the output shaft of the first reducer and the output shaft of the second reducer are respectively used to connect with the driven member.

3. The integrated joint module according to claim 1, characterized in that: The integrated joint module comprises a module shell, and the first joint module and the second joint module are both located in the module shell.

4. The integrated joint module according to claim 3, characterized in that: The module housing comprises a first housing portion and a second housing portion, the first joint module is located in the first housing portion, and the second joint module is located in the second housing portion; The first shell portion and the second shell portion are detachably connected; or the first shell portion and the second shell portion are an integrally formed structure.

5. The integrated joint module according to claim 3, characterized in that: The first joint module includes a first annular driving plate, a first gap is formed between the first motor and the first reducer and the inner wall of the module housing, the first annular driving plate is arranged in the first gap, and the first annular driving plate is electrically connected to the first motor; and / or, The second joint module includes a second annular drive plate, a second gap is formed between the second motor and the second reducer and the inner wall of the module housing, the second annular drive plate is arranged in the second gap, and the second annular drive plate is electrically connected to the second motor.

6. The integrated joint module according to claim 1, characterized in that: The first joint module includes a first synchronous transmission mechanism, and the first motor and the first reducer are connected via the first synchronous transmission mechanism; and / or, The second joint module includes a second synchronous transmission mechanism, and the second motor and the second reducer are connected through the second synchronous transmission mechanism.

7. The integrated joint module according to claim 1, characterized in that: The first motor and the first reducer are arranged side by side, and the direction of the axis of the first motor is parallel to the direction of the axis of the first reducer; and / or, The second motor and the second reducer are arranged side by side, and the direction of the axis of the second motor is parallel to the direction of the axis of the second reducer.

8. The integrated joint module according to claim 1, characterized in that: The first motor comprises a first rotor, the blades of the first rotor are profiled blades; and / or, The second motor includes a second rotor, and the blades of the second rotor are profiled blades.

9. The integrated joint module according to claim 3, characterized in that: The first joint module further comprises a first rear cover, the first rear cover abuts against the module housing, and the first motor is located in a space enclosed by the first rear cover and the module housing; and / or, The second joint module also includes a second rear cover, which is in contact with the module housing. The second motor is located in a space formed by the second rear cover and the module housing.

10. The integrated joint module according to claim 9, characterized in that: The first rear cover is provided with at least one first heat dissipation hole, and the first heat dissipation hole is arranged opposite to the first motor; and / or, The second rear cover is provided with at least one second heat dissipation hole, and the second heat dissipation hole is arranged opposite to the second motor.

11. The integrated joint module according to claim 9, characterized in that: The first joint module further includes a first pressure cover, the first pressure cover abuts against the module housing, and the first reducer is located in a space enclosed by the first pressure cover and the module housing; and / or, The second joint module also includes a second pressure cover, which is in contact with the module shell. The second reducer is located in a space enclosed by the second pressure cover and the module shell.

12. The integrated joint module according to claim 11, characterized in that: The first pressure cover and the first rear cover are arranged in a stepped manner, and the first rear cover is located at an upper step position, and the first pressure cover is located at a lower step position; and / or, The second pressure cover and the second rear cover are distributed in a stepped manner, and the second rear cover is located at an upper step position, and the second pressure cover is located at a lower step position.

13. The integrated joint module according to claim 3, characterized in that: The module housing is provided with at least one of a first accommodating groove and a second accommodating groove, and the first motor and the first reducer are arranged side by side in the first accommodating groove; and / or, The second motor and the second reducer are arranged side by side in the second accommodating groove.

14. The integrated joint module according to claim 11, characterized in that: The module housing is provided with at least one of a first fixed shaft and a second fixed shaft; The first reducer is connected to the first fixed shaft; and / or the second reducer is connected to the second fixed shaft.

15. The integrated joint module according to claim 6, characterized in that: When the first joint module further includes a first motor encoder, the first motor encoder is arranged on a first part of the pulleys included in the first synchronous transmission mechanism; and / or, When the second joint module further includes a second motor encoder, the second motor encoder is arranged on a second partial pulley included in the second synchronous transmission mechanism.

16. The integrated joint module according to claim 1, characterized in that: When the first joint module includes a first joint encoder, the first joint encoder is arranged on a first planetary gear train included in the first reducer; and / or, When the second joint module includes a second joint encoder, the second joint encoder is arranged on a second planetary gear train included in the second reducer.

17. The integrated joint module according to claim 3, characterized in that: The module housing is provided with a wire outlet hole.

18. The integrated joint module according to claim 4, characterized in that: The module shell further includes a partition plate, which is disposed between the first joint module and the second joint module, and the first shell portion, the partition plate and the second shell portion are an integrally formed structure.

19. A mechanical system, characterized in that: It comprises a transmission mechanism and the integrated joint module described in any one of claims 1 to 18; the transmission mechanism is used to transmit the power of the first joint module and the second joint module to the driven part.

20. The mechanical system of claim 19, wherein: The transmission mechanism comprises a first transmission mechanism and a second transmission mechanism; The first connection point of the first transmission mechanism is connected to the first joint module of the integrated joint module, and the second connection point of the first transmission mechanism is connected to the driven member; the distance between the first connection point of the first transmission mechanism and the second connection point of the first transmission mechanism is a first distance; The first connection point of the second transmission mechanism is connected to the second joint module of the integrated joint module, and the second connection point of the second transmission mechanism is connected to the driven member; the distance between the first connection point of the second transmission mechanism and the second connection point of the second transmission mechanism is the second distance.

21. The mechanical system of claim 20, wherein: The first distance and the second distance are equal.

22. The mechanical system of claim 20, wherein: The first distance and the second distance are not equal.

23. The mechanical system of claim 19, wherein: The first transmission mechanism and / or the second transmission mechanism is a connecting rod transmission mechanism.

24. The mechanical system of claim 23, wherein: The first transmission mechanism includes a first crank and a first connecting rod, and the second transmission mechanism includes a second crank and a second connecting rod; The first connection point of the first connecting rod is connected to the output shaft of the first joint module through the first crank, and the second connection point of the first connecting rod is connected to the driven member; The first connection point of the second connecting rod is connected to the output shaft of the second joint module through the second crank, and the second connection point of the second connecting rod is connected to the driven member.

25. A robot calf, characterized in that: A mechanical system comprising any one of claims 19 to 24.

26. The robot leg according to claim 25, characterized in that: The robot calf is connected to the robot thigh, and the driven part is the robot foot; When the robot shank and the robot thigh are in a relatively bent state, the first transmission mechanism and the second transmission mechanism included in the mechanical system do not touch the robot thigh.

27. The robot leg according to claim 25, characterized in that: The robot calf is provided with a receiving groove, and the receiving groove and the module shell of the integrated joint module included in the mechanical system are an integrally formed structure.

Images