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

Abstract

The utility model provides a connecting device, a transmission assembly, an intelligent service system, an intelligent moving system and an intelligent terminal. A first joint assembly comprises a first joint module, a first connecting piece, a second joint module, a second connecting piece and a third joint module. The joint axis of the first joint module is arranged in the first direction, the joint axis of the second joint module is arranged in the second direction, the joint axis of the third joint module is arranged in the third direction, and the first direction, the second direction and the third direction are perpendicular to one another; the fixed end of the first joint module is used for being connected with a mounting base, the output end of the first joint module is connected with the fixed end of the second joint module through a first connecting piece, and the output end of the second joint module is connected with the fixed end of the third joint module through a second connecting piece. Freedom degrees in three directions are adjusted through the three joint modules, so that the mechanical execution piece is adjusted and controlled to simulate human arms or human legs to achieve swinging in three directions, the overall structure is more compact, and movement is more flexible.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent terminals, and in particular to a connecting device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal. Background Art

[0002] The joint assembly of an intelligent terminal is a crucial tool for connecting the main body of an intelligent terminal system with its end effector. The rapid development of service-oriented intelligent terminals, space-based intelligent terminals, and specialized intelligent terminals in recent years has placed higher demands on the performance of these joint assemblies. Existing multi-axis intelligent terminals have achieved safety and precision in industrial applications, primarily replacing humans in repetitive tasks in hazardous environments, such as logistics handling and loading and unloading. However, existing intelligent terminal joint assemblies still suffer from insufficient degrees of freedom of movement, limited flexibility, and low integration. Summary of the Invention

[0003] The utility model provides a connecting device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal, so as to solve the problems of insufficient freedom of movement and insufficient flexibility of the existing connecting device.

[0004] A connecting device includes a first joint assembly, wherein the first joint assembly includes a first joint module, a first connecting member, a second joint module, a second connecting member, and a third joint module;

[0005] The joint axis of the first joint module is arranged along a first direction, the joint axis of the second joint module is arranged along a second direction, and the joint axis of the third joint module is arranged along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other;

[0006] The fixed end of the first joint module is used to connect to the mounting base, the output end of the first joint module is connected to the fixed end of the second joint module through a first connecting piece, the output end of the second joint module is connected to the fixed end of the third joint module through a second connecting piece, and the output end of the third joint module is the output end of the connecting device.

[0007] Preferably, the joint axis of the first joint module, the joint axis of the second joint module and the joint axis of the third joint module intersect at one point.

[0008] Preferably, the first connecting member includes a first connecting shaft and a first connecting portion extending from one end of the first connecting shaft along the axial direction of the first connecting shaft;

[0009] The other end of the first connecting shaft is connected to the output end of the first joint module, and the first connecting portion is connected to a portion of the second joint module close to the output end.

[0010] Preferably, the second connecting member includes a second connecting portion and a third connecting portion extending from a side edge of the second connecting portion in a direction perpendicular to the second connecting portion;

[0011] The second connection portion is connected to the fixed end of the third joint module, and the third connection portion is connected to the output end of the second joint module.

[0012] Preferably, the connecting device further comprises a second joint assembly;

[0013] The fixed end of the second joint assembly is connected to the output end of the third joint module, and the output end of the second joint assembly is the output end of the connecting device.

[0014] Preferably, the second joint assembly includes a fourth joint module and a third connecting member;

[0015] The joint axis of the fourth joint module is arranged along the first direction;

[0016] The fixed end of the fourth joint module is connected to the output end of the third joint module through the third connecting member, and the output end of the fourth joint module is the output end of the connecting device.

[0017] A transmission assembly comprising the connecting device and a transmission device;

[0018] The fixed end of the transmission device is connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator.

[0019] Preferably, the transmission assembly further includes a fourth connecting member;

[0020] The fixed end of the transmission device is connected to the output end of the connecting device through the fourth connecting member.

[0021] Preferably, the transmission device includes a fifth joint module, a sixth joint module and a joint mounting structure;

[0022] The joint mounting structure includes a first mounting seat, a second mounting seat and a first connecting rod mechanism;

[0023] The fifth joint module and the sixth joint module are spaced apart on the first mounting seat along the second direction, the joint axis of the fifth joint module and the joint axis of the sixth joint module are arranged along the first direction, and the output end of the fifth joint module and the output end of the sixth joint module are in opposite directions;

[0024] The second mounting seat is rotatably connected to the first mounting seat around a first axis arranged along the first direction and a second axis arranged along the third direction;

[0025] The first link mechanism is rotatably connected to the output end of the fifth joint module, the output end of the sixth joint module and the second mounting seat;

[0026] The second mounting seat is the output end of the transmission device, and the first mounting seat is the fixed end of the transmission device.

[0027] Preferably, the joint mounting structure further comprises a cross universal shaft;

[0028] The cross universal joint includes two first connecting ends arranged along the first direction and two second connecting ends arranged along the third direction. The two first connecting ends are used to be rotatably connected to the first mounting seat, and the two second connecting ends are used to be rotatably connected to the second mounting seat.

[0029] Preferably, the transmission device further comprises a fifth joint module; the joint mounting structure further comprises a third mounting seat, a fourth mounting seat and a second connecting rod mechanism;

[0030] The fifth joint module is installed in the third mounting seat along the first direction;

[0031] The fourth mounting seat is rotatably connected to the third mounting seat around a first axis corresponding to a first direction;

[0032] The second link mechanism is rotatably connected to the output end of the fifth joint module and the fourth mounting seat, and is used to drive the fourth mounting seat to rotate under the action of the fifth joint module;

[0033] The fourth mounting seat is the output end of the transmission device, and the third mounting seat is the fixed end of the transmission device.

[0034] Preferably, the transmission device further includes a sixth joint module and a fifth connecting member;

[0035] The joint axis of the sixth joint module is arranged along the third direction;

[0036] The first end of the fifth connecting member is connected to the output end of the sixth joint module, and the second end of the fifth connecting member is connected to the fifth joint module.

[0037] Preferably, the transmission device includes a fifth joint module, a sixth joint module and a sixth connecting member;

[0038] The joint axis of the fifth joint module is arranged along the second direction, and the joint axis of the sixth joint module is arranged along the first direction;

[0039] The fixed end of the fifth joint module is connected to the output end of the sixth joint module through the sixth connecting piece;

[0040] The output end of the fifth joint module is the output end of the transmission device, and the fixed end of the sixth joint module is the fixed end of the transmission device.

[0041] Preferably, the transmission device further comprises a fifth joint module and a sixth joint module; the joint mounting structure further comprises a fifth mounting seat, a sixth mounting seat and a synchronous transmission component;

[0042] The fifth joint module is fixedly mounted on the fifth mounting seat along the second direction, and the sixth joint module is rotatably mounted on the fifth mounting seat along the first direction;

[0043] The sixth mounting seat is connected to the sixth joint module;

[0044] The sixth mounting seat is the output end of the transmission device, and the fifth mounting seat is the fixed end of the transmission device;

[0045] The synchronous transmission component is connected to the output end of the fifth joint module and the side wall of the sixth joint module.

[0046] Preferably, the transmission device further includes a seventh joint module;

[0047] The joint axis of the seventh joint module is arranged along the third direction;

[0048] The output end of the seventh joint module is the output end of the transmission device, or the output end of the seventh joint module is used to connect to the fixed end of the transmission device, and the fixed end of the seventh joint module is the fixed end of the transmission device.

[0049] Preferably, the transmission device also includes a seventh connecting member, the first end of the seventh connecting member is used to be connected to the output end of the seventh joint module, the second end of the seventh connecting member is the output end of the transmission device, or the second end of the seventh connecting member is used to connect to the fixed end of the transmission device.

[0050] Preferably, the connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member;

[0051] The single-sided arm connector includes a connecting body and a first adapter arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first adapter arm is used to be fixedly connected to the output end of another joint module;

[0052] The bilateral arm connecting member includes a connecting body and a first adapter arm and a second adapter arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body. The connecting body is used to be fixedly connected to a joint module, the first adapter arm is used to be fixedly connected to the output end of another joint module, and the second adapter arm is used to be rotatably connected to the fixed end of another joint module.

[0053] An intelligent service system comprises a manipulator and the transmission assembly;

[0054] In the transmission assembly, the transmission device is a wrist joint unit, the first joint assembly in the connecting device is an elbow joint unit, and the second joint assembly in the connecting device is a shoulder joint unit;

[0055] The manipulator is arranged at the output end of the wrist joint unit.

[0056] Preferably, the manipulator comprises a palm structure, a little finger module, a ring finger module, a middle finger module, an index finger module and a thumb module arranged on the palm structure in the manner of a human hand;

[0057] The pinky finger module, the ring finger module, the middle finger module, the index finger module and the thumb module all include a first finger module, and the first finger module includes a first base, a knuckle assembly, a first tendon assembly and a first drive assembly;

[0058] The first end of the finger joint assembly is rotatably disposed on the first base, the first driving assembly is mounted on the first base, and the first base is used to be mounted on the palm structure;

[0059] The first tendon cord assembly is inserted into the finger joint assembly and the first base, and the first end of the first tendon cord assembly is connected to the second end of the finger joint assembly, and the second end of the first tendon cord assembly is connected to the first drive assembly;

[0060] The first driving assembly is used to control the first tendon rope assembly to be in a reeled state or a released state.

[0061] Preferably, the thumb module further comprises a second finger module, and the second finger module further comprises a second base, a transfer knuckle, a second tendon cord assembly and a second drive assembly;

[0062] The first end of the transfer knuckle is rotatably mounted on the second base, the second end of the transfer knuckle is connected to an end of the first base away from the knuckle assembly, a second drive assembly is mounted on the second base, and the second base is used to be mounted on the palm structure;

[0063] The second tendon cord assembly is inserted into the transfer knuckle and the second base, and the first end of the second tendon cord assembly is connected to the second end of the transfer knuckle, and the second end of the second tendon cord assembly is connected to the second drive assembly;

[0064] The second driving assembly is used to control the second tendon rope assembly to be in a reeled state or a released state.

[0065] An intelligent mobility system, comprising a mechanical foot and the connecting device;

[0066] In the connecting device, when the transmission device is an ankle joint unit, the second joint assembly in the connecting device is a knee joint unit, and the first joint assembly in the connecting device is a hip joint unit;

[0067] The mechanical sole is arranged at the output end of the ankle joint unit.

[0068] An intelligent terminal, comprising a main body, and also comprising the intelligent service system and / or the intelligent mobile system;

[0069] The intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body.

[0070] In the above-mentioned connecting device, transmission assembly, intelligent service system, intelligent mobile system and intelligent terminal, the fixed end of the first joint module can be used to connect to the mounting base of the main body, the output end of the first joint module is connected to the fixed end of the second joint module through the first connecting member, and the output end of the second joint module is connected to the fixed end of the third joint module through the second connecting member. The output end of the third joint module is the output end of the connecting device, which is used to connect a mechanical actuator. The mechanical actuator can be a manipulator or an intelligent mobile system; by controlling the first joint module to rotate forward or reverse, the first connecting member can be driven to rotate to drive the second joint module to rotate around the joint axis of the first joint module; by controlling the second joint module to rotate forward or reverse, the second connecting member can be driven to rotate to drive the third joint module to rotate around the joint axis of the second joint module; by controlling the third joint module to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module. In this way, the three joint modules can be used to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the swinging of human arms or legs forward and backward, up and down, and left and right, and the overall structure is more compact and the movement is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0072] Figure 1 This is an isometric view of a first structure of a transmission assembly in one embodiment of the present invention;

[0073] Figure 2 This is an isometric view of a second structure of a transmission assembly in one embodiment of the present invention;

[0074] Figure 3 This is an isometric view of a third structure of a transmission assembly in one embodiment of the present invention;

[0075] Figure 4 This is an isometric view of a fourth structure of a transmission assembly in one embodiment of the present invention;

[0076] Figure 5 This is an isometric view of a fifth structure of a transmission assembly in one embodiment of the present invention;

[0077] Figure 6 It is an isometric view of a manipulator in one embodiment of the present invention.

[0078] Among them, 1, the first joint module; 2, the first connecting member; 201, the first connecting shaft; 202, the first connecting part; 3, the second joint module; 4, the second connecting member; 41, the second connecting part; 42, the third connecting part; 5, the third joint module; 6, the fourth joint module; 7, the third connecting member; 8, the fourth connecting member; 9, the fifth joint module; 10, the sixth joint module; 11, the first mounting seat; 12, the second mounting seat; 13, the first connecting rod mechanism; 14, the cross universal joint; 15, the third mounting seat; 16, the fourth mounting seat; 17, the second connecting rod mechanism; 18, the fifth connecting member; 19, Sixth connecting member; 20. Fifth mounting seat; 21. Sixth mounting seat; 22. Synchronous transmission component; 23. Seventh joint module; 24. Seventh connecting member; 25. Palm structure; A. Little finger module; B. Ring finger module; C. Middle finger module; D. Index finger module; E. Thumb module; 26. First finger module; 261. First base; 262. Knuckle assembly; 263. First tendon assembly; 264. First drive assembly; 27. Second finger module; 271. Second base; 272. Transfer knuckle; 273. Second tendon assembly; 274. Second drive assembly; 28. Mounting base. DETAILED DESCRIPTION

[0079] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0080] In the description of the present invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0081] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0082] The present invention provides a connection device, referring to Figure 1-5 The connecting device includes a first joint assembly, which includes a first joint module 1, a first connecting part 2, a second joint module 3, a second connecting part 4 and a third joint module 5; the joint axis of the first joint module 1 is arranged along the first direction, the joint axis of the second joint module 3 is arranged along the second direction, and the joint axis of the third joint module 5 is arranged along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the fixed end of the first joint module 1 is used to connect to the mounting base 28, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting part 2, the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting part 4, and the output end of the third joint module 5 is the output end of the connecting device.

[0083] As an example, the connecting device includes a first joint assembly, which can be used as a shoulder joint unit of an intelligent service system or as a hip joint unit of an intelligent mobile system, specifically including a first joint module 1, a first connecting member 2, a second joint module 3, a second connecting member 4 and a third joint module 5; during installation, the joint axis of the first joint module 1 is set along the first direction, the joint axis of the second joint module 3 is set along the second direction, and the joint axis of the third joint module 5 is set along the third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the first joint module 1, the second joint module 3 and the third joint module 5 cooperate to achieve the degree of freedom in three directions, simulating the forward and backward swinging, up and down swinging and left and right swinging of a human arm or leg, with a more compact overall structure and more flexible movement, so as to achieve true human simulation. Among them, the rotation of the joint axis of the first joint module 1 is defined as up and down swinging, the rotation of the joint axis of the second joint module 3 is defined as left and right swinging, and the rotation of the joint axis of the third joint module 5 is defined as forward and backward swinging; similarly, other combinations are also established. When in use, the fixed end of the first joint module 1 is used to connect to the mounting base 28 of the body, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting member 2, and the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting member 4. The output end of the third joint module 5 is the output end of the connecting device, which is used to connect the mechanical actuator. The mechanical actuator can be a manipulator or an intelligent mobile system; by controlling the first joint module 1 to rotate forward or reverse, the first connecting member 2 can be driven to rotate, so as to drive the second joint module Group 3 rotates around the joint axis of the first joint module 1; by controlling the second joint module 3 to rotate forward or reverse, the second connecting part 4 can be driven to rotate, so as to drive the third joint module 5 to rotate around the joint axis of the second joint module 3; by controlling the third joint module 5 to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module 5. This arrangement uses three joint modules to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the swinging of human arms or legs forward and backward, up and down, and left and right. The overall structure is more compact and the movement is more flexible.

[0084] In one embodiment, referring to Figure 1-5 The joint axis of the first joint module 1, the joint axis of the second joint module 3 and the joint axis of the third joint module 5 intersect at one point.

[0085] As an example, the joint axes of the first joint module 1, the second joint module 3 and the third joint module 5 intersect at one point, which can be regarded as a virtual spherical joint. They can rotate in three directions around this intersection at the same time, similar to the human shoulder or hip, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the first joint module 1 and the joint axis of the second joint module 3 are perpendicular to each other, and the joint axis of the second joint module 3 and the joint axis of the third joint module 5 are perpendicular to each other; when the second joint module 3 is in the first state, the joint axis of the first joint module 1 and the joint axis of the third joint module 5 are perpendicular to each other; when the second joint module 3 changes from the first state to the second state, the joint axes of the first joint module 1 and the third joint module 5 are parallel or coaxial to each other. In addition, the joint axis of the third joint module 5, the joint axis of the fourth joint module 6 and the joint axis of the seventh joint module 23 intersect at one point, which can be regarded as a virtual spherical joint, and can rotate in two directions around this intersection at the same time, similar to the human elbow or knee, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the third joint module 5 and the joint axis of the fourth joint module 6 are perpendicular to each other, and the joint axis of the fourth joint module 6 and the joint axis of the seventh joint module 23 are perpendicular to each other; when the fourth joint module 6 is in the first state, the joint axis of the third joint module 5 and the joint axis of the seventh joint module 23 are parallel or coaxial to each other; when the fourth joint module 6 changes from the first state to the second state, the joint axis of the third joint module 5 and the joint axis of the seventh joint module 23 are perpendicular to each other. The joint axis of the seventh joint module 23, the joint axis of the fifth joint module 9 and the joint axis of the sixth joint module 10 intersect at one point, which can be regarded as a virtual spherical joint. They can rotate in two directions around this intersection at the same time, similar to the human wrist or ankle, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the seventh joint module 23 is perpendicular to the joint axis of the fifth joint module 9, and the joint axis of the fifth joint module 9 and the joint axis of the sixth joint module 10 are perpendicular to each other; when the fifth joint module 9 changes from the first state to the second state, the joint axis of the sixth joint module 10 and the joint axis of the seventh joint module 23 change from being perpendicular to each other to being parallel or coaxial to each other.

[0086] In one embodiment, referring to Figure 1 The first connecting member 2 includes a first connecting shaft 201 and a first connecting portion 202 extending from one end of the first connecting shaft 201 along the axial direction of the first connecting shaft 201; the other end of the first connecting shaft 201 is connected to the output end of the first joint module 1, and the first connecting portion 202 is connected to the part of the second joint module 3 close to the output end.

[0087] As an example, the first connecting member 2 includes a first connecting shaft 201 and a first connecting portion 202, and the first connecting portion 202 extends from one end of the first connecting shaft 201 along the axial direction of the first connecting shaft 201; the other end of the first connecting shaft 201 is connected to the output end of the first joint module 1, and the first connecting portion 202 is connected to the part of the second joint module 3 close to the output end, so that the first joint module 1 can drive the second joint module 3 to rotate through the first connecting shaft 201 and the first connecting portion 202, thereby controlling the mechanical actuator to rotate around the joint axis of the first joint module 1, and realizing forward and backward swinging similar to the shoulder joint of a human hand or the hip joint of a human foot.

[0088] In one embodiment, referring to Figure 1 The second connecting part 4 includes a second connecting portion 41 and a third connecting portion 42 extending from a side edge of the second connecting portion 41 in a direction perpendicular to the second connecting portion 41; the second connecting portion 41 is connected to the fixed end of the third joint module 5, and the third connecting portion 42 is connected to the output end of the second joint module 3.

[0089] As an example, the second connecting member 4 includes a second connecting part 41 and a third connecting part 42, and the third connecting part 42 extends from a side edge of the second connecting part 41 in a direction perpendicular to the second connecting part 41; the second connecting part 41 is connected to the fixed end of the third joint module 5, and the third connecting part 42 is connected to the output end of the second joint module 3, so that the second joint module 3 can drive the third joint module 5 to rotate through the second connecting part 41 and the third connecting part 42, thereby controlling the mechanical actuator to rotate around the joint axis of the second joint module 3, and realizing a swing similar to the shoulder joint of a human hand or the hip joint of a human foot. The swing here can be up and down, left and right, or back and forth.

[0090] In one embodiment, referring to Figure 1-5 , the connecting device also includes a second joint assembly; the fixed end of the second joint assembly is connected to the output end of the third joint module 5, and the output end of the second joint assembly is the output end of the connecting device.

[0091] As an example, the connecting device also includes a second joint assembly; the second joint assembly can serve as an elbow joint unit of an intelligent service system, or as a knee joint unit of an intelligent mobile system; the fixed end of the second joint assembly is connected to the output end of the third joint module 5, and the output end of the second joint assembly is the output end of the connecting device. By controlling the forward or reverse rotation of the third joint module 5, the second joint assembly can be driven to rotate around the joint axis of the third joint module 5, thereby realizing activities similar to those of a human elbow joint unit or a human foot knee joint unit.

[0092] In one embodiment, referring to Figure 1-5The second joint assembly includes a fourth joint module 6 and a third connecting member 7; the joint axis of the fourth joint module 6 is arranged along the first direction; the fixed end of the fourth joint module 6 is connected to the output end of the third joint module 5 through the third connecting member 7, and the output end of the fourth joint module 6 is the output end of the connecting device.

[0093] As an example, the second joint assembly includes a fourth joint module 6 and a third connecting member 7; the joint axis of the fourth joint module 6 is arranged along the first direction; the fixed end of the fourth joint module 6 is connected to the output end of the third joint module 5 through the third connecting member 7, and the output end of the fourth joint module 6 is the output end of the connecting device; by controlling the forward or reverse rotation of the fourth joint module 6, the third connecting member 7 can be used to drive the mechanical actuator to bend or extend, thereby realizing a swing similar to that of the human elbow or knee joint unit, where the swing can be up and down, left and right, or back and forth.

[0094] The present invention provides a transmission assembly, referring to Figure 1-5 , including a connecting device and a transmission device; the fixed end of the transmission device is connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator.

[0095] As an example, the transmission assembly includes a connecting device and a transmission device; the connecting device includes a first joint assembly, which can be used as a shoulder joint unit of an intelligent service system or as a hip joint unit of an intelligent mobile system, specifically including a first joint module 1, a first connecting part 2, a second joint module 3, a second connecting part 4 and a third joint module 5; during installation, the joint axis of the first joint module 1 is set along the first direction, the joint axis of the second joint module 3 is set along the second direction, and the joint axis of the third joint module 5 is set along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first joint module 1, the second joint module 3 and the third joint module 5 cooperate to realize the control of the degrees of freedom in three directions, simulating the swinging of human arms or legs back and forth, up and down, and left and right. The overall structure is more compact and the movement is more flexible, achieving true human simulation. When in use, the fixed end of the first joint module 1 is used to connect to the mounting base 28 of the body, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting member 2, and the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting member 4. The output end of the third joint module 5 is the output end of the connecting device, which is used to connect the mechanical actuator. The mechanical actuator can be a manipulator or an intelligent mobile system; by controlling the first joint module 1 to rotate forward or reverse, the first connecting member 2 can be driven to rotate, so as to drive the second joint module Group 3 rotates around the joint axis of the first joint module 1; by controlling the second joint module 3 to rotate forward or reverse, the second connecting part 4 can be driven to rotate, so as to drive the third joint module 5 to rotate around the joint axis of the second joint module 3; by controlling the third joint module 5 to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module 5. This arrangement uses three joint modules to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the swinging of human arms or legs forward and backward, up and down, and left and right. The overall structure is more compact and the movement is more flexible.

[0096] As an example, the fixed end of the transmission device is connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator, and the movement of the transmission device can be controlled by the connecting device; when the transmission device is set as a wrist joint unit, the connecting device can be an elbow joint unit or a shoulder joint unit or both; when the transmission device is set as an ankle joint unit, the connecting device can be a knee joint unit or a hip joint unit or both. Different combinations are designed according to actual needs.

[0097] In one embodiment, referring to Figure 1-5 The transmission assembly also includes a fourth connecting member 8; the fixed end of the transmission device is connected to the output end of the connecting device through the fourth connecting member 8.

[0098] As an example, the transmission assembly also includes a fourth connecting member 8; the fixed end of the transmission device is connected to the output end of the connecting device through the fourth connecting member 8. By selecting a fourth connecting member 8 with a different structure, the positional relationship between the transmission device and the connecting device can be adjusted to meet usage requirements.

[0099] In one embodiment, referring to Figure 1 The transmission device includes a fifth joint module 9, a sixth joint module 10 and a joint mounting structure; the joint mounting structure includes a first mounting seat 11, a second mounting seat 12 and a first connecting rod mechanism 13; the fifth joint module 9 and the sixth joint module 10 are arranged on the first mounting seat 11 at intervals along the second direction, and the joint axis of the fifth joint module 9 and the joint axis of the sixth joint module 10 are arranged along the first direction, and the output end of the fifth joint module 9 and the output end of the sixth joint module 10 are in opposite directions; the second mounting seat 12 and the first mounting seat 11 are rotatably connected around the first axis arranged along the first direction and the second axis arranged in the third direction; the first connecting rod mechanism 13 is rotatably connected to the output end of the fifth joint module 9, the output end of the sixth joint module 10 and the second mounting seat 12; the second mounting seat 12 is the output end of the transmission device, and the first mounting seat 11 is the fixed end of the transmission device.

[0100] As an example, the transmission device can be used as a wrist joint unit of an intelligent service system, or as an ankle joint unit of an intelligent mobile system, specifically including a fifth joint module 9, a sixth joint module 10 and a joint mounting structure; the joint mounting structure includes a first mounting seat 11, a second mounting seat 12 and a first connecting rod mechanism 13; during installation, the fifth joint module 9 and the sixth joint module 10 are spaced apart on the first mounting seat 11 along the second direction, the joint axis of the fifth joint module 9 and the joint axis of the sixth joint module 10 are set along the first direction, and the output end of the fifth joint module 9 and the output end of the sixth joint module 10 are in opposite directions; the second mounting seat 12 is rotatably connected to the first mounting seat 11 around a first axis set along the first direction and a second axis set in the third direction; the second mounting seat 12 is the output end of the transmission device, and the first mounting seat 11 is the fixed end of the transmission device; the fixed end of the transmission device is used to be connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator, which can be a manipulator to control the movement of the manipulator; the mechanical actuator can also be a mechanical sole to control the movement of the mechanical sole. The first connecting rod mechanism 13 is rotatably connected to the output end of the fifth joint module 9, the output end of the sixth joint module 10 and the second mounting seat 12. The fifth joint module 9 and the sixth joint module 10 cooperate to control the first connecting rod mechanism 13 to present different movement changes, thereby driving the second mounting seat 12 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 11, so as to increase the degree of freedom of the transmission device and improve flexibility.

[0101] In this example, when the fifth joint module 9 and the sixth joint module 10 rotate in the same direction and at the same angle, the first link mechanism 13 drives the second mounting seat 12 to perform wrist flexion and extension movements around the first axis of the connection between the fifth joint module 9 and the sixth joint module 10, which is similar to the up and down swinging of a human wrist joint or a human ankle joint; when the fifth joint module 9 and the sixth joint module 10 rotate in the opposite direction and at the same angle, the first link mechanism 13 drives the second mounting seat 12 to perform radial flexion and ulnar flexion movements around the second axis of the connection between the fifth joint module 9 and the sixth joint module 10, which is similar to the swinging of a human wrist joint or a human ankle joint, where the swinging can be up and down, left and right, or back and forth. When the fifth joint module 9 and the sixth joint module 10 rotate at different angles, the first link mechanism 13 drives the second mounting seat 12 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection between the fifth joint module 9 and the sixth joint module 10, which are similar to the swinging movements of a human wrist joint or a human ankle joint. Among them, the joint module is similar to a motor and is used to provide a power source. It mainly includes a motor, a reducer, a driver, an encoder and other parts. The two adjacent joint modules are electrically connected through wires.

[0102] In one embodiment, referring to Figure 1 The joint mounting structure also includes a cross universal joint 14; the cross universal joint 14 includes two first connecting ends arranged along the first direction and two second connecting ends arranged along the third direction, the two first connecting ends are used to be rotatably connected to the first mounting seat 11, and the two second connecting ends are used to be rotatably connected to the second mounting seat 12.

[0103] As an example, the joint mounting structure also includes a cross universal joint 14, which includes two first connecting ends arranged along a first direction and two second connecting ends arranged along a third direction. The two first connecting ends are used to be rotatably connected to the first mounting seat 11, and the two second connecting ends are used to be rotatably connected to the second mounting seat 12, that is, the second mounting seat 12 can rotate around the first axis of the cross universal joint 14, and the second mounting seat 12 can also rotate around the second axis of the cross universal joint 14, thereby increasing the degree of freedom of the transmission device and improving flexibility. When the fifth joint module 9 and the sixth joint module 10 rotate in the same direction and at the same angle, the first connecting rod mechanism 13 drives the second mounting seat 12 to perform wrist flexion and wrist extension movements around the first axis of the cross universal joint 14, which is similar to the up and down swinging of a human wrist joint or a human ankle joint; when the fifth joint module 9 and the sixth joint module 10 rotate in the opposite direction and at the same angle, the first connecting rod mechanism 13 drives the second mounting seat 12 to perform radial flexion and ulnar flexion movements around the second axis of the cross universal joint 14, which is similar to the swinging of a human wrist joint or a human ankle joint, and the swinging here can be up and down swinging, left and right swinging, or forward and backward swinging. When the fifth joint module 9 and the sixth joint module 10 rotate at different angles, the first connecting rod mechanism 13 drives the second mounting seat 12 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the first axis and the second axis of the cross universal joint 14 simultaneously, which are similar to the swinging movements of a human wrist joint or a human ankle joint.

[0104] In one embodiment, referring to Figure 2 The transmission device also includes a fifth joint module 9; the joint mounting structure also includes a third mounting seat 15, a fourth mounting seat 16 and a second connecting rod mechanism 17; the fifth joint module 9 is installed in the third mounting seat 15 along the first direction; the fourth mounting seat 16 and the third mounting seat 15 are rotatably connected around the first axis corresponding to the first direction; the second connecting rod mechanism 17 is rotatably connected to the output end of the fifth joint module 9 and the fourth mounting seat 16, and is used to drive the fourth mounting seat 16 to rotate under the action of the fifth joint module 9; the fourth mounting seat 16 is the output end of the transmission device, and the third mounting seat 15 is the fixed end of the transmission device.

[0105] As an example, the transmission device can be used as a wrist joint unit of an intelligent service system or as an ankle joint unit of an intelligent mobile system, specifically including a fifth joint module 9, and the joint mounting structure also includes a third mounting seat 15, a fourth mounting seat 16 and a second connecting rod mechanism 17; during installation, the third mounting seat 15 is used as an installation reference, and the fifth joint module 9 is installed in the third mounting seat 15 along the first direction; the fourth mounting seat 16 is the output end of the transmission device, and the third mounting seat 15 is the fixed end of the transmission device. The fixed end of the transmission device is used to be connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator. The mechanical actuator can be a manipulator to control the movement of the manipulator; it can also be a mechanical foot to control the movement of the mechanical foot. The fourth mounting seat 16 is rotatably connected to the third mounting seat 15 around the first axis corresponding to the first direction, and the second connecting rod mechanism 17 is rotatably connected to the output end of the fifth joint module 9 and the fourth mounting seat 16. Under the action of the fifth joint module 9, the second connecting rod mechanism 17 can be controlled to present different motion changes, thereby driving the fourth mounting seat 16 to rotate around the first axis at the connection between it and the third mounting seat 15. The fourth mounting seat 16 can be simply controlled by the fifth joint module 9 to achieve swinging similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down, left and right, or back and forth, making the structure of the transmission device simpler and the motion control more convenient.

[0106] In one embodiment, referring to Figure 2 The transmission device also includes a sixth joint module 10 and a fifth connecting member 18; the joint axis of the sixth joint module 10 is arranged along the third direction; the first end of the fifth connecting member 18 is connected to the output end of the sixth joint module 10, and the second end of the fifth connecting member 18 is connected to the fifth joint module 9.

[0107] As an example, the transmission device also includes a sixth joint module 10 and a fifth connecting member 18; the joint axis of the sixth joint module 10 is arranged along the third direction, that is, the joint axis of the sixth joint module 10 is perpendicular to the joint axis of the fifth joint module 9; the first end of the fifth connecting member 18 is connected to the output end of the sixth joint module 10, and the second end of the fifth connecting member 18 is connected to the fifth joint module 9, that is, the sixth joint module 10 rotates forward or reverse, which can drive the fifth connecting member 18 to rotate around the joint axis of the sixth joint module 10, thereby driving the fifth joint module 9 and the third mounting seat 15 and the fourth mounting seat 16 connected thereto to rotate, so as to realize the fourth mounting seat 16 to swing similar to the human wrist joint or the human ankle joint, and the swing here can be up and down, left and right, or back and forth; so that the transmission device has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid.

[0108] In one embodiment, referring to Figure 3The transmission device includes a fifth joint module 9, a sixth joint module 10 and a sixth connecting part 19; the joint axis of the fifth joint module 9 is arranged along the second direction, and the joint axis of the sixth joint module 10 is arranged along the first direction; the fixed end of the fifth joint module 9 is connected to the output end of the sixth joint module 10 through the sixth connecting part 19, the output end of the fifth joint module 9 is the output end of the transmission device, and the fixed end of the sixth joint module 10 is the fixed end of the transmission device.

[0109] As an example, the transmission device serves as the wrist joint of the intelligent service system and can also serve as the ankle joint of the intelligent mobile system, specifically including the fifth joint module 9, the sixth joint module 10 and the sixth connecting member 19; during installation, the joint axis of the fifth joint module 9 is set along the second direction, and the joint axis of the sixth joint module 10 is set along the first direction; the fixed end of the fifth joint module 9 is connected to the output end of the sixth joint module 10 through the sixth connecting member 19, the output end of the fifth joint module 9 is the output end of the transmission device, and the fixed end of the sixth joint module 10 is the fixed end of the transmission device; the fixed end of the transmission device is used to be connected to the output end of the connecting device, and the output end of the transmission device is used to install a mechanical actuator, which can be a manipulator to control the movement of the manipulator; the mechanical actuator can also be a mechanical foot to control the movement of the mechanical foot. The fifth joint module 9 rotates forward or reversely, and the mechanical actuator can be controlled to rotate around the joint axis of the fifth joint module 9 to perform radial flexion and ulnar flexion movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up-and-down swing, a left-and-right swing, or a forward-and-backward swing, and the joint rotation angle can be close to ±180°, thereby expanding the swing range. The fixed end of the fifth joint module 9 is connected to the output end of the sixth joint module 10 through the sixth connecting member 19. The sixth joint module 10 rotates forward or reversely, and the fifth joint module 9 can be driven to rotate around the joint axis of the sixth joint module 10 through the sixth connecting member 19. The mechanical actuator can be controlled to rotate around the joint axis of the sixth joint module 10 to perform wrist flexion and wrist extension movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint, and the joint rotation angle can be close to ±180°, thereby expanding the swing range. In this example, there is a pivot structure between the fifth joint module 9 and the mechanical actuator. The mechanical actuator can be directly connected to the output end of the fifth joint module 9 without the need to install an end mounting seat, which increases the stability of the joint and enables the transmission assembly to achieve better performance in improving operational flexibility, optimizing joint torque, and avoiding obstacles. A direct joint connection method is adopted without coupling, which has a simpler structure, low cost, and a joint angle close to ±180°. The fifth joint module 9 and the sixth joint module 10 cooperate, so that the transmission device has two degrees of freedom, is more flexible, has a wider range of motion, and is more humanoid.

[0110] In one embodiment, referring to Figure 4 and Figure 5The transmission device includes a fifth joint module 9 and a sixth joint module 10; the joint mounting structure also includes a fifth mounting seat 20, a sixth mounting seat 21 and a synchronous transmission component 22; the fifth joint module 9 is fixedly mounted on the fifth mounting seat 20 along the second direction, and the sixth joint module 10 is rotatably mounted on the fifth mounting seat 20 along the first direction; the sixth mounting seat 21 is connected to the sixth joint module 10; the synchronous transmission component 22 is connected to the output end of the fifth joint module 9 and the side wall of the sixth joint module 10; the sixth mounting seat 21 is the output end of the transmission device, and the fifth mounting seat 20 is the fixed end of the transmission device.

[0111] As an example, the transmission device serves as a partial joint of the wrist joint in the intelligent service system, and can also serve as a partial joint of the ankle joint in the intelligent mobile system, specifically including a fifth joint module 9 and a sixth joint module 10; the joint mounting structure also includes a fifth mounting seat 20, a sixth mounting seat 21 and a synchronous transmission component 22; during installation, the fifth joint module 9 is fixedly mounted on the fifth mounting seat 20 along the second direction, and the sixth joint module 10 is rotatably mounted on the fifth mounting seat 20 along the first direction; the sixth mounting seat 21 is connected to the sixth joint module 10, the sixth mounting seat 21 is the output end of the transmission device, and the fifth mounting seat 20 is the fixed end of the transmission device; the fixed end of the transmission device is used to be connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator, which can be an installed manipulator to control the movement of the manipulator; it can also be a mechanical foot to control the movement of the mechanical foot. The sixth mounting seat 21 is connected to the sixth joint module 10. When the sixth joint module 10 rotates forward or reverse, the sixth mounting seat 21 can be controlled to rotate around the joint axis of the sixth joint module 10 to perform radial flexion and ulnar flexion movements, thereby achieving a swing similar to that of a human wrist joint or a human ankle joint. The synchronous transmission component 22 is connected to the output end of the fifth joint module 9 and the side wall of the sixth joint module 10. When the fifth joint module 9 rotates forward or reverse, the synchronous transmission component 22 can drive the sixth joint module 10 to rotate around the connection axis between it and the fifth mounting seat 20, which is equivalent to driving the sixth joint module 10 to rotate around the joint axis of the fifth joint module 9, thereby controlling the sixth mounting seat 21 connected to the sixth joint module 10 to rotate around the joint axis of the fifth joint module 9 to perform wrist flexion and extension movements, thereby achieving a swing similar to that of a human wrist joint or a human ankle joint.

[0112] In this example, the sixth mounting seat 21 can be controlled simply by the sixth joint module 10 to achieve a swing similar to that of a human wrist joint or a human ankle joint, making motion control simpler; a synchronous linkage arrangement is adopted between the sixth joint module 10 and the fifth joint module 9 to achieve a staggered arrangement of the fifth joint module 9 and the sixth joint module 10, making the structural space more reasonable; the fifth joint module 9 drives the sixth joint module 10 to rotate around the first direction through the synchronous transmission component 22, thereby driving the sixth mounting seat 21 to rotate, so as to achieve a swing similar to that of a human wrist joint or a human ankle joint, where the swing can be up and down, left and right, or forward and backward. The cooperation between the fifth joint module 9 and the sixth joint module 10 makes the transmission device have two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid.

[0113] As an example, refer to Figure 4 The synchronous transmission component 22 is a synchronous belt component, which includes a driving wheel, a driven wheel and a belt. During installation, the driving wheel is first installed on the output end of the fifth joint module 9, and then the driven wheel is connected to the side wall of the sixth joint module 10. Specifically, a rotating shaft is passed through the fifth mounting seat 20, and the first end of the rotating shaft is fixedly connected to the side wall of the sixth joint module 10, and the driven wheel is installed on the second end of the rotating shaft. Finally, the belt is put on the driving wheel and the driven wheel. The fifth joint module 9 rotates forward or reversely, driving the driving wheel to rotate, and the driven wheel is driven by the belt to rotate, thereby driving the sixth joint module 10 to rotate around the connection axis between it and the fifth mounting seat 20, which is equivalent to the joint axis of the fifth joint module 9. The sixth mounting seat 21 can be controlled to rotate around the joint axis of the fifth joint module 9 to perform wrist flexion and extension movements, realizing swing similar to that of a human wrist joint or a human ankle joint. The synchronous belt component has the advantages of high precision, high efficiency, strong load capacity, low maintenance cost, wide applicability and high installation accuracy.

[0114] As an example, refer to Figure 5The synchronous transmission component 22 is a connecting rod component, and the connecting rod component includes an active flange, a driven flange, a first connecting rod and a second connecting rod; during installation, the active flange is first installed on the output end of the fifth joint module 9, and then the driven flange is connected to the side wall of the sixth joint module 10. Specifically, a rotating shaft is passed through the sixth joint module 10, and the first end of the rotating shaft is fixedly connected to the side wall of the sixth joint module 10, and the driven flange is installed at the second end of the rotating shaft; finally, the first end of the first connecting rod and the first end of the second connecting rod are rotatably connected to the opposite ends of the active flange, and the second end of the first connecting rod and the second end of the second connecting rod are respectively connected to the The opposite ends of the driven flange are rotatably connected; the fifth joint module 9 rotates forward or reverse, driving the active flange to rotate, and driving the driven flange to rotate through the first connecting rod and the second connecting rod, thereby driving the sixth joint module 10 to rotate around the connection axis between it and the sixth joint module 10, which is equivalent to the joint axis of the fifth joint module 9. The sixth mounting seat 21 can be controlled to rotate around the joint axis of the fifth joint module 9 to perform wrist flexion and extension movements, realizing swing similar to the human wrist joint or human ankle joint; the use of a connecting rod assembly can make the synchronous transmission assembly have higher precision, a larger transmission ratio and stronger rigidity, and is suitable for high-load environments.

[0115] In one embodiment, referring to Figure 1-5 The transmission device also includes a seventh joint module 23; the joint axis of the seventh joint module 23 is arranged along the third direction; the output end of the seventh joint module 23 is the output end of the transmission device, or the output end of the seventh joint module 23 is used to connect the fixed end of the transmission device, and the fixed end of the seventh joint module 23 is the fixed end of the transmission device.

[0116] As an example, the transmission device also includes a seventh joint module 23; the joint axis of the seventh joint module 23 is arranged along a third direction; the output end of the seventh joint module 23 is the output end of the transmission device, or the output end of the seventh joint module 23 is used to connect to the fixed end of the transmission device, and the fixed end of the seventh joint module 23 is the fixed end of the transmission device; the fixed end of the transmission device is connected to the output end of the connecting device, and the output end of the transmission device is used to connect to the mechanical actuator. In this way, when the seventh joint module 23 rotates forward or reverse, it can drive the mechanical actuator to rotate around the joint axis of the seventh joint module 23, giving the transmission device three degrees of freedom and overall flexibility. The three joint modules of the transmission device can be selected from the same size joint modules to simplify the joint module configuration. The fixed end of the seventh joint module 23 is used to connect to the output end of the connecting device, and the movement of the transmission device can be controlled by the connecting device. When the transmission device is configured as a wrist joint, the connecting device can be an elbow joint or a shoulder joint; when the transmission device is configured as an ankle joint, the connecting device can be a knee joint or a hip joint. Different combinations can be designed according to actual needs.

[0117] In one embodiment, referring to Figure 1-5The transmission device also includes a seventh connecting member 24, the first end of the seventh connecting member 24 is used to be connected to the output end of the seventh joint module 23, the second end of the seventh connecting member 24 is the output end of the transmission device, or the second end of the seventh connecting member 24 is used to connect the fixed end of the transmission device.

[0118] As an example, the transmission device also includes a seventh connecting member 24, the first end of the seventh connecting member 24 is used to be connected to the output end of the seventh joint module 23, the second end of the seventh connecting member 24 is the output end of the transmission device, or the second end of the seventh connecting member 24 is used to connect to the fixed end of the transmission device, and the output end of the transmission device is used to connect the mechanical actuator. In this way, by selecting a seventh connecting member 24 with a different structure, the positional relationship between the mechanical actuator and the seventh joint module 23 can be adjusted to meet the usage requirements.

[0119] In one embodiment, referring to Figure 1-5 The connecting member in the transmission assembly is set as a single-sided arm connecting member or a double-sided arm connecting member; the single-sided arm connecting member includes a connecting body and a first transfer arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first transfer arm is used to be fixedly connected to the output end of another joint module; the double-sided arm connecting member includes a connecting body and a first transfer arm and a second transfer arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of the other joint module.

[0120] As an example, the connecting member in the transmission assembly is set as a single-sided arm connecting member or a double-sided arm connecting member; the single-sided arm connecting member includes a connecting body and a first connecting arm, the first connecting arm extends from one side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first connecting arm is used to be fixedly connected to the output end of another joint module, so as to realize the forward or reverse rotation of one joint module and drive the other joint module to rotate around the joint axis of the joint module.

[0121] In one example, a double-sided arm connector includes a connecting body and a first transfer arm and a second transfer arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body. The connecting body is used to be fixedly connected to a joint module, the first transfer arm is used to be fixedly connected to the output end of another joint module, and the second transfer arm is used to be rotatably connected to the fixed end of another joint module, so that one joint module can rotate forward or reverse to drive the other joint module to rotate around the joint axis of the joint module. The connector in this example can be set as a single-sided arm connector or a double-sided arm connector, both of which can achieve the connection effect; in addition, the double-sided arm connector can enhance the connection stiffness and increase the life of the transmission assembly compared to the single-sided arm connector.

[0122] In this example, the joint axes of the joint modules are improved to be arranged perpendicular to each other in pairs, so that the wrist has three degrees of freedom of yaw, pitch and roll, which is more flexible, more human-like, and less prone to singularities; in addition, all connecting parts are improved to bilateral structures, which greatly enhances the stiffness of the connecting parts and increases the life of the intelligent service system; the intelligent service system has a compact structure and simple connections, and while retaining the three degrees of freedom of the wrist joint, the joint modules are independent of each other and there is no coupling relationship, that is, each joint module is independently controlled and performs actions independently without affecting each other, thereby improving the application scope of the intelligent service system.

[0123] An embodiment of the utility model provides an intelligent service system, including a manipulator and a transmission assembly; in the transmission assembly, the transmission device is a wrist joint unit, the first joint assembly in the connecting device is an elbow joint unit, and the second joint assembly in the connecting device is a shoulder joint unit; the manipulator is arranged at the output end of the wrist joint unit.

[0124] As an example, the intelligent service system includes a manipulator and a transmission assembly; in the transmission assembly, the transmission device is a wrist joint unit, the first joint assembly in the connecting device is an elbow joint unit, and the second joint assembly in the connecting device is a shoulder joint unit; the first joint assembly specifically includes a first joint module 1, a first connecting part 2, a second joint module 3, a second connecting part 4 and a third joint module 5; during installation, the joint axis of the first joint module 1 is set along the first direction, the joint axis of the second joint module 3 is set along the second direction, and the joint axis of the third joint module 5 is set along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first joint module 1, the second joint module 3 and the third joint module 5 cooperate to realize the control of the degrees of freedom in three directions, simulating the swing of human arms back and forth, up and down, and left and right. The overall structure is more compact and the movement is more flexible, achieving true human simulation. During use, the fixed end of the first joint module 1 is used to connect to the mounting base 28 of the main body, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting part 2, and the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting part 4. The output end of the third joint module 5 is the output end of the connecting device, which is used to connect the manipulator; by controlling the first joint module 1 to rotate forward or reverse, the first connecting part 2 can be driven to rotate, so as to drive the second joint module 3 to rotate around the joint axis of the first joint module 1; by controlling the second joint module 3 to rotate forward or reverse, the second connecting part 4 can be driven to rotate, so as to drive the third joint module 5 to rotate around the joint axis of the second joint module 3; by controlling the third joint module 5 to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module 5. In this way, the three joint modules can be used to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the human arm swinging back and forth, up and down, and left and right, and the overall structure is more compact and the movement is more flexible.

[0125] In one embodiment, referring to Figure 6The manipulator includes a palm structure 25, a pinky module A, a ring finger module B, a middle finger module C, an index finger module D and a thumb module E arranged on the palm structure 25 in the manner of a human hand; the pinky module A, the ring finger module B, the middle finger module C, the index finger module D and the thumb module E all include a first finger module 26, and the first finger module 26 includes a first base 261, a finger joint assembly 262, a first tendon assembly 263 and a first driving assembly 264; the first end of the finger joint assembly 262 is rotatably arranged on the first On the base 261, the first drive component 264 is installed on the first base 261, and the first base 261 is used to be installed on the palm structure 25; the first tendon component 263 is passed through the finger joint component 262 and the first base 261, and the first end of the first tendon component 263 is connected to the second end of the finger joint component 262, and the second end of the first tendon component 263 is connected to the first drive component 264; the first drive component 264 is used to control the first tendon component 263 to be in a retracted state or a released state.

[0126] As an example, the robotic hand includes a palm structure 25, and a pinky module A, ring finger module B, middle finger module C, index finger module D, and thumb module E, which are arranged on the palm structure 25 to mimic the human hand. The five fingers are arranged in a similar manner to a human hand to provide a more human-like grip. Pinky module A, ring finger module B, middle finger module C, index finger module D, and thumb module E all include a first finger module 26. This first finger module 26 includes a first base 261, a knuckle assembly 262, a first tendon assembly 263, and a first drive assembly 264. This first finger module 26 can be mounted directly or indirectly on the palm structure 25 of the robotic hand. During installation, the first base 261 is used as a support base. The first base 261 is used to be installed on the palm structure 25. The first end of the finger joint assembly 262 is rotatably mounted on the first base 261, specifically for finger gripping. The rotatable mounting is specifically connected by a hinge, a rotating shaft, or other means. The first drive assembly 264 is mounted on the first base 261 and serves as a power source for driving the first tendon assembly 263. The first tendon assembly 263 is inserted into the finger joint assembly 262 and the first base 261, and the first end of the first tendon assembly 263 is connected to the second end of the finger joint assembly 262. The second end of the first tendon assembly 263 is connected to the first drive assembly 264. The first drive assembly 264 is used to control the first tendon assembly 263 to be in a retracted state or a released state, thereby controlling the bending or extension of the finger joint assembly 262.

[0127] In this example, the overall structure of the first finger module 26 is simple. The first tendon assembly 263 and the first drive assembly 264 are used in conjunction to facilitate the control of the bending or extension of the finger module, thereby improving the control effect of the finger module and meeting usage requirements. Moreover, the finger module can be modularly designed, which helps to reduce costs.

[0128] In one embodiment, referring to Figure 6 The thumb module E also includes a second finger module 27, and the second finger module 27 also includes a second base 271, a transfer knuckle 272, a second tendon assembly 273 and a second drive assembly 274; the first end of the transfer knuckle 272 is rotatably set on the second base 271, and the second end of the transfer knuckle 272 is connected to the end of the first base 261 away from the knuckle assembly 262, and a second drive assembly 274 is provided on the second base 271, and the second base 271 is used to be installed on the palm structure 25; the second tendon assembly 273 is passed through the transfer knuckle 272 and the second base 271, and the first end of the second tendon assembly 273 is connected to the second end of the transfer knuckle 272, and the second end of the second tendon assembly 273 is connected to the second drive assembly 274; the second drive assembly 274 is used to control the second tendon assembly 273 to be in a retracted state or a released state.

[0129] As an example, the thumb module E also includes a second finger module 27, and the second finger module 27 also includes a second base 271, a transfer knuckle 272, a second tendon assembly 273 and a second drive assembly 274; during installation, the second base 271 is used as a support reference, and the second base 271 is used to be installed on the palm structure 25. The first end of the transfer knuckle 272 can be rotatably set on the second base 271, and the rotatable setting is specifically connected by a hinge, a rotating shaft or other means. The second end of the transfer knuckle 272 is connected to the end of the first base 261 away from the knuckle assembly 262, and the second drive assembly 274 is installed on the second base 271 as a power source to drive the second tendon assembly 273 to work. The second tendon assembly 273 is disposed within the transfer knuckle 272 and the second base 271, with the first end of the second tendon assembly 273 connected to the second end of the transfer knuckle 272, and the second end of the second tendon assembly 273 connected to the second drive assembly 274. The second drive assembly 274 is used to control the second tendon assembly 273 to be in a retracted state or a released state. The second drive assembly 274 can control the retraction or release of the second tendon assembly 273. When the second tendon assembly 273 is retracted, it can drive the transfer knuckle 272 to rotate clockwise around the axis at which the first end of the transfer knuckle 272 connects to the second base 271 (i.e., the third axis about which the transfer knuckle 272 rotates around the second base 271), thereby bending the transfer knuckle 272. When the second tendon assembly 273 is released, it can drive the transfer knuckle 272 to rotate counterclockwise around the axis at which the first end of the transfer knuckle 272 connects to the second base 271, thereby extending the transfer knuckle 272. The third axis of rotation of the transfer knuckle 272 around the second base 271 is perpendicular to the first axis of rotation of the knuckle assembly 262 around the first base 261 .

[0130] In this example, the second base of the second finger module 27 is connected to the palm structure 25. The first end of the intermediate knuckle 272 is rotatably mounted on the second base 271. The second end of the intermediate knuckle 272 is fixedly connected to the end of the first base 261 away from the knuckle assembly 262. First, the first tendon assembly 263 and the first drive assembly 264 are used in conjunction to facilitate the control of the knuckle assembly 262 of the thumb module E to bend or extend. The second tendon assembly 273 and the second drive assembly 274 are used in conjunction to facilitate the control of the intermediate knuckle 272 to bend or extend, driving the entire thumb module E toward the palm structure 25, thereby completing the rotation of the thumb module E relative to the palm structure 25, improving the control effect of the intermediate knuckle 272, and meeting user requirements.

[0131] As an example, the second drive assembly 274 has the same structure and function as the first drive assembly 264, but is used in different locations to control different mechanisms. The second drive assembly 274 includes a second motor and a second winding reel; the second motor is mounted on the second base 271, and the second winding reel is connected to the output shaft of the second motor. The second end of the second tendon assembly 273 passes through the second base 271 and is connected to the second winding reel. By controlling the forward or reverse rotation of the second motor, the second winding reel can be driven to rotate, thereby reeling or releasing the second tendon assembly 273 to achieve the control of the bending or extension of the transfer knuckle 272.

[0132] An embodiment of the present utility model provides an intelligent mobility system, including a mechanical foot and a connecting device; in the connecting device, when the transmission device is an ankle joint unit, the second joint assembly in the connecting device becomes a knee joint unit, and the first joint assembly in the connecting device becomes a hip joint unit; the mechanical foot is arranged at the output end of the ankle joint unit.

[0133] As an example, an intelligent mobile system includes a mechanical foot and a connecting device; in the connecting device, when the transmission device is an ankle joint unit, the second joint assembly in the connecting device becomes a knee joint unit, and the first joint assembly in the connecting device becomes a hip joint unit; the first joint assembly serves as the hip joint unit of the intelligent mobile system, specifically including a first joint module 1, a first connecting part 2, a second joint module 3, a second connecting part 4 and a third joint module 5; during installation, the joint axis of the first joint module 1 is set along the first direction, the joint axis of the second joint module 3 is set along the second direction, and the joint axis of the third joint module 5 is set along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first joint module 1, the second joint module 3 and the third joint module 5 cooperate to realize the control of the degrees of freedom in three directions, simulating the swing of human legs back and forth, up and down, and left and right. The overall structure is more compact and the movement is more flexible, achieving true human simulation.

[0134] During use, the fixed end of the first joint module 1 is used to connect to the mounting base 28 of the main body, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting part 2, and the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting part 4. The output end of the third joint module 5 is the output end of the connecting device, which is used to connect the intelligent mobile system; by controlling the first joint module 1 to rotate forward or reverse, the first connecting part 2 can be driven to rotate, so as to drive the second joint module 3 to rotate around the joint axis of the first joint module 1; by controlling the second joint module 3 to rotate forward or reverse, the second connecting part 4 can be driven to rotate, so as to drive the third joint module 5 to rotate around the joint axis of the second joint module 3; by controlling the third joint module 5 to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module 5. In this way, the three joint modules can be used to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the human leg swinging back and forth, up and down, and left and right, and the overall structure is more compact and the movement is more flexible.

[0135] An embodiment of the present invention provides an intelligent terminal, comprising a main body, and also comprising an intelligent service system and / or an intelligent mobile system; the intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body.

[0136] As an example, the intelligent terminal includes a main body, and also includes an intelligent service system and / or an intelligent mobile system; the intelligent service system is arranged at the first position of the main body, and the intelligent mobile system is arranged at the second position of the main body; the transmission assembly includes a connecting device and a transmission device; the connecting device includes a first joint assembly, which can serve as a shoulder joint unit of the intelligent service system and as a hip joint unit of the intelligent mobile system, specifically including a first joint module 1, a first connecting part 2, a second joint module 3, a second connecting part 4 and a third joint module 5; during installation, the joint axis of the first joint module 1 is set along the first direction, the joint axis of the second joint module 3 is set along the second direction, and the joint axis of the third joint module 5 is set along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first joint module 1, the second joint module 3 and the third joint module 5 cooperate to realize the control of the degrees of freedom in three directions, simulating the swinging of human arms or legs back and forth, up and down, and left and right. The overall structure is more compact and the movement is more flexible, achieving true human simulation.

[0137] When in use, the fixed end of the first joint module 1 is used to connect to the mounting base 28 of the body, the output end of the first joint module 1 is connected to the fixed end of the second joint module 3 through the first connecting member 2, and the output end of the second joint module 3 is connected to the fixed end of the third joint module 5 through the second connecting member 4. The output end of the third joint module 5 is the output end of the connecting device, which is used to connect the mechanical actuator. The mechanical actuator can be a manipulator or an intelligent mobile system; by controlling the first joint module 1 to rotate forward or reverse, the first connecting member 2 can be driven to rotate, so as to drive the second joint module Group 3 rotates around the joint axis of the first joint module 1; by controlling the second joint module 3 to rotate forward or reverse, the second connecting part 4 can be driven to rotate, so as to drive the third joint module 5 to rotate around the joint axis of the second joint module 3; by controlling the third joint module 5 to rotate forward or reverse, the mechanical actuator can be driven to rotate around the joint axis of the third joint module 5. This arrangement uses three joint modules to adjust the degrees of freedom in three directions, so as to regulate the mechanical actuator to simulate the swinging of human arms or legs forward and backward, up and down, and left and right. The overall structure is more compact and the movement is more flexible.

[0138] In this example, when the control system receives information about the posture change of the mechanical actuator, the control system can calculate the updated value of the joint angle of each joint module based on the inverse kinematics of the intelligent service system or the intelligent mobile system, and then input the updated value into each joint module, so that the joint angle of the joint module reaches the predetermined position, thereby driving the posture of the mechanical actuator to change.

[0139] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A connecting device, characterized in that: The first joint assembly includes a first joint module, a first connecting member, a second joint module, a second connecting member and a third joint module; The joint axis of the first joint module is arranged along a first direction, the joint axis of the second joint module is arranged along a second direction, and the joint axis of the third joint module is arranged along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; The fixed end of the first joint module is used to connect to the mounting base, the output end of the first joint module is connected to the fixed end of the second joint module through a first connecting piece, the output end of the second joint module is connected to the fixed end of the third joint module through a second connecting piece, and the output end of the third joint module is the output end of the connecting device.

2. The connecting device according to claim 1, characterized in that The joint axis of the first joint module, the joint axis of the second joint module, and the joint axis of the third joint module intersect at one point.

3. The connecting device according to claim 1, characterized in that The first connecting member includes a first connecting shaft and a first connecting portion extending from one end of the first connecting shaft along the axial direction of the first connecting shaft; The other end of the first connecting shaft is connected to the output end of the first joint module, and the first connecting portion is connected to a portion of the second joint module close to the output end.

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

5. The connection device according to claim 1, characterized in that The connecting device also includes a second joint assembly; The fixed end of the second joint assembly is connected to the output end of the third joint module, and the output end of the second joint assembly is the output end of the connecting device.

6. The connecting device according to claim 5, characterized in that The second joint assembly includes a fourth joint module and a third connecting member; The joint axis of the fourth joint module is arranged along the first direction; The fixed end of the fourth joint module is connected to the output end of the third joint module through the third connecting member, and the output end of the fourth joint module is the output end of the connecting device.

7. A transmission assembly, characterized in that: comprising the connecting device and the transmission device according to any one of claims 1 to 6; The fixed end of the transmission device is connected to the output end of the connecting device, and the output end of the transmission device is used to connect a mechanical actuator.

8. The transmission assembly according to claim 7, characterized in that: Also comprising a fourth connecting member; The fixed end of the transmission device is connected to the output end of the connecting device through the fourth connecting member.

9. The transmission assembly according to claim 7, characterized in that: The transmission device includes a fifth joint module, a sixth joint module and a joint mounting structure; The joint mounting structure includes a first mounting seat, a second mounting seat and a first connecting rod mechanism; The fifth joint module and the sixth joint module are spaced apart on the first mounting seat along the second direction, the joint axis of the fifth joint module and the joint axis of the sixth joint module are arranged along the first direction, and the output end of the fifth joint module and the output end of the sixth joint module are in opposite directions; The second mounting seat is rotatably connected to the first mounting seat around a first axis arranged along the first direction and a second axis arranged along the third direction; The first link mechanism is rotatably connected to the output end of the fifth joint module, the output end of the sixth joint module and the second mounting seat; The second mounting seat is the output end of the transmission device, and the first mounting seat is the fixed end of the transmission device.

10. The transmission assembly according to claim 9, characterized in that: The joint mounting structure further includes a cross universal shaft; The cross universal joint includes two first connecting ends arranged along the first direction and two second connecting ends arranged along the third direction. The two first connecting ends are used to be rotatably connected to the first mounting seat, and the two second connecting ends are used to be rotatably connected to the second mounting seat.

11. The transmission assembly according to claim 9, characterized in that: The transmission device further includes a fifth joint module; the joint mounting structure further includes a third mounting seat, a fourth mounting seat and a second connecting rod mechanism; The fifth joint module is installed in the third mounting seat along the first direction; The fourth mounting seat is rotatably connected to the third mounting seat around a first axis corresponding to a first direction; The second link mechanism is rotatably connected to the output end of the fifth joint module and the fourth mounting seat, and is used to drive the fourth mounting seat to rotate under the action of the fifth joint module; The fourth mounting seat is the output end of the transmission device, and the third mounting seat is the fixed end of the transmission device.

12. The transmission assembly according to claim 11, characterized in that: The transmission device further includes a sixth joint module and a fifth connecting member; The joint axis of the sixth joint module is arranged along the third direction; The first end of the fifth connecting member is connected to the output end of the sixth joint module, and the second end of the fifth connecting member is connected to the fifth joint module.

13. The transmission assembly according to claim 7, characterized in that: The transmission device includes a fifth joint module, a sixth joint module and a sixth connecting member; The joint axis of the fifth joint module is arranged along the second direction, and the joint axis of the sixth joint module is arranged along the first direction; The fixed end of the fifth joint module is connected to the output end of the sixth joint module through the sixth connecting piece; The output end of the fifth joint module is the output end of the transmission device, and the fixed end of the sixth joint module is the fixed end of the transmission device.

14. The transmission assembly according to claim 9, characterized in that: The transmission device further includes a fifth joint module and a sixth joint module; the joint mounting structure further includes a fifth mounting seat, a sixth mounting seat and a synchronous transmission component; The fifth joint module is fixedly mounted on the fifth mounting seat along the second direction, and the sixth joint module is rotatably mounted on the fifth mounting seat along the first direction; The sixth mounting seat is connected to the sixth joint module; The synchronous transmission component is connected to the output end of the fifth joint module and the side wall of the sixth joint module; The sixth mounting seat is the output end of the transmission device, and the fifth mounting seat is the fixed end of the transmission device.

15. The transmission assembly according to claim 7, characterized in that: The transmission device also includes a seventh joint module; The joint axis of the seventh joint module is arranged along the third direction; The output end of the seventh joint module is the output end of the transmission device, or the output end of the seventh joint module is used to connect to the fixed end of the transmission device, and the fixed end of the seventh joint module is the fixed end of the transmission device.

16. The transmission assembly according to claim 15, characterized in that: The transmission device also includes a seventh connecting member, the first end of the seventh connecting member is used to be connected to the output end of the seventh joint module, the second end of the seventh connecting member is the output end of the transmission device, or the second end of the seventh connecting member is used to connect to the fixed end of the transmission device.

17. The transmission assembly according to claim 7, characterized in that: The connecting member of the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member; The single-sided arm connector includes a connecting body and a first adapter arm extending from a side edge of the connecting body in a direction perpendicular to the connecting body, the connecting body is used to be fixedly connected to a joint module, and the first adapter arm is used to be fixedly connected to the output end of another joint module; The bilateral arm connecting member includes a connecting body and a first adapter arm and a second adapter arm extending from one side edge of the connecting body in a direction perpendicular to the connecting body. The connecting body is used to be fixedly connected to a joint module, the first adapter arm is used to be fixedly connected to the output end of another joint module, and the second adapter arm is used to be rotatably connected to the fixed end of another joint module.

18. An intelligent service system, characterized in that: comprising a manipulator and a transmission assembly according to any one of claims 7 to 17; In the transmission assembly, the transmission device is a wrist joint unit, the first joint assembly in the connecting device is an elbow joint unit, and the second joint assembly in the connecting device is a shoulder joint unit; The manipulator is arranged at the output end of the wrist joint unit.

19. The intelligent service system according to claim 18, characterized in that: The manipulator comprises a palm structure, a pinky finger module, a ring finger module, a middle finger module, an index finger module and a thumb module arranged on the palm structure in the manner of a human hand; The pinky finger module, the ring finger module, the middle finger module, the index finger module and the thumb module all include a first finger module, and the first finger module includes a first base, a knuckle assembly, a first tendon assembly and a first drive assembly; The first end of the finger joint assembly is rotatably disposed on the first base, the first driving assembly is mounted on the first base, and the first base is used to be mounted on the palm structure; The first tendon cord assembly is inserted into the finger joint assembly and the first base, and the first end of the first tendon cord assembly is connected to the second end of the finger joint assembly, and the second end of the first tendon cord assembly is connected to the first drive assembly; The first driving assembly is used to control the first tendon rope assembly to be in a reeled state or a released state.

20. The intelligent service system according to claim 19, characterized in that: The thumb module further includes a second finger module, and the second finger module further includes a second base, a transfer knuckle, a second tendon cord assembly and a second drive assembly; The first end of the transfer knuckle is rotatably mounted on the second base, the second end of the transfer knuckle is connected to an end of the first base away from the knuckle assembly, a second drive assembly is mounted on the second base, and the second base is used to be mounted on the palm structure; The second tendon cord assembly is inserted into the transfer knuckle and the second base, and the first end of the second tendon cord assembly is connected to the second end of the transfer knuckle, and the second end of the second tendon cord assembly is connected to the second drive assembly; The second driving assembly is used to control the second tendon rope assembly to be in a reeled state or a released state.

21. An intelligent mobile system, characterized in that: comprising a mechanical foot and a transmission assembly according to any one of claims 7 to 17; In the transmission assembly, when the transmission device is an ankle joint unit, the second joint assembly in the connecting device is a knee joint unit, and the first joint assembly in the connecting device is a hip joint unit; The mechanical sole is arranged at the output end of the ankle joint unit.

22. An intelligent terminal, comprising a main body, characterized in that: Also includes the intelligent service system according to any one of claims 18 to 20 and / or the intelligent mobile system according to claim 21; The intelligent service system is arranged at a first position of the main body, and the intelligent mobile system is arranged at a second position of the main body.

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