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

Abstract

The utility model provides a connecting structure, a transmission device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal. A first mounting base in the connecting structure is used for fixedly mounting a first joint module with the joint axis arranged in the first direction and rotatably mounting a second joint module with the joint axis arranged in the second direction, and the first direction is perpendicular to the second direction; the second mounting seat is connected with the second joint module and is used for being connected with a mechanical execution part; the synchronous conveying assembly is connected with the output end of the first joint module and the side wall of the second joint module. The second joint modules and the first joint modules are arranged in a synchronous linkage mode, the first joint modules and the second joint modules are arranged in a staggered mode, the structural space is more reasonable, the degree of freedom of the connecting structure can be increased, and the flexibility is improved; the joint assembly has two degrees of freedom, and is more flexible, wider in movement range and more humanoid.

Description

Technical Field

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

[0002] Humanoid transmission assemblies are one of the most active research areas in intelligent service systems today. The transmission mechanism of an anthropomorphic transmission assembly generally consists of a connecting structure and one or more joint modules mounted on the connecting structure. Driven by these joint modules, the anthropomorphic transmission assembly can perform a series of anthropomorphic behaviors, such as grasping and carrying. However, existing connecting structures inherently have limited degrees of freedom, resulting in insufficient degrees of freedom for the resulting joint assembly, leading to inflexible anthropomorphic behaviors. Summary of the Invention

[0003] The utility model provides a connection structure, a transmission device, a transmission assembly, an intelligent service system, an intelligent mobile system and an intelligent terminal to solve the problem that the existing connection structure itself has a low degree of freedom, resulting in its joint assembly being not flexible enough for anthropomorphic movements.

[0004] A connection structure includes a first mounting seat, a second mounting seat and a synchronous transmission assembly;

[0005] The first mounting seat is used for fixedly mounting a first joint module with a joint axis arranged along a first direction and rotatably mounting a second joint module with a joint axis arranged along a second direction, wherein the first direction is perpendicular to the second direction;

[0006] The second mounting seat is connected to the second joint module and is used to connect to the mechanical actuator;

[0007] The synchronous transmission component is connected to the output end of the first joint module and the side wall of the second joint module.

[0008] Preferably, the synchronous transmission assembly is a synchronous belt assembly, and the synchronous belt assembly includes a driving wheel, a driven wheel and a belt;

[0009] The driving wheel is used to be connected to the output end of the first joint module;

[0010] The driven wheel is used to be connected to the side wall of the second joint module;

[0011] The belt is sleeved on the driving pulley and the driven pulley.

[0012] Preferably, the synchronous belt assembly further comprises a tensioner shaft and a tensioner;

[0013] The tension wheel shaft is movably mounted on the first mounting seat along a direction perpendicular to the first direction. The tension wheel is mounted on the tension wheel shaft and contacts the belt.

[0014] Preferably, the synchronous transmission assembly is a connecting rod assembly, and the connecting rod assembly includes a driving flange, a driven flange, a first connecting rod and a second connecting rod;

[0015] The active flange is used to be connected to the output end of the first joint module;

[0016] The driven flange is used to be connected to the side wall of the second joint module;

[0017] The first end of the first connecting rod and the first end of the second connecting rod are rotatably connected to opposite ends of the active flange respectively;

[0018] The second end of the first connecting rod and the second end of the second connecting rod are rotatably connected to opposite ends of the driven flange, respectively.

[0019] Preferably, the synchronous transmission assembly is a gear chain assembly, and the gear chain assembly includes a driving gear, a driven gear and a chain;

[0020] The driving gear is used to be connected to the output end of the first joint module;

[0021] The driven gear is used to be connected to the side wall of the second joint module;

[0022] The chain is sleeved on the driving gear and the driven gear.

[0023] Preferably, the synchronous transmission assembly is a gear assembly, and the gear assembly includes a first gear, at least 2N steering gears and a second gear that are meshed in sequence, where N≥1;

[0024] The first gear is used to be connected to the output end of the first joint module;

[0025] At least 2N steering gears are sequentially mounted on the first mounting seat;

[0026] The second gear is used to be connected to the side wall of the second joint module.

[0027] Preferably, the first mounting seat includes a main body and two first connecting arms extending from both ends of the main body in a direction perpendicular to the main body;

[0028] The main body is used for fixing and installing the first joint module;

[0029] The two first connecting arms are used for rotatably mounting the second joint module.

[0030] Preferably, the second mounting seat includes a flange seat, a second connecting arm and a third connecting arm;

[0031] The flange seat is used to connect the mechanical actuator;

[0032] The first end of the second connecting arm is used to be fixedly connected to the output end of the second joint module, the first end of the third connecting arm is used to be rotatably connected to the fixed end of the second joint module, and the second end of the second connecting arm and the second end of the third connecting arm are respectively connected to opposite sides of the flange seat.

[0033] A transmission device, comprising the connecting structure, a first joint module and a second joint module;

[0034] The first joint module is fixedly mounted on the first mounting seat along a first direction, and the second joint module is rotatably mounted on the first mounting seat along a second direction.

[0035] Preferably, the transmission device further comprises a third joint module and a connection base;

[0036] The third joint module is installed in the connection base along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other;

[0037] The output end of the third joint module is connected to the first mounting seat, and the connecting base is used to be connected to the output end of the connecting joint assembly.

[0038] A transmission assembly comprises the transmission device and a connecting joint assembly, wherein the connecting joint assembly comprises a first sub-joint and / or a second sub-joint;

[0039] The output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed;

[0040] Alternatively, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed;

[0041] Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed.

[0042] Preferably, the first sub-joint includes a fourth joint module, a first connecting member and a second connecting member;

[0043] The fourth joint module is arranged along the first direction;

[0044] The output end of the fourth joint module is connected to the fixed end of the transmission device through the first connecting member, and the fixed end of the fourth joint module is connected to the output end of the structure to be installed or the second sub-joint through the second connecting member.

[0045] Preferably, the second sub-joint includes a fifth joint module, a third connecting member, a sixth joint module, a fourth connecting member and a seventh joint module;

[0046] The fifth joint module is arranged along the third direction, the sixth joint module is arranged along the first direction, and the seventh joint module is arranged along the third direction;

[0047] The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fixed end of the fifth joint module is connected to the output end of the sixth joint module through the third connecting piece, the fixed end of the sixth joint module is connected to the output end of the seventh joint module through the fourth connecting piece, and the fixed end of the seventh joint module is used to be connected to the structure to be installed.

[0048] Preferably, the joint axis of the fifth joint module, the joint axis of the sixth joint module, and the joint axis of the seventh joint module intersect at one point.

[0049] Preferably, the connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member;

[0050] 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;

[0051] 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.

[0052] Preferably, it further comprises an upper arm, a first end of the upper arm being connected to the fixed end of the transmission assembly or the fixed end of the first sub-joint, and a second end of the upper arm being connected to the structure to be installed or the output end of the second sub-joint.

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

[0054] In the transmission assembly, the transmission device is an ankle joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit;

[0055] The manipulator is arranged on the second mounting seat of the ankle joint unit.

[0056] An intelligent mobility system, comprising a mechanical foot and the transmission assembly;

[0057] In the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit;

[0058] The mechanical foot is arranged on the second mounting seat of the ankle joint unit.

[0059] An intelligent terminal, comprising a main body, and also comprising the intelligent service system and / or the intelligent mobile system;

[0060] 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.

[0061] In the above-mentioned connection structure, transmission device, transmission assembly, intelligent service system, intelligent mobile system and intelligent terminal, the second mounting seat can be controlled simply by the second joint module to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing, making the motion control simpler; the second joint module and the first joint module are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module and the second joint module, making the structural space more reasonable; the first joint module drives the second joint module to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat to rotate, so as to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing. The cooperation between the first joint module and the second joint module can increase the degree of freedom of the connection structure and improve the flexibility; so that the joint assembly has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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.

[0063] Figure 1 This is an isometric view of a first structure of a first transmission device in an embodiment of the present invention;

[0064] Figure 2 This is an isometric view of a second structure of a transmission device in one embodiment of the present utility model;

[0065] Figure 3 This is an isometric view of a first perspective of a first structure of an intelligent service system in one embodiment of the present invention;

[0066] Figure 4 This is an isometric view of the first structure of the intelligent service system in one embodiment of the present invention from a second perspective;

[0067] Figure 5 It is an isometric view of the second structure of the intelligent service system in one embodiment of the present utility model.

[0068] Among them, 1. the first joint module; 2. the second joint module; 3. the first mounting seat; 31. the main body; 32. the first connecting arm; 4. the second mounting seat; 41. the flange seat; 42. the second connecting arm; 43. the third connecting arm; 5. the synchronous belt assembly; 51. the driving pulley; 52. the driven pulley; 53. the belt; 54. the tensioning pulley shaft; 55. the tensioning pulley; 6. the connecting rod assembly; 61. the driving flange; 62. the driven flange; 63. the first connecting rod; 64. the second connecting rod; 7. the third joint module; 8. the connecting base; 9. the fourth joint module; 10. the first connecting part; 11. the second connecting part; 12. the upper arm; 13. the fifth joint module; 14. the third connecting part; 15. the sixth joint module; 16. the fourth connecting part; 17. the seventh joint module; 18. the structure to be installed. DETAILED DESCRIPTION

[0069] 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.

[0070] 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.

[0071] 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.

[0072] The present invention provides a connection structure. Figure 1 and Figure 2 The connection structure includes a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component; the first mounting seat 3 is used to fix the first joint module 1 set along the first direction of the joint axis and the second joint module 2 rotatably set along the second direction of the joint axis, and the first direction is perpendicular to the second direction; the second mounting seat 4 is connected to the second joint module 2 and is used to connect the mechanical actuator; the synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2.

[0073] As an example, the connection structure can be used as the installation structure of the joint module of the transmission device; specifically, it includes a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component; during installation, the first joint module 1 is fixedly installed on the first mounting seat 3 along the first direction, and the second joint module 2 is rotatably installed on the first mounting seat 3 along the second direction, and the first direction is perpendicular to the second direction, that is, the joint axis of the first joint module 1 is perpendicular to the joint axis of the second joint module 2; the second mounting seat 4 is used to connect the mechanical actuator, and the mechanical actuator can be a robot arm to control the movement of the robot arm; it can also be a robot foot to control the movement of the robot foot. The second mounting seat 4 is connected to the second joint module 2, and the second joint module 2 rotates forward or reverse, which can control the second mounting seat 4 to rotate around the joint axis of the second joint module 2 to perform radial flexion and ulnar flexion movements, realizing a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down swing or left and right swing. The synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2. The first joint module 1 rotates forward or reversely. The synchronous transmission component can drive the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to driving the second joint module 2 to rotate around the joint axis of the first joint module 1, and then controlling the second mounting seat 4 connected to the second joint module 2 to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, 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 or a left and right swing. Among them, the rotation of the joint axis of the first joint module 1 is defined as an up and down swing, and the rotation of the joint axis of the second joint module 2 is defined as a left and right swing; and the reverse is also true.

[0074] In this example, the second mounting seat 4 can be controlled simply through the second joint module 2 to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing, making motion control simpler. The second joint module 2 and the first joint module 1 are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module 1 and the second joint module 2, making the structural space more reasonable. The first joint module 1 drives the second joint module 2 to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat 4 to rotate, so as to achieve a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing. The cooperation between the first joint module 1 and the second joint module 2 can increase the degree of freedom of the connection structure and improve flexibility. This allows the joint assembly to have two degrees of freedom, be more flexible, have a wider range of motion, and be more humanoid.

[0075] In one embodiment, referring to Figure 1 The synchronous transmission component is a synchronous belt component 5, which includes a driving wheel 51, a driven wheel 52 and a belt 53; the driving wheel 51 is used to be connected to the output end of the first joint module 1; the driven wheel 52 is used to be connected to the side wall of the second joint module 2; the belt 53 is mounted on the driving wheel 51 and the driven wheel 52.

[0076] As an example, the first structural form of the synchronous transmission component is introduced as a synchronous belt component 5, which includes a driving wheel 51, a driven wheel 52 and a belt 53; during installation, the driving wheel 51 is first installed on the output end of the first joint module 1, and then the driven wheel 52 is connected to the side wall of the second joint module 2. Specifically, a rotating shaft is passed through the first mounting seat 3, the first end of the rotating shaft is fixedly connected to the side wall of the second joint module 2, and the driven wheel 52 is installed on the second end of the rotating shaft; finally, the belt 53 is put on the driving wheel 51 and the driven wheel 52, the first joint module 1 rotates forward or reverse, driving the driving wheel 51 to rotate, and driving the driven wheel 52 to rotate through the belt 53, thereby driving the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to the joint axis of the first joint module 1. The second mounting seat 4 can be controlled to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down or left and right. The synchronous belt assembly 5 has the advantages of high precision, high efficiency, strong load capacity, low maintenance cost, wide applicability and high installation accuracy.

[0077] In one embodiment, referring to Figure 1The synchronous belt assembly 5 also includes a tensioning wheel shaft 54 and a tensioning wheel 55; the tensioning wheel shaft 54 is movably mounted on the first mounting seat 3 in a direction perpendicular to the first direction, and the tensioning wheel 55 is mounted on the tensioning wheel shaft 54 and in contact with the belt 53.

[0078] As an example, the synchronous belt assembly 5 further includes a tensioning pulley shaft 54 and a tensioning pulley 55. A mounting slot is provided on the first mounting seat 3. The mounting slot is arranged perpendicular to the first direction. Specifically, the mounting slot may be arranged along the second direction, along the third direction, or along both the second and third directions. The tensioning pulley shaft 54 is movably mounted within the mounting slot on the first mounting seat 3. The tensioning pulley 55 is mounted on the tensioning pulley shaft 54 and contacts the belt 53. The tensioning pulley 55 can be moved according to actual conditions to adjust the tension of the belt 53.

[0079] In one embodiment, referring to Figure 2 The synchronous transmission component is a connecting rod component 6, which includes an active flange 61, a driven flange 62, a first connecting rod 63 and a second connecting rod 64; the active flange 61 is used to be connected to the output end of the first joint module 1; the driven flange 62 is used to be connected to the side wall of the second joint module 2; the first end of the first connecting rod 63 and the first end of the second connecting rod 64 are respectively rotatably connected to the opposite ends of the active flange 61; the second end of the first connecting rod 63 and the second end of the second connecting rod 64 are respectively rotatably connected to the opposite ends of the driven flange 62.

[0080] As an example, the second structural form of the synchronous transmission component is introduced as a connecting rod assembly 6, which includes an active flange 61, a driven flange 62, a first connecting rod 63 and a second connecting rod 64; during installation, the active flange 61 is first installed on the output end of the first joint module 1, and then the driven flange 62 is connected to the side wall of the second joint module 2. Specifically, a rotating shaft is passed through the first mounting seat 3, the first end of the rotating shaft is fixedly connected to the side wall of the second joint module 2, and the driven flange 62 is installed at the second end of the rotating shaft; finally, the first end of the first connecting rod 63 and the first end of the second connecting rod 64 are rotatably connected to the opposite ends of the active flange 61, and the second end of the first connecting rod 63 and the second ... , which are rotatably connected to the opposite ends of the driven flange 62 respectively; the first joint module 1 rotates forward or reverse, driving the active flange 61 to rotate, and driving the driven flange 62 to rotate through the first connecting rod 63 and the second connecting rod 64, thereby driving the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to the joint axis of the first joint module 1. The second mounting seat 4 can be controlled to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, realizing swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down or left and right; the use of the connecting rod assembly 6 can make the synchronous transmission assembly have higher precision, a larger transmission ratio and stronger rigidity, and is suitable for high-load environments.

[0081] In one embodiment, the synchronous transmission component is a gear chain component, which includes a driving gear, a driven gear and a chain; the driving gear is used to be connected to the output end of the first joint module 1; the driven gear is used to be connected to the side wall of the second joint module 2; the chain is mounted on the driving gear and the driven gear.

[0082] As an example, the third structural form of the synchronous transmission component is introduced, which is a gear chain component. The gear chain component includes a driving gear, a driven gear and a chain. During installation, the driving gear is first installed on the output end of the first joint module 1, and then the driven gear is connected to the side wall of the second joint module 2. Specifically, a rotating shaft is passed through the first mounting seat 3, and the first end of the rotating shaft is fixedly connected to the side wall of the second joint module 2. The driven gear is installed on the second end of the rotating shaft. Finally, the chain is put on the driving gear and the driven gear. The first joint module 1 rotates forward or reverse, driving the driving gear to rotate, and the driven gear is driven to rotate through the chain, thereby driving the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to the joint axis of the first joint module 1. The second mounting seat 4 can be controlled to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, thereby realizing a swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down or left and right.

[0083] In one embodiment, the synchronous transmission component is a gear component, which includes a first gear, at least 2N steering gears and a second gear that are meshed in sequence, N≥1; the first gear is used to be connected to the output end of the first joint module 1; at least 2N steering gears are installed in sequence on the first mounting seat 3; the second gear is used to be connected to the side wall of the second joint module 2.

[0084] As an example, the fourth structural form of the synchronous transmission component is introduced as a gear component, which includes a first gear, at least 2N steering gears and a second gear that are meshed in sequence; when installing, the first gear is first installed on the output end of the first joint module 1, and then the second gear is connected to the side wall of the second joint module 2, specifically, a rotating shaft is passed through the first mounting seat 3, the first end of the rotating shaft is fixedly connected to the side wall of the second joint module 2, the second gear is installed at the second end of the rotating shaft, and finally at least 2N steering gears are arranged between the first gear and the second gear, the first gear, at least 2 N steering gears and the second gear are meshed in sequence, the first joint module 1 rotates forward or reverse, driving the first gear to rotate, the first gear drives at least 2N steering gears to rotate, at least 2N steering gears drive the second gear to rotate, the second gear drives the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to the joint axis of the first joint module 1. The second mounting seat 4 can be controlled to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, realizing a swing similar to that of a human wrist joint or ankle joint. The swing here can be up and down or left and right.

[0085] In one embodiment, referring to Figure 1 and Figure 2 The first mounting seat 3 includes a main body 31 and two first connecting arms 32 extending from both ends of the main body 31 in a direction perpendicular to the main body 31; the main body 31 is used to fixedly install the first joint module 1; the two first connecting arms 32 are used to rotatably install the second joint module 2.

[0086] As an example, the first mounting seat 3 includes a main body 31 and two first connecting arms 32; a mounting position arranged along the first direction is provided in the main body 31, and the first joint module 1 is fixed in the mounting position of the main body 31; the two first connecting arms 32 extend from both ends of the main body 31 in a direction perpendicular to the main body 31, and the two first connecting arms 32 are used to install the second joint module 2 so that the second joint module 2 can be rotatably connected to the two first connecting arms 32. Specifically, the second joint module 2 is rotatably connected between the two first connecting arms 32 along the second direction, which provides convenience for the installation of the second joint module 2.

[0087] In one embodiment, referring to Figure 1 and Figure 2The second mounting seat 4 includes a flange seat 41, a second connecting arm 42 and a third connecting arm 43; the flange seat 41 is used to connect the mechanical actuator; the first end of the second connecting arm 42 is used to be fixedly connected to the output end of the second joint module 2, and the first end of the third connecting arm 43 is used to be rotatably connected to the fixed end of the second joint module 2, and the second end of the second connecting arm 42 and the second end of the third connecting arm 43 are respectively connected to the opposite sides of the flange seat 41.

[0088] As an example, the second mounting seat 4 includes a flange seat 41, a second connecting arm 42 and a third connecting arm 43; during installation, the flange seat 41 is used to connect the mechanical actuator, the first end of the second connecting arm 42 is fixed to the output end of the second joint module 2, and the first end of the third connecting arm 43 is rotatably connected to the fixed end of the second joint module 2. Finally, the second end of the second connecting arm 42 and the second end of the third connecting arm 43 are respectively connected to the opposite sides of the flange seat 41. The second joint module 2 rotates forward or reverse, which can drive the second connecting arm 42 and the third connecting arm 43 to rotate around the joint axis of the second joint module 2, thereby driving the flange seat 41 to achieve swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down swing or left and right swing.

[0089] The present invention provides a transmission device, referring to Figure 1 and Figure 2 The transmission device includes a connecting structure, a first joint module 1 and a second joint module 2; the first joint module 1 is fixedly mounted on the first mounting seat 3 along the first direction, and the second joint module 2 is rotatably mounted on the first mounting seat 3 along the second direction.

[0090] As an example, the transmission device can be used as a partial joint of the wrist joint in an intelligent service system, or as a partial joint of the ankle joint in an intelligent mobile system. The transmission device includes a connecting structure, a first joint module 1 and a second joint module 2. The connecting structure includes a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component. During installation, the first joint module 1 is fixedly mounted on the first mounting seat 3 along a first direction, and the second joint module 2 is rotatably mounted on the first mounting seat 3 along a second direction. The first direction is perpendicular to the second direction, that is, the joint axis of the first joint module 1 is perpendicular to the joint axis of the second joint module 2. The second mounting seat 4 is used to connect a mechanical actuator. The mechanical actuator can be a robot arm to control the movement of the robot arm, or a robot foot to control the movement of the robot foot. The second mounting seat 4 is connected to the second joint module 2. The second joint module 2 rotates forward or reverse, and the second mounting seat 4 can be controlled to rotate around the joint axis of the second joint module 2 to perform radial flexion and ulnar flexion movements, achieving swing similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down or left and right. The synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2. The first joint module 1 rotates forward or reversely. The synchronous transmission component can drive the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to driving the second joint module 2 to rotate around the joint axis of the first joint module 1, and then controlling the second mounting seat 4 connected to the second joint module 2 to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, 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 or a left and right swing. Among them, the rotation of the joint axis of the first joint module 1 is defined as an up and down swing, and the rotation of the joint axis of the second joint module 2 is defined as a left and right swing; and the reverse is also true.

[0091] In this example, the second mounting seat 4 can be controlled simply through the second joint module 2 to achieve a sideways swing similar to that of a human wrist joint or a human ankle joint, making motion control simpler; the second joint module 2 and the first joint module 1 are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module 1 and the second joint module 2, making the structural space more reasonable; the first joint module 1 drives the second joint module 2 to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat 4 to rotate, so as to achieve an up and down swing similar to that of a human wrist joint or a human ankle joint. The cooperation between the first joint module 1 and the second joint module 2 can increase the degree of freedom of the connection structure and improve flexibility; the transmission device has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid.

[0092] In one embodiment, referring to Figure 1 and Figure 2The transmission device also includes a third joint module 7 and a connecting base 8; the third joint module 7 is installed in the connecting base 8 along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; the output end of the third joint module 7 is connected to the first mounting seat 3 of the transmission device, and the connecting base 8 is used to be connected to the output end of the connecting joint assembly.

[0093] As an example, the transmission device also includes a third joint module 7 and a connecting base 8; the third joint module 7 is installed in the connecting base 8 along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; the output end of the third joint module 7 is connected to the first mounting seat 3 of the transmission device; the third joint module 7 is arranged to rotate forward or reverse in this way, which can drive the first mounting seat 3, the second joint module 1, the second joint module 2, the synchronous transmission component and the second mounting seat 4 to rotate around the joint axis of the third joint module 7, so that the transmission device has three degrees of freedom in three directions and is more flexible as a whole. The three joint modules of the transmission device can use joint modules of the same size to simplify the configuration of the joint modules. The connecting base 8 is used to be connected to the output end of the connecting joint assembly, and the movement of the transmission device can be controlled by the connecting joint assembly; when the transmission device is set to a wrist joint, the connecting joint assembly can be an elbow joint or a shoulder joint; when the transmission device is set to an ankle joint, the connecting joint assembly can be a knee joint or a hip joint. Different combinations can be designed according to actual needs.

[0094] The present invention provides a transmission assembly, referring to Figure 3 、 Figure 4 and Figure 5 , including a transmission device and a connecting joint assembly, the connecting joint assembly includes a first sub-joint and / or a second sub-joint; the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed 18; or, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed 18; or, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed 18.

[0095] The structure to be installed 18 is a structure on which a transmission assembly needs to be installed. For example, when the transmission assembly is provided on a smart terminal, the structure to be installed 18 may be the body of the smart terminal.

[0096] As an example, the transmission assembly includes a transmission device and a connecting joint assembly. The transmission device serves as the ankle joint unit of the intelligent service system and can also serve as the ankle joint unit of the intelligent mobile system. Specifically, it includes a first joint module 1, a second joint module 2, a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component. During installation, the first joint module 1 is fixedly mounted on the first mounting seat 3 along a first direction, and the second joint module 2 is rotatably mounted on the first mounting seat 3 along a second direction. The first direction is perpendicular to the second direction, that is, the joint axis of the first joint module 1 is perpendicular to the joint axis of the second joint module 2. The second mounting seat 4 is used to connect a mechanical actuator. The mechanical actuator can be a mounting manipulator to control the movement of the manipulator or a mechanical foot to control the movement of the mechanical foot. The second mounting seat 4 is connected to the second joint module 2. The second joint module 2 rotates forward or reverse, and the second mounting seat 4 can be controlled to rotate around the joint axis of the second joint module 2 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 swing here can be up and down or left and right. The synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2. The first joint module 1 rotates forward or reversely. The synchronous transmission component can drive the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to driving the second joint module 2 to rotate around the joint axis of the first joint module 1, and then controlling the second mounting seat 4 connected to the second joint module 2 to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, 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 or a left and right swing. Among them, the rotation of the joint axis of the first joint module 1 is defined as an up and down swing, and the rotation of the joint axis of the second joint module 2 is defined as a left and right swing; and the reverse is also true.

[0097] In this example, the second mounting seat 4 can be controlled simply through the second joint module 2 to achieve a sideways swing similar to that of a human wrist joint or a human ankle joint, making motion control simpler; the second joint module 2 and the first joint module 1 are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module 1 and the second joint module 2, making the structural space more reasonable; the first joint module 1 drives the second joint module 2 to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat 4 to rotate, so as to achieve an up and down swing similar to that of a human wrist joint or a human ankle joint. The cooperation between the first joint module 1 and the second joint module 2 can increase the degree of freedom of the connection structure and improve flexibility; the transmission device has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid.

[0098] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint, the connecting joint assembly can be an elbow joint or a shoulder joint; when the transmission device is set as an ankle joint, the connecting joint assembly can be a knee joint or a hip joint. Different combinations can be designed according to actual needs.

[0099] In one embodiment, as an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is a wrist joint, the first sub-joint is an elbow joint and the second sub-joint is a shoulder joint. When the transmission device is an ankle joint, the first sub-joint is a knee joint and the second sub-joint is a hip joint. When the connecting joint assembly only includes the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint is controlled by the elbow joint, or the movement of the ankle joint is controlled by the knee joint. When the connecting joint assembly only includes the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint is controlled by the shoulder joint, or the movement of the ankle joint is controlled by the hip joint. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure 18 to be installed, that is, the wrist joint movement is controlled by the elbow joint, and the elbow joint and wrist joint movements are controlled by the shoulder joint, or the ankle joint movement is controlled by the knee joint, and the knee joint and ankle joint movements are controlled by the hip joint.

[0100] In one embodiment, referring to Figure 3 、 Figure 4 and Figure 5 The first sub-joint includes a fourth joint module 9, a first connecting part 10 and a second connecting part 11; the fourth joint module 9 is arranged along the first direction; the output end of the fourth joint module 9 is connected to the fixed end of the transmission device through the first connecting part 10, and the fixed end of the fourth joint module 9 is connected to the structure to be installed 18 or the output end of the second sub-joint through the second connecting part 11.

[0101] As an example, the first sub-joint includes a fourth joint module 9, a first connecting part 10 and a second connecting part 11; the fourth joint module 9 is arranged along the first direction; the output end of the fourth joint module 9 is connected to the fixed end of the transmission device through the first connecting part 10; by controlling the forward or reverse rotation of the fourth joint module 9 in this way, the entire transmission device can be driven to bend or stretch through the first connecting part 10, thereby realizing a swing similar to that of a human elbow joint or a human knee joint, and the swing here can be an up and down swing or a left and right swing. The fixed end of the fourth joint module 9 is connected to the structure to be installed 18 or the output end of the second sub-joint through the second connecting part 11. That is to say, in the first case, when the fixed end of the fourth joint module 9 is connected to the output end of the second sub-joint through the second connecting part 11, and the second sub-joint is connected to the structure to be installed 18, the second sub-joint can drive the fourth joint module 9 to move through the second connecting part 11, that is, the fixed end of the fourth joint module 9 is in an active state relative to the structure to be installed 18, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 9 moves; in the second case, when the fixed end of the fourth joint module 9 is connected to the structure to be installed 18 through the second connecting part 11, that is, the fixed end of the fourth joint module 9 is in a fixed state relative to the structure to be installed 18, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 9 cannot move.

[0102] In one embodiment, referring to Figure 3 、 Figure 4 and Figure 5 The second sub-joint includes a fifth joint module 13, a third connecting part 14, a sixth joint module 15, a fourth connecting part 16 and a seventh joint module 17; the fifth joint module 13 is arranged along the third direction, the sixth joint module 15 is arranged along the first direction, and the seventh joint module 17 is arranged along the third direction; the output end of the fifth joint module 13 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fixed end of the fifth joint module 13 is connected to the output end of the sixth joint module 15 through the third connecting part 14, the fixed end of the sixth joint module 15 is connected to the output end of the seventh joint module 17 through the fourth connecting part 16, and the fixed end of the seventh joint module 17 is used to be connected to the structure to be installed 18.

[0103] As an example, the second sub-joint includes a fifth joint module 13, a third connecting part 14, a sixth joint module 15, a fourth connecting part 16 and a seventh joint module 17; during installation, the fixed end of the seventh joint module 17 is used to be connected to the structure to be installed 18 on the main body, and the output end of the fifth joint module 13 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint. When the output end of the fifth joint module 13 is connected to the fixed end of the transmission device, the fifth joint module 13 can drive the entire transmission device to move, thereby controlling the wrist joint assembly or ankle joint movement; when the output end of the fifth joint module 13 is connected to the fixed end of the first sub-joint, when the fifth joint module 13 can drive the entire transmission device, the first connecting part 10 and the fourth joint module 9 to move through the second connecting part 11, thereby controlling the elbow joint assembly or ankle joint movement. The fifth joint module 13 is arranged along the third direction, the sixth joint module 15 is arranged along the first direction, and the seventh joint module 17 is arranged along the third direction; the fixed end of the fifth joint module 13 is connected to the output end of the sixth joint module 15 through the third connecting member 14, and the fixed end of the sixth joint module 15 is connected to the output end of the seventh joint module 17 through the fourth connecting member 16; this arrangement controls the fifth joint module 13 to rotate forward or reverse, and drives the fourth joint module 9, the first connecting member 10 and the entire transmission device around the joint axis in the third direction through the second connecting member 11 Line movement; control the sixth joint module 15 to rotate forward or reverse, and through the third connecting member 14, it can drive the fifth joint module 13, the second connecting member 11, the fourth joint module 9, the first connecting member 10 and the entire transmission device to move around the joint axis in the first direction; control the seventh joint module 17 to rotate forward or reverse, and through the fourth connecting member 16, it can drive the sixth joint module 15, the third connecting member 14, the fifth joint module 13, the second connecting member 11, the fourth joint module 9, the first connecting member 10 and the entire transmission device to move around the joint axis in the third direction.

[0104] In one embodiment, referring to Figure 3 、 Figure 4 and Figure 5 The joint axis of the fifth joint module 13, the joint axis of the sixth joint module 15 and the joint axis of the seventh joint module 17 intersect at one point.

[0105] As an example, by rotating the sixth joint module 15 90°, the joint axis of the fifth joint module 13 is changed to the second direction setting, so that the joint axes in three directions intersect at one point. It can be regarded as a virtual spherical joint, and can rotate in three directions around this intersection at the same time, similar to the human shoulder or hip, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the fifth joint module 13 and the joint axis of the sixth joint module 15 are perpendicular to each other, and the joint axis of the sixth joint module 15 and the joint axis of the seventh joint module 17 are perpendicular to each other; when the sixth joint module 15 is in the first state, the joint axis of the fifth joint module 13 and the joint axis of the seventh joint module 17 are perpendicular to each other; when the sixth joint module 15 changes from the first state to the second state, the joint axis of the fifth joint module 13 and the joint axis of the seventh joint module 17 are parallel or coaxial to each other. In addition, the joint axis of the third joint module 7, the joint axis of the fourth joint module 9 and the joint axis of the fifth joint module 13 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 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 7 and the joint axis of the fourth joint module 9 are perpendicular to each other, and the joint axis of the fourth joint module 9 and the joint axis of the fifth joint module 13 are perpendicular to each other; when the fourth joint module 9 is in the first state, the joint axis of the third joint module 7 and the joint axis of the fifth joint module 13 are parallel or coaxial to each other; when the fourth joint module 9 changes from the first state to the second state, the joint axis of the third joint module 7 and the joint axis of the fifth joint module 13 are perpendicular to each other. The joint axis of the third joint module 7, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 intersect at one point, which can be regarded as a virtual spherical joint. The joint axis can rotate in two directions around this intersection at the same time, similar to the human wrist or ankle, and the overall structure is more compact and the movement is more flexible; specifically, the joint axis of the third joint module 7 is perpendicular to the joint axis of the first joint module 1, and the joint axis of the third joint module 7 is perpendicular to the joint axis of the second joint module 2; when the joint axis of the first joint module 1 changes from the first state to the second state, the joint axis of the second joint module 2 and the joint axis of the third joint module 7 change from being perpendicular to each other to being parallel or coaxial to each other.

[0106] In one embodiment, referring to Figure 3 、 Figure 4 and Figure 5The 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 joint module.

[0107] 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.

[0108] In one example, a bilateral 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. In this example, the connectors in the transmission assembly include a first connector 10, a second connector 11, a third connector 14, and a fourth connector 16. These connectors can all be set as single-sided arm connectors or double-sided arm connectors, and can achieve a connection effect. In addition, the double-sided arm connector can enhance the connection stiffness and increase the life of the transmission assembly compared to the single-sided arm connector.

[0109] 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.

[0110] In one embodiment, referring to Figure 3 、 Figure 4 and Figure 5 The intelligent service system also includes an upper arm 12, a first end of the upper arm 12 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, and a second end of the upper arm 12 is connected to the structure to be installed 18 or the output end of the second sub-joint.

[0111] As an example, the intelligent service system also includes an upper arm 12, which adjusts the distance between the transmission device and the structure to be installed 18 in the body of the intelligent terminal according to actual needs. The first end of the upper arm 12 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, and the second end of the upper arm 12 is connected to the structure to be installed 18 or the output end of the second sub-joint, including six arrangements. In the first arrangement, the first end of the upper arm 12 is connected to the fixed end of the transmission device, and the second end of the upper arm 12 is connected to the structure to be installed 18; in the second arrangement, the first end of the upper arm 12 is connected to the fixed end of the first sub-joint, and the second end of the upper arm 12 is connected to the structure to be installed 18; in the third arrangement, the first end of the upper arm 12 is connected to the fixed end of the transmission device, and the second end of the upper arm 12 is connected to the output end of the second sub-joint; in the fourth arrangement, the first end of the upper arm 12 is connected to the fixed end of the first sub-joint, and the second end of the upper arm 12 is connected to the output end of the second sub-joint.

[0112] An embodiment of the present utility model provides an intelligent service system, including a manipulator and a transmission assembly; in the transmission assembly, the transmission device is an ankle joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged on the second mounting seat 4 of the ankle joint unit.

[0113] As an example, the intelligent service system includes a manipulator and a transmission assembly; in the transmission assembly, the transmission device is an ankle joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged on the second mounting seat 4 of the ankle joint unit. The transmission assembly includes a transmission device and a connecting joint assembly, and the transmission device specifically includes a first joint module 1, a second joint module 2, a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component; during installation, the first joint module 1 is fixedly mounted on the first mounting seat 3 along a first direction, and the second joint module 2 is rotatably mounted on the first mounting seat 3 along a second direction, and the first direction is perpendicular to the second direction, that is, the joint axis of the first joint module 1 is perpendicular to the joint axis of the second joint module 2; the second mounting seat 4 is used to connect the manipulator to achieve control of the manipulator's movement. The second mounting seat 4 is connected to the second joint module 2, and the second joint module 2 rotates forward or reverse, which can control the second mounting seat 4 to rotate around the joint axis of the second joint module 2 to perform radial flexion and ulnar flexion movements, achieving a swing similar to that of a human wrist joint, where the swing can be up and down or left and right. The synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2. The first joint module 1 rotates forward or reversely. The synchronous transmission component can drive the second joint module 2 to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to driving the second joint module 2 to rotate around the joint axis of the first joint module 1, and then controlling the second mounting seat 4 connected to the second joint module 2 to rotate around the joint axis of the first joint module 1 to perform wrist flexion and extension movements, realizing a swing similar to that of a human wrist joint. The swing here can be up and down swing or left and right swing. Among them, the rotation of the joint axis of the first joint module 1 is defined as up and down swing, and the rotation of the joint axis of the second joint module 2 is defined as left and right swing; and the reverse is also true.

[0114] In this example, the second mounting seat 4 can be controlled simply through the second joint module 2 to achieve a sideways swing similar to that of a human wrist joint, making motion control simpler; the second joint module 2 and the first joint module 1 are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module 1 and the second joint module 2, making the structural space more reasonable; the first joint module 1 drives the second joint module 2 to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat 4 to rotate, so as to achieve an up and down swing similar to that of a human wrist joint. The cooperation between the first joint module 1 and the second joint module 2 enables the transmission device to have two degrees of freedom, be more flexible, have a wider range of motion and be more humanoid.

[0115] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint, the connecting joint assembly can be an elbow joint or a shoulder joint; different combinations can be designed according to actual needs.

[0116] In one embodiment, as an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is a wrist joint, the first sub-joint is an elbow joint, and the second sub-joint is a shoulder joint. When the connecting joint assembly includes only the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint is controlled by the elbow joint. When the connecting joint assembly includes only the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint is controlled by the shoulder joint. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 18. In other words, the movement of the wrist joint is controlled by the elbow joint, and the movement of both the elbow and wrist joints are controlled by the shoulder joint.

[0117] An embodiment of the present utility model provides an intelligent mobility system, including a mechanical foot and a transmission assembly; in the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; the mechanical foot is arranged on the second mounting seat 4 of the ankle joint unit.

[0118] As an example, the intelligent mobile system includes a mechanical foot and a transmission assembly; in the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; the mechanical foot is arranged on the second mounting seat 4 of the ankle joint unit. The transmission assembly includes a transmission device and a connecting joint assembly, and the transmission device specifically includes a first joint module 1, a second joint module 2, a first mounting seat 3, a second mounting seat 4 and a synchronous transmission component; during installation, the first joint module 1 is fixedly mounted on the first mounting seat 3 along a first direction, and the second joint module 2 is rotatably mounted on the first mounting seat 3 along a second direction, and the first direction is perpendicular to the second direction, that is, the joint axis of the first joint module 1 is perpendicular to the joint axis of the second joint module 2; the second mounting seat 4 is used to connect the mechanical foot to control the movement of the mechanical foot. The second mounting seat 4 is connected to the second joint module 2. The second joint module 2 rotates forward or reversely, and the second mounting seat 4 can be controlled to rotate around the joint axis of the second joint module 2 to perform radial flexion and ulnar flexion movements, thereby realizing a swing similar to that of a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing. The synchronous transmission component is connected to the output end of the first joint module 1 and the side wall of the second joint module 2. The first joint module 1 rotates forward or reversely, and the second joint module 2 can be driven by the synchronous transmission component to rotate around the connection axis between it and the first mounting seat 3, which is equivalent to driving the second joint module 2 to rotate around the joint axis of the first joint module 1, thereby controlling the second mounting seat 4 connected to the second joint module 2 to rotate around the joint axis of the first joint module 1 to perform wrist flexion and wrist extension movements, thereby realizing a swing similar to that of a human ankle joint. The swing here can be an up-and-down swing or a left-and-right swing. Wherein, the rotation of the joint axis of the first joint module 1 is defined as an up-and-down swing, and the rotation of the joint axis of the second joint module 2 is defined as a left-and-right swing; and the same is also true in reverse.

[0119] In this example, the second joint module 2 can be used to control the second mounting seat 4, thereby achieving a sideways swing similar to that of a human ankle joint, making motion control simpler. The second joint module 2 and the first joint module 1 are arranged in a synchronous linkage manner to achieve a staggered arrangement of the first joint module 1 and the second joint module 2, making the structural space more reasonable. The first joint module 1 drives the second joint module 2 to rotate around the first direction through the synchronous transmission component, thereby driving the second mounting seat 4 to rotate, so as to achieve an up and down swing similar to that of a human ankle joint. The cooperation between the first joint module 1 and the second joint module 2 gives the transmission device two degrees of freedom, making it more flexible, with a wider range of motion and more human-like.

[0120] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as an ankle joint, the connecting joint assembly can be a knee joint or a hip joint. Different combinations can be designed according to actual needs.

[0121] In one embodiment, as an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is an ankle joint, the first sub-joint is a knee joint, and the second sub-joint is a hip joint. When the connecting joint assembly includes only the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the first sub-joint, that is, the movement of the ankle joint is controlled by the knee joint. When the connecting joint assembly includes only the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 18. The movement of the transmission device is controlled by the second sub-joint, that is, the movement of the ankle joint is controlled by the hip joint. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 18. In other words, the movement of the ankle joint is controlled by the knee joint, and the movement of both the knee and ankle joints are controlled by the hip joint.

[0122] 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.

[0123] As an example, the intelligent terminal includes a main body and also includes an intelligent service system and / or an intelligent mobile system; the intelligent service system is set at the first position of the main body, and the intelligent mobile system is set at the second position of the main body; in this example, when the control system receives the posture change information of the mechanical actuator, the control system can calculate the updated value of the joint angle of each joint module based on the inverse kinematics of the intelligent service system or the intelligent mobile system, and then input the updated value into each joint module, so that the joint angle of the joint module reaches a predetermined position, thereby driving the posture of the mechanical actuator to change.

[0124] 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 connection structure, characterized in that: It includes a first mounting seat, a second mounting seat and a synchronous transmission component; The first mounting seat is used for fixedly mounting a first joint module with a joint axis arranged along a first direction and rotatably mounting a second joint module with a joint axis arranged along a second direction, wherein the first direction is perpendicular to the second direction; The second mounting seat is connected to the second joint module and is used to connect to the mechanical actuator; The synchronous transmission component is connected to the output end of the first joint module and the side wall of the second joint module.

2. The connection structure according to claim 1, characterized in that: The synchronous transmission assembly is a synchronous belt assembly, and the synchronous belt assembly includes a driving wheel, a driven wheel and a belt; The driving wheel is used to be connected to the output end of the first joint module; The driven wheel is used to be connected to the side wall of the second joint module; The belt is sleeved on the driving pulley and the driven pulley.

3. The connection structure according to claim 2, characterized in that: The synchronous belt assembly also includes a tensioner shaft and a tensioner; The tension wheel shaft is movably mounted on the first mounting seat along a direction perpendicular to the first direction. The tension wheel is mounted on the tension wheel shaft and contacts the belt.

4. The connection structure according to claim 1, characterized in that: The synchronous transmission assembly is a connecting rod assembly, and the connecting rod assembly includes a driving flange, a driven flange, a first connecting rod and a second connecting rod; The active flange is used to be connected to the output end of the first joint module; The driven flange is used to be connected to the side wall of the second joint module; The first end of the first connecting rod and the first end of the second connecting rod are rotatably connected to opposite ends of the active flange respectively; The second end of the first connecting rod and the second end of the second connecting rod are rotatably connected to opposite ends of the driven flange, respectively.

5. The connection structure according to claim 1, characterized in that: The synchronous transmission assembly is a gear chain assembly, and the gear chain assembly includes a driving gear, a driven gear and a chain; The driving gear is used to be connected to the output end of the first joint module; The driven gear is used to be connected to the side wall of the second joint module; The chain is sleeved on the driving gear and the driven gear.

6. The connection structure according to claim 1, characterized in that: The synchronous transmission assembly is a gear assembly, and the gear assembly includes a first gear, at least 2N steering gears and a second gear that are meshed in sequence, where N≥1; The first gear is used to be connected to the output end of the first joint module; At least 2N steering gears are sequentially mounted on the first mounting seat; The second gear is used to be connected to the side wall of the second joint module.

7. The connection structure according to claim 1, characterized in that: The first mounting seat includes a main body and two first connecting arms extending from both ends of the main body in a direction perpendicular to the main body; The main body is used for fixing and installing the first joint module; The two first connecting arms are used for rotatably mounting the second joint module.

8. The connection structure according to claim 1, characterized in that: The second mounting seat includes a flange seat, a second connecting arm and a third connecting arm; The flange seat is used to connect the mechanical actuator; The first end of the second connecting arm is used to be fixedly connected to the output end of the second joint module, the first end of the third connecting arm is used to be rotatably connected to the fixed end of the second joint module, and the second end of the second connecting arm and the second end of the third connecting arm are respectively connected to opposite sides of the flange seat.

9. A transmission device, characterized in that: comprising the connection structure according to any one of claims 1 to 8, a first joint module, and a second joint module; The first joint module is fixedly mounted on the first mounting seat along a first direction, and the second joint module is rotatably mounted on the first mounting seat along a second direction.

10. The transmission device according to claim 9, characterized in that The transmission device also includes a third joint module and a connecting base; The third joint module is installed in the connection base along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; The output end of the third joint module is connected to the first mounting seat, and the connecting base is used to be connected to the output end of the connecting joint assembly.

11. A transmission assembly, characterized in that: The transmission device and connecting joint assembly comprised of any one of claims 9 to 10, wherein the connecting joint assembly comprises a first sub-joint and / or a second sub-joint; The output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to be connected to the structure to be installed; Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure to be installed.

12. The transmission assembly according to claim 11, characterized in that: The first sub-joint includes a fourth joint module, a first connecting member and a second connecting member; The fourth joint module is arranged along the first direction; The output end of the fourth joint module is connected to the fixed end of the transmission device through the first connecting member, and the fixed end of the fourth joint module is connected to the output end of the structure to be installed or the second sub-joint through the second connecting member.

13. The transmission assembly according to claim 11, characterized in that: The second sub-joint includes a fifth joint module, a third connecting member, a sixth joint module, a fourth connecting member and a seventh joint module; The fifth joint module is arranged along the third direction, the sixth joint module is arranged along the first direction, and the seventh joint module is arranged along the third direction; The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fixed end of the fifth joint module is connected to the output end of the sixth joint module through the third connecting piece, the fixed end of the sixth joint module is connected to the output end of the seventh joint module through the fourth connecting piece, and the fixed end of the seventh joint module is used to be connected to the structure to be installed.

14. The transmission assembly according to claim 13, characterized in that: The joint axis of the fifth joint module, the joint axis of the sixth joint module, and the joint axis of the seventh joint module intersect at one point.

15. The transmission assembly according to claim 13, characterized in that: The connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member; The single-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.

16. The transmission assembly according to claim 11, characterized in that: It also includes an upper arm, a first end of the upper arm is connected to the fixed end of the transmission assembly or the fixed end of the first sub-joint, and a second end of the upper arm is connected to the structure to be installed or the output end of the second sub-joint.

17. An intelligent service system, characterized in that: comprising a manipulator and a transmission assembly according to any one of claims 11 to 16; In the transmission assembly, the transmission device is an ankle joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; The manipulator is arranged on the second mounting seat of the ankle joint unit.

18. An intelligent mobile system, characterized in that: comprising a mechanical foot and a transmission assembly according to any one of claims 11 to 16; In the transmission assembly, when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit; The mechanical sole is arranged on the second mounting seat of the ankle joint unit.

19. An intelligent terminal, comprising a main body, characterized in that: Also includes the intelligent service system according to claim 17 and / or the intelligent mobile system according to claim 18; 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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