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, in the connecting structure, a first mounting seat is provided with a first mounting position and a second mounting position at an interval along a second direction; the second mounting seat and the first mounting seat are rotatably connected around a first axis arranged in a first direction and a second axis arranged in a third direction; and the connecting rod mechanism is rotatably connected with the second mounting seat. According to the joint assembly, the first joint module and the second joint module are assembled in the connecting structure, the connecting rod mechanism is controlled to present different motion changes, and the second mounting seat is driven to rotate around the first axis and / or the second axis, so that the degree of freedom of the joint assembly is increased, and the flexibility is improved.

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 connecting structure includes a first mounting seat, a second mounting seat and a connecting rod mechanism;

[0005] The first mounting seat is provided with a first mounting position and a second mounting position spaced apart along the second direction;

[0006] 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;

[0007] The connecting rod mechanism is rotatably connected to the second mounting seat;

[0008] The first direction, the second direction and the third direction are perpendicular to each other.

[0009] Preferably, it also includes a cross universal joint;

[0010] 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 rotatably connected to the first mounting seat, and the two second connecting ends are rotatably connected to the second mounting seat.

[0011] Preferably, the first mounting base includes a first main body and two first connecting arms extending from one side of the first main body in a direction perpendicular to the first main body, and the first main body is provided with the first mounting position and the second mounting position;

[0012] The second mounting base includes a second main body and two second connecting arms extending from one side of the second main body in a direction perpendicular to the second main body;

[0013] The cross universal joint is arranged between the two first connecting arms and the two second connecting arms;

[0014] The connecting rod mechanism is rotatably connected to the second main body.

[0015] Preferably, the second mounting seat further includes a third connecting arm extending from one side of the second main body portion in a direction perpendicular to the second main body portion, and the third connecting arm is rotatably connected to the connecting rod mechanism.

[0016] Preferably, the connecting rod mechanism includes a first connecting rod, a second connecting rod and a third connecting rod;

[0017] The first connecting rod is passed through the second mounting seat;

[0018] The first end of the second connecting rod is used to be rotatably connected to the output end of the first joint module to be installed, and the second end of the second connecting rod is rotatably connected to the first end of the first connecting rod;

[0019] The first end of the third connecting rod is used to be rotatably connected to the output end of the second joint module to be installed, and the second end of the third connecting rod is rotatably connected to the second end of the first connecting rod.

[0020] Preferably, the first connecting rod includes an intermediate shaft and two symmetrically arranged L-shaped adapters;

[0021] The intermediate shaft is passed through the second mounting seat;

[0022] The first ends of the two L-shaped adapters are respectively connected to the two ends of the intermediate shaft, and the second ends of the two L-shaped adapters are respectively connected to the second end of the second connecting rod and the second end of the third connecting rod.

[0023] A transmission device, comprising the connecting structure, a first joint module and a second joint module;

[0024] The first joint module and the second joint module, the first joint module is installed in the first installation position, the second joint module is installed in the second installation position, the joint axis of the first joint module and the joint axis of the second joint module are arranged along a first direction, and the output end of the first joint module and the output end of the second joint module are in opposite directions;

[0025] The output end of the first joint module and the output end of the second joint module are rotatably connected to the connecting rod mechanism.

[0026] Preferably, it further comprises a third joint module;

[0027] The joint axis of the third joint module is arranged along the second direction;

[0028] The output end of the third joint module is connected to the first mounting seat.

[0029] 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;

[0030] 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;

[0031] 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;

[0032] 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.

[0033] Preferably, the first sub-joint includes a fourth joint module, a first connecting member and a second connecting member;

[0034] The joint axis of the fourth joint module is arranged along the first direction;

[0035] 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.

[0036] 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;

[0037] The joint axis of the fifth joint module is arranged along the second direction;

[0038] The joint axis of the sixth joint module is arranged along the third direction;

[0039] The joint axis of the seventh joint module is arranged along the first direction;

[0040] The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module is connected to the output end of the sixth joint module through the third connecting piece, 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.

[0041] 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.

[0042] Preferably, the connecting members in the transmission assembly are all configured as single-side arm connecting members or double-side arm connecting members;

[0043] 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;

[0044] 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.

[0045] An intelligent service system comprises a manipulator and the transmission assembly;

[0046] In the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit;

[0047] The manipulator is arranged on the second mounting seat of the wrist joint unit.

[0048] An intelligent mobility system, comprising a mechanical foot and the transmission assembly;

[0049] 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;

[0050] The mechanical foot is arranged on the second mounting seat of the ankle joint unit.

[0051] An intelligent terminal, comprising a main body, and also comprising the intelligent service system and / or the intelligent mobile system;

[0052] 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.

[0053] The above-mentioned connection structure can be used as the installation structure of the joint module of the transmission device; it specifically includes a first mounting seat, a second mounting seat and a connecting rod mechanism; during installation, a first mounting position and a second mounting position are provided on the first mounting seat, which are spaced apart along the second direction; they are respectively used to install the first joint module and the second joint module, whose joint axes are set along the first direction and whose output ends are in opposite directions, that is, the first joint module and the second joint module are spaced apart along the second direction on the first mounting seat, the joint axis of the first joint module and the joint axis of the second joint module are set along the first direction, and the output end of the first joint module and the output end of the second joint module are in opposite directions; the second mounting seat is rotatably connected to the first mounting seat around the first axis set along the first direction and the second axis set in the third direction, and 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 foot to control the movement of the mechanical foot. The connecting rod mechanism is rotatably connected to the second mounting seat, and is used to be rotatably connected to the output end of the first joint module and the output end of the second joint module. The first joint module and the second joint module cooperate to control the connecting rod mechanism to present different movement changes, thereby driving the second mounting seat to rotate around the first axis and / or second axis at the connection between it and the first mounting seat, so as to increase the degree of freedom of the connection structure and improve flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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.

[0055] Figure 1 This is an isometric view of a transmission device in one embodiment of the present invention;

[0056] Figure 2 This is a top view of a transmission device in one embodiment of the present utility model;

[0057] Figure 3 It is a side view of a transmission device in one embodiment of the present utility model;

[0058] Figure 4 It is an isometric view of the intelligent service system in one embodiment of the present utility model.

[0059] Among them, 1. the first joint module; 2. the second joint module; 3. the first mounting seat; 31. the first main body; 32. the first connecting arm; 4. the second mounting seat; 41. the second main body; 42. the second connecting arm; 43. the third connecting arm; 5. the connecting rod mechanism; 51. the first connecting rod; 511. the intermediate shaft; 512. the L-shaped adapter; 52. the second connecting rod; 53. the third connecting rod; 6. the cross universal joint; 7. the third joint module; 8. the fourth joint module; 9. the first connecting member; 10. the second connecting member; 11. the fifth joint module; 12. the third connecting member; 13. the sixth joint module; 14. the fourth connecting member; 15. the seventh joint module; 16. the structure to be installed. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The present invention provides a connection structure. Figure 1-3The connection structure includes a first mounting seat 3, a second mounting seat 4 and a connecting rod mechanism 5; the first mounting seat 3 is provided with a first mounting position and a second mounting position spaced apart along the second direction; the second mounting seat 4 is rotatably connected to the first mounting seat 3 around a first axis set along the first direction and a second axis set in the third direction; the connecting rod mechanism 5 is rotatably connected to the second mounting seat 4; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0064] As an example, the connection structure can be used as the installation structure of the joint module of the transmission device; it specifically includes a first mounting seat 3, a second mounting seat 4 and a connecting rod mechanism 5; during installation, a first mounting position and a second mounting position arranged at intervals along the second direction are provided on the first mounting seat 3; they are respectively used to install the first joint module 1 and the second joint module 2 whose joint axes are arranged along the first direction and whose output ends are in opposite directions, that is, the first joint module 1 and the second joint module 2 are arranged at intervals along the second direction on the first mounting seat 3, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along the first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions; the second mounting seat 4 is rotatably connected to the first mounting seat 3 around the first axis arranged along the first direction and the second axis arranged in the third direction, and 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 foot to control the movement of the mechanical foot. The connecting rod mechanism 5 is rotatably connected to the second mounting seat 4, and is used to be rotatably connected to the output end of the first joint module 1 and the output end of the second joint module 2. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different movement changes, thereby driving the second mounting seat 4 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 3, so as to increase the degree of freedom of the connection structure and improve flexibility.

[0065] In this example, when the first joint module 1 and the second joint module 2 rotate in the same direction and at the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion and extension movements around the first axis of the connection with the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and at the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform radial flexion and ulnar flexion movements around the second axis of the connection with the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right. Among them, the rotation of the joint axis of the first joint module 1 is defined as swinging up and down, and the rotation of the joint axis of the second joint module 2 is defined as swinging left and right; and the same is true in reverse. When the first joint module 1 and the second joint module 2 rotate at different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection with the first mounting seat 3 at the same time, similar to the swing of a human wrist joint or a human ankle joint that can swing up and down and left and right at the same time. 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.

[0066] In one embodiment, referring to Figure 3 The connection structure also includes a cross universal joint 6; the cross universal joint 6 includes two first connection ends arranged along the first direction and two second connection ends arranged along the third direction, the two first connection ends are rotatably connected to the first mounting seat 3, and the two second connection ends are rotatably connected to the second mounting seat 4.

[0067] As an example, the connection structure also includes a cross universal joint 6, which includes two first connection ends arranged along the first direction and two second connection ends arranged along the third direction. The two first connection ends are used to be rotatably connected to the first mounting seat 3, and the two second connection ends are used to be rotatably connected to the second mounting seat 4, that is, the second mounting seat 4 can rotate around the first axis of the cross universal joint 6 (that is, the first direction), and the second mounting seat 4 can also rotate around the second axis of the cross universal joint 6 (that is, the third direction), thereby increasing the degree of freedom of the connection structure and improving flexibility. When the first joint module 1 and the second joint module 2 rotate in the same direction and at the same angle, the second mounting seat 4 is driven to rotate around the first axis of the cross universal joint 6 by the connecting rod mechanism 5. For example, when the first axis of the cross universal joint 6 is in the first direction, the up and down swinging of the human wrist joint or the human ankle joint can be simulated to simulate wrist flexion and extension movements; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and at the same angle, the second mounting seat 4 is driven to rotate around the second axis of the cross universal joint 6 by the connecting rod mechanism 5. For example, when the second axis of the cross universal joint 6 is in the third direction, the left and right swinging of the human wrist joint or the human ankle joint can be simulated to simulate radial flexion and ulnar flexion movements. When the first joint module 1 and the second joint module 2 rotate at different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the first and second axes of the cross universal joint 6 at the same time, similar to how the human wrist joint or the human ankle joint can swing up and down and left and right at the same time.

[0068] In one embodiment, referring to Figure 1 and Figure 3 The first mounting seat 3 includes a first main body portion 31 and two first connecting arms 32 extending from one side of the first main body portion 31 in a direction perpendicular to the first main body portion 31, and the first main body portion 31 is provided with a first mounting position and a second mounting position; the second mounting seat 4 includes a second main body portion 41 and two second connecting arms 42 extending from one side of the second main body portion 41 in a direction perpendicular to the second main body portion 41; the cross universal joint 6 is arranged between the two first connecting arms 32 and the two second connecting arms 42; the connecting rod mechanism 5 is rotatably connected to the second main body portion 41.

[0069] As an example, the first mounting seat 3 includes a first main body portion 31 and two first connecting arms 32; the two first connecting arms 32 extend from one side of the first main body portion 31 in a direction perpendicular to the first main body portion 31. The second mounting seat 4 includes a second main body portion 41 and two second connecting arms 42; the two second connecting arms 42 extend from one side of the second main body portion 41 in a direction perpendicular to the second main body portion 41. The cross universal joint 6 is arranged between the two first connecting arms 32 and the two second connecting arms 42, that is, the two first connecting arms 32 are rotatably connected to the two ends of the first axis of the cross universal joint 6, and the two second connecting arms 42 are rotatably connected to the two ends of the second axis of the cross universal joint 6. The first axis is arranged along the first direction, and the second axis is arranged along the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first main body 31 is provided with a first mounting position and a second mounting position, and the first mounting position and the second mounting position are spaced apart along the second direction, and the opening directions of the first mounting position and the second mounting position are opposite, and the first joint module 1 and the second joint module 2 are respectively installed in the first mounting position and the second mounting position; the connecting rod mechanism 5 is rotatably connected to the second main body 41; the first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different motion changes, so that the second main body 41 can be rotated around the first axis of the cross universal joint 6 through the two second connecting arms 42. For example, when the first axis of the cross universal joint 6 is in the first direction, the up and down swinging of the human wrist joint or the human ankle joint can be simulated to simulate the flexion and extension of the wrist; the second main body 41 can also be rotated around the second axis of the cross universal joint 6 through the two second connecting arms 42. For example, when the second axis of the cross universal joint 6 is in the third direction, the left and right swinging of the human wrist joint or the human ankle joint can be simulated to simulate the radial flexion and ulnar flexion movements.

[0070] In one embodiment, referring to Figure 1 and Figure 3 The second mounting seat 4 further includes a third connecting arm 43 extending from one side of the second main body portion 41 in a direction perpendicular to the second main body portion 41 , and the third connecting arm 43 is rotatably connected to the connecting rod mechanism 5 .

[0071] As an example, the second mounting seat 4 also includes a third connecting arm 43, which extends from one side of the second main body 41 in a direction perpendicular to the second main body 41. The third connecting arm 43 is rotatably connected to the connecting rod mechanism 5. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different motion changes. The third connecting arm 43 acts on the second main body 41, so that the second main body 41 can rotate around the first axis of the cross universal joint 6 through the two second connecting arms 42. For example, when the first axis of the cross universal joint 6 is in the first direction, it can simulate the up and down swinging of the human wrist joint or the human ankle joint to simulate wrist flexion and extension movements; the second main body 41 can also rotate around the second axis of the cross universal joint 6 through the two second connecting arms 42. For example, when the second axis of the cross universal joint 6 is in the third direction, it can simulate the left and right swinging of the human wrist joint or the human ankle joint to simulate radial flexion and ulnar flexion movements.

[0072] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3 The connecting rod mechanism 5 includes a first connecting rod 51, a second connecting rod 52 and a third connecting rod 53; the first connecting rod 51 is passed through the second mounting seat 4; the first end of the second connecting rod 52 is used to be rotatably connected to the output end of the first joint module 1, and the second end of the second connecting rod 52 is rotatably connected to the first end of the first connecting rod 51; the first end of the third connecting rod 53 is used to be rotatably connected to the output end of the second joint module 2, and the second end of the third connecting rod 53 is rotatably connected to the second end of the first connecting rod 51.

[0073] As an example, the connecting rod mechanism 5 includes a first connecting rod 51, a second connecting rod 52 and a third connecting rod 53; when installed, the first connecting rod 51 is passed through the second mounting seat 4, the first end of the second connecting rod 52 is rotatably connected to the output end of the first joint module 1, the second end of the second connecting rod 52 is rotatably connected to the first end of the first connecting rod 51, the first end of the third connecting rod 53 is rotatably connected to the output end of the second joint module 2, and the second end of the third connecting rod 53 is rotatably connected to the second end of the first connecting rod 51. Since the first joint module 1 and the second joint module 2 are both arranged along the second direction, the first joint module 1 is closer to the second mounting seat 4 than the second joint module 2, so that the first joint module 1 is arranged in the second direction. The length of the second link 52 between a joint module 1 and the second mounting seat 4 is smaller than the length of the third link 53 arranged between the second joint module 2 and the second mounting seat 4. In this way, the first joint module 1 and the second joint module 2, the second link 52, the third link 53 and the first link 51 are arranged to cooperate to form a quadrilateral structure, with the first link 51 as the intermediate piece. The forward or reverse rotation of the first joint module 1 can drive the second link 52 to move in the second direction, so as to drive the first end of the first link 51 to move in the second direction. The forward or reverse rotation of the second joint module 2 can drive the third link 53 to move in the second direction, so as to drive the second end of the first link 51 to move in the second direction. Specifically, when the first joint module 1 and the second joint module 2 rotate in the same direction and at the same angle, the second mounting seat 4 is driven to rotate around the first axis of the cross universal joint 6 by the connecting rod mechanism 5. For example, when the first axis of the cross universal joint 6 is in the first direction, the up and down swinging of the human wrist joint or the human ankle joint can be simulated to simulate wrist flexion and extension movements; when the first joint module 1 and the second joint module 2 rotate in opposite directions and at the same angle, the second mounting seat 4 is driven to rotate around the second axis of the cross universal joint 6 by the connecting rod mechanism 5. For example, when the second axis of the cross universal joint 6 is in the third direction, the left and right swinging of the human wrist joint or the human ankle joint can be simulated to simulate radial flexion and ulnar flexion movements. When the first joint module 1 and the second joint module 2 rotate at different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the first and second axes of the cross universal joint 6 at the same time, similar to how the human wrist joint or the human ankle joint can swing up and down and left and right at the same time.

[0074] As an example, the first connecting rod 51 may be an integrally formed structure.

[0075] In one embodiment, referring to Figure 1 and Figure 2 The first connecting rod 51 includes an intermediate shaft 511 and two symmetrically arranged L-shaped adapters 512; the intermediate shaft 511 is passed through the second mounting seat 4; the first ends of the two L-shaped adapters 512 are respectively connected to the two ends of the intermediate shaft 511, and the second ends of the two L-shaped adapters 512 are respectively connected to the second end of the second connecting rod 52 and the second end of the third connecting rod 53.

[0076] As an example, the first connecting rod 51 includes an intermediate shaft 511 and two L-shaped adapters 512; the intermediate shaft 511 is passed through the second mounting seat 4; the two L-shaped adapters 512 are symmetrically arranged, and the first ends of the two L-shaped adapters 512 are respectively connected to the two ends of the intermediate shaft 511, and the second ends of the two L-shaped adapters 512 are respectively connected to the second end of the second connecting rod 52 and the second end of the third connecting rod 53. This arrangement facilitates the installation and disassembly of the first connecting rod 51, ensuring that the second connecting rod 52 and the third connecting rod 53 can be connected to the second mounting seat 4 to control the second mounting seat 4 to perform different actions.

[0077] The present invention provides a transmission device, referring to Figure 1-3 , including a connecting structure, a first joint module 1 and a second joint module 2; the first joint module 1 is installed at a first installation position, the second joint module 2 is installed at a second installation position, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along a first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions; the output end of the first joint module 1 and the output end of the second joint module 2 are rotatably connected to the connecting rod mechanism 5.

[0078] 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; the transmission device specifically 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 connecting rod mechanism 5. During installation, a first mounting position and a second mounting position arranged at intervals along the second direction are provided on the first mounting seat 3; they are respectively used to install the first joint module 1 and the second joint module 2 whose joint axes are arranged along the first direction and whose output ends are in opposite directions, that is, the first joint module 1 is installed in the first mounting position, and the second joint module 2 is installed in the second mounting position, that is, the first joint module 1 and the second joint module 2 are arranged at intervals along the second direction on the first mounting seat 3, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along the first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions; the second mounting seat 4 is rotatably connected to the first mounting seat 3 around the first axis arranged along the first direction and the second axis arranged in the third direction, and 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 connecting rod mechanism 5 is rotatably connected to the second mounting seat 4, and is used to be rotatably connected to the output end of the first joint module 1 and the output end of the second joint module 2. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different movement changes, thereby driving the second mounting seat 4 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 3, so as to increase the degree of freedom of the transmission device and improve flexibility.

[0079] In this example, when the first joint module 1 and the second joint module 2 rotate in the same direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion and extension movements around the first axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform radial flexion and ulnar flexion movements around the second axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right. When the first joint module 1 and the second joint module 2 rotate at different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection between the first mounting seat 3 at the same time, similar to the swing of a human wrist joint or a human ankle joint up and down and left and right at the same time. 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.

[0080] In one embodiment, referring to Figure 4 The transmission device also includes a third joint module 7; the joint axis of the third joint module 7 is arranged along the second direction; the output end of the third joint module 7 is connected to the first mounting seat 3.

[0081] As an example, the transmission device also includes a third joint module 7; the output end of the third joint module 7 is connected to the first mounting seat 3, and the joint axis of the third joint module 7 is set along the second direction, perpendicular to the joint axis of the second joint module 2 and the joint axis of the first joint module 1, and perpendicular to the first axis and the second axis. The third joint module 7 is set in this way to drive the first mounting seat 3 to rotate, thereby driving the second mounting seat 4 to rotate along 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 fixed end of the third joint module 7 is used to connect 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 as a wrist joint unit, the connecting joint assembly can be an elbow joint unit or a shoulder joint unit; when the transmission device is set as an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit. Different combinations are designed according to actual needs.

[0082] The present invention provides a transmission assembly, referring to Figure 4 , 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 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 16; 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 16; 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 16.

[0083] The structure to be installed 16 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 16 may be the body of the smart terminal.

[0084] As an example, the transmission assembly includes a transmission device and a connecting joint assembly. The transmission device serves as a wrist joint unit of an intelligent service system and can also serve as an ankle joint unit of an intelligent mobile system. It specifically includes a first joint module 1, a second joint module 2, a first mounting seat 3, a second mounting seat 4 and a connecting rod mechanism 5. During installation, the first joint module 1 and the second joint module 2 are spaced apart on the first mounting seat 3 along the second direction. The joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along the first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions. The second mounting seat 4 is rotatably connected to the first mounting seat 3 around a first axis arranged along the first direction and a second axis arranged in a third direction. The second mounting seat 4 is used to connect a mechanical actuator, which may be a manipulator to control the movement of the manipulator; the mechanical actuator may also be a mechanical foot to control the movement of the mechanical foot. The connecting rod mechanism 5 is rotatably connected to the output end of the first joint module 1, the output end of the second joint module 2 and the second mounting seat 4. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different movement changes, thereby driving the second mounting seat 4 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 3, so as to increase the degree of freedom of the transmission device and improve flexibility.

[0085] In this example, when the first joint module 1 and the second joint module 2 rotate in the same direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion and extension movements around the first axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform radial flexion and ulnar flexion movements around the second axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right. When the first joint module 1 and the second joint module 2 rotate at different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection between the first mounting seat 3 at the same time, similar to the swing of a human wrist joint or a human ankle joint up and down and left and right at the same time.

[0086] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint unit, the connecting joint assembly can be an elbow joint unit or a shoulder joint unit or both; when the transmission device is set as an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit or both. Different combinations are designed according to actual needs.

[0087] As an example, the connecting joint assembly includes a first sub-joint and / or a second sub-joint. When the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; when the transmission device is an ankle joint unit, the first sub-joint is a knee joint unit, and the second sub-joint is a hip joint unit. When the connecting joint assembly only includes the first sub-joint, the output end of the first sub-joint is connected to the fixed end of the transmission device, and the fixed end of the first sub-joint is used to connect to the structure to be installed 16. The movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, or the movement of the ankle joint unit is controlled by the knee joint unit. When the connecting joint assembly only includes the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 16. The movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint unit is controlled by the shoulder joint unit, or the movement of the ankle joint unit is controlled by the hip joint unit. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to be connected to the structure 16 to be installed, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, and the movement of the elbow joint unit and the wrist joint unit are controlled by the shoulder joint unit, or the movement of the ankle joint unit is controlled by the knee joint unit, and the movement of the knee joint unit and the ankle joint unit are controlled by the hip joint unit.

[0088] In one embodiment, referring to Figure 4 The first sub-joint includes a fourth joint module 8, a first connecting part 9 and a second connecting part 10; the joint axis of the fourth joint module 8 is arranged along the first direction; the output end of the fourth joint module 8 is connected to the fixed end of the transmission device through the first connecting part 9, and the fixed end of the fourth joint module 8 is connected to the structure to be installed 16 or the output end of the second sub-joint through the second connecting part 10.

[0089] As an example, the connecting joint assembly includes a fourth joint module 8, a first connecting member 9 and a second connecting member 10; the joint axis of the fourth joint module 8 is arranged along the first direction and parallel to the joint axis of the first joint module 1; the output end of the fourth joint module 8 is connected to the fixed end of the transmission device through the first connecting member 9; in this way, by controlling the forward or reverse rotation of the fourth joint module 8, the entire transmission device can be driven to bend or stretch through the first connecting member 9, thereby realizing a swing similar to that of a human elbow joint or a human knee joint, where the swing can be up and down or left and right. The fixed end of the fourth joint module 8 is connected to the structure to be installed 16 or the output end of the second sub-joint through the second connecting part 10. That is to say, in the first case, when the fixed end of the fourth joint module 8 is connected to the output end of the second sub-joint through the second connecting part 10, and the second sub-joint is connected to the structure to be installed 16, the second sub-joint can drive the fourth joint module 8 to move through the second connecting part 10, that is, the fixed end of the fourth joint module 8 is in an active state relative to the structure to be installed 16, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 8 moves; in the second case, when the fixed end of the fourth joint module 8 is connected to the structure to be installed 16 through the second connecting part 10, that is, the fixed end of the fourth joint module 8 is in a fixed state relative to the structure to be installed 16, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 8 cannot move.

[0090] In one embodiment, referring to Figure 4 The second sub-joint includes a fifth joint module 11, a third connecting part 12, a sixth joint module 13, a fourth connecting part 14 and a seventh joint module 15; the joint axis of the fifth joint module 11 is arranged along the second direction; the joint axis of the sixth joint module 13 is arranged straight along the third direction; the joint axis of the seventh joint module 15 is arranged along the first direction; the output end of the fifth joint module 11 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module 11 is connected to the output end of the sixth joint module 13 through the third connecting part 12, the sixth joint module 13 is connected to the output end of the seventh joint module 15 through the fourth connecting part 14, and the fixed end of the seventh joint module 15 is used to be connected to the structure to be installed 16.

[0091] As an example, the second sub-joint includes a fifth joint module 11, a third connecting member 12, a sixth joint module 13, a fourth connecting member 14 and a seventh joint module 15; when installed, the joint axis of the fifth joint module 11 is arranged along the second direction and is perpendicular to the joint axis of the first joint module 1; the joint axis of the sixth joint module 13 is arranged along the third direction and is perpendicular to the joint axis of the fifth joint module 11 and the joint axis of the first joint module 1; the joint axis of the seventh joint module 15 is arranged along the first direction and is perpendicular to the joint axis of the sixth joint module 13 and the joint axis of the fifth joint module 11; The fixed end is used to be connected to the structure to be installed 16 on the main body, and the output end of the fifth joint module 11 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 11 is connected to the fixed end of the transmission device, the fifth joint module 11 can drive the entire transmission device to move, thereby controlling the movement of the wrist joint unit or the ankle joint assembly; when the output end of the fifth joint module 11 is connected to the fixed end of the first sub-joint, the fifth joint module 11 can drive the entire transmission device, the first connecting part 9 and the fourth joint module 8 to move through the second connecting part 10, thereby controlling the movement of the elbow joint unit or the knee joint assembly. The part of the fifth joint module 11 near the output end is connected to the output end of the sixth joint module 13 through the third connecting part 12, and the part of the sixth joint module 13 near the output end is connected to the output end of the seventh joint module 15 through the fourth connecting part 14; the fifth joint module 11 is controlled to rotate forward or reverse, and the fourth joint module 8, the first connecting part 9 and the entire transmission device are driven to move around the joint axis in the second direction through the second connecting part 10; the sixth joint module 13 is controlled to rotate forward or reverse, and the fifth joint module 11, the second connecting part 10, the fourth joint module 8, the first connecting part 9 and the entire transmission device can be driven to move around the joint axis in the third direction through the third connecting part 12; the seventh joint module 15 is controlled to rotate forward or reverse, and the sixth joint module 13, the third connecting part 12, the fifth joint module 11, the second connecting part 10, the fourth joint module 8, the first connecting part 9 and the entire transmission device can be driven to move around the joint axis in the first direction through the fourth connecting part 14.

[0092] In one embodiment, referring to Figure 4 The joint axis of the fifth joint module 11, the joint axis of the sixth joint module 13 and the joint axis of the seventh joint module 15 intersect at one point.

[0093] As an example, the joint axis of the fifth joint module 11, the joint axis of the sixth joint module 13 and the joint axis of the seventh joint module 15 intersect at one point, which can be regarded as a virtual spherical joint. The joint axis can be rotated 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 11 and the joint axis of the sixth joint module 13 are perpendicular to each other, and the joint axis of the sixth joint module 13 and the joint axis of the seventh joint module 15 are perpendicular to each other; when the sixth joint module 13 is in the first state, the joint axis of the fifth joint module 11 and the joint axis of the seventh joint module 15 are perpendicular to each other; when the sixth joint module 13 changes from the first state to the second state, the joint axis of the fifth joint module 11 and the joint axis of the seventh joint module 15 are parallel or coaxial to each other.

[0094] In addition, the joint axis of the third joint module 7, the joint axis of the fourth joint module 8 and the joint axis of the fifth joint module 11 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 8 are perpendicular to each other, and the joint axis of the fourth joint module 8 and the joint axis of the fifth joint module 11 are perpendicular to each other; when the fourth joint module 8 is in the first state, the joint axis of the third joint module 7 and the joint axis of the fifth joint module 11 are parallel or coaxial to each other; when the fourth joint module 8 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 11 are perpendicular to each other. The joint axis of the third joint module 7, the first axis and the second axis of the cross universal joint 6 intersect at one point, which can be regarded as a virtual spherical joint. It 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 first axis of the cross universal joint 6, and the joint axis of the third joint module 7 is perpendicular to the second axis of the cross universal joint 6; when the first axis of the cross universal joint 6 changes from the first state to the second state, the second axis of the cross universal joint 6 and the joint axis of the third joint module 7 change from being perpendicular to each other to being parallel or coaxial.

[0095] In one embodiment, referring to Figure 4The 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.

[0096] 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.

[0097] 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. In this example, the connectors in the transmission assembly include a first connector 9, a second connector 10, a third connector 12, and a fourth connector 14; these connectors can all be set as single-sided arm connectors or double-sided arm connectors, and both 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.

[0098] 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 a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged on the second mounting seat 4 of the wrist joint unit.

[0099] As an example, the intelligent service system includes a manipulator and a transmission assembly; in the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; the manipulator is arranged on the second mounting seat 4 of the wrist joint unit. The transmission assembly includes a transmission device and a connecting joint assembly, and the transmission device specifically includes a first joint module 1, a second joint module 2, a first mounting seat 3, a second mounting seat 4 and a connecting rod mechanism 5; during installation, the first joint module 1 and the second joint module 2 are spaced apart and arranged on the first mounting seat 3 along the second direction, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along the first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions; the second mounting seat 4 is rotatably connected to the first mounting seat 3 around a first axis arranged along the first direction and a second axis arranged in a third direction. The second mounting seat 4 is used to connect the manipulator to control the movement of the manipulator. The connecting rod mechanism 5 is rotatably connected to the output end of the first joint module 1, the output end of the second joint module 2 and the second mounting seat 4. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different movement changes, thereby driving the second mounting seat 4 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 3, so as to increase the degree of freedom of the transmission device and improve flexibility.

[0100] In this example, when the first joint module 1 and the second joint module 2 rotate in the same direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion and extension movements around the first axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint or a human ankle joint, where the swing can be up and down or left and right; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform radial flexion and ulnar flexion movements around the second axis of the connection between the first mounting seat 3, similar to the swing of a human wrist joint, where the swing can be up and down or left and right. When the first joint module 1 and the second joint module 2 rotate to different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection between the first mounting seat 3 at the same time, similar to the human wrist joint that can swing up and down and left and right at the same time.

[0101] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as a wrist joint unit, the connecting joint assembly can be an elbow joint unit or a shoulder joint unit or both. Different combinations are designed according to actual needs.

[0102] 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 16, and the movement of the transmission device is controlled by the first sub-joint, that is, the movement of the wrist joint unit is controlled by the elbow joint unit. 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 16, and the movement of the transmission device is controlled by the second sub-joint, that is, the movement of the wrist joint unit is controlled by the shoulder joint unit. 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 16, that is, the movement of the wrist joint unit is controlled by the elbow joint unit, and the movement of the elbow joint unit and the wrist joint unit are controlled by the shoulder joint unit.

[0103] 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.

[0104] 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 connecting rod mechanism 5; when installed, the first joint module 1 and the second joint module 2 are arranged on the first mounting seat 3 at intervals along the second direction, the joint axis of the first joint module 1 and the joint axis of the second joint module 2 are arranged along the first direction, and the output end of the first joint module 1 and the output end of the second joint module 2 are in opposite directions; the second mounting seat 4 is rotatably connected to the first mounting seat 3 around a first axis arranged along the first direction and a second axis arranged in a third direction. The second mounting seat 4 is used to connect the mechanical foot to control the movement of the mechanical foot. The connecting rod mechanism 5 is rotatably connected to the output end of the first joint module 1, the output end of the second joint module 2 and the second mounting seat 4. The first joint module 1 and the second joint module 2 cooperate to control the connecting rod mechanism 5 to present different movement changes, thereby driving the second mounting seat 4 to rotate around the first axis and / or the second axis at the connection between it and the first mounting seat 3, so as to increase the degree of freedom of the transmission device and improve flexibility.

[0105] In this example, when the first joint module 1 and the second joint module 2 rotate in the same direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion and extension movements around the first axis of the connection between the first mounting seat 3, similar to the swing of a human ankle joint, where the swing can be up and down or left and right; when the first joint module 1 and the second joint module 2 rotate in the opposite direction and the same angle, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform radial flexion and ulnar flexion movements around the second axis of the connection between the first mounting seat 3, similar to the swing of a human ankle joint, where the swing can be up and down or left and right. When the first joint module 1 and the second joint module 2 rotate to different angles, the second mounting seat 4 is driven by the connecting rod mechanism 5 to perform wrist flexion, wrist extension, radial flexion and ulnar flexion movements around the connection between the first mounting seat 3 at the same time, similar to the human ankle joint that can swing up and down and left and right at the same time.

[0106] As an example, the output end of the connecting joint assembly is connected to the fixed end of the transmission device, and the movement of the transmission device can be controlled by connecting the joint assembly; when the transmission device is set as an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit or both. Different combinations are designed according to actual needs.

[0107] 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 16, and the movement of the transmission device is controlled by the first sub-joint, that is, the movement of the ankle joint unit is controlled by the knee joint unit. When the connecting joint assembly only includes the second sub-joint, the output end of the second sub-joint is connected to the fixed end of the transmission device, and the fixed end of the second sub-joint is used to connect to the structure to be installed 16, and the movement of the transmission device is controlled by the second sub-joint, that is, the movement of the ankle joint unit is controlled by the hip joint unit. Alternatively, the output end of the first sub-joint is connected to the fixed end of the transmission device, the fixed end of the first sub-joint is connected to the output end of the second sub-joint, and the fixed end of the second sub-joint is used to connect to the structure to be installed 16, that is, the movement of the ankle joint unit is controlled by the knee joint unit, and the movement of the knee joint unit and the ankle joint unit are controlled by the hip joint unit.

[0108] 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.

[0109] 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.

[0110] 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 connecting rod mechanism; The first mounting seat is provided with a first mounting position and a second mounting position spaced apart along the second direction; 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 connecting rod mechanism is rotatably connected to the second mounting seat; The first direction, the second direction and the third direction are perpendicular to each other.

2. The connection structure according to claim 1, characterized in that: Also includes a cross cardan 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 rotatably connected to the first mounting seat, and the two second connecting ends are rotatably connected to the second mounting seat.

3. The connection structure according to claim 2, characterized in that: The first mounting base includes a first main body and two first connecting arms extending from one side of the first main body in a direction perpendicular to the first main body, and the first main body is provided with the first mounting position and the second mounting position; The second mounting base includes a second main body and two second connecting arms extending from one side of the second main body in a direction perpendicular to the second main body; The cross universal joint is arranged between the two first connecting arms and the two second connecting arms; The connecting rod mechanism is rotatably connected to the second main body.

4. The connection structure according to claim 3, characterized in that: The second mounting seat further includes a third connecting arm extending from one side of the second main body along a direction perpendicular to the second main body, and the third connecting arm is rotatably connected to the connecting rod mechanism.

5. The connection structure according to claim 2, characterized in that: The connecting rod mechanism includes a first connecting rod, a second connecting rod and a third connecting rod; The first connecting rod is passed through the second mounting seat; The first end of the second connecting rod is used to be rotatably connected to the output end of the first joint module to be installed, and the second end of the second connecting rod is rotatably connected to the first end of the first connecting rod; The first end of the third connecting rod is used to be rotatably connected to the output end of the second joint module to be installed, and the second end of the third connecting rod is rotatably connected to the second end of the first connecting rod.

6. The connection structure according to claim 5, characterized in that: The first connecting rod includes an intermediate shaft and two symmetrically arranged L-shaped adapters; The intermediate shaft is passed through the second mounting seat; The first ends of the two L-shaped adapters are respectively connected to the two ends of the intermediate shaft, and the second ends of the two L-shaped adapters are respectively connected to the second end of the second connecting rod and the second end of the third connecting rod.

7. A transmission device, characterized in that: comprising the connection structure according to any one of claims 1 to 6, a first joint module and a second joint module; The first joint module and the second joint module, the first joint module is installed in the first installation position, the second joint module is installed in the second installation position, the joint axis of the first joint module and the joint axis of the second joint module are arranged along a first direction, and the output end of the first joint module and the output end of the second joint module are in opposite directions; The output end of the first joint module and the output end of the second joint module are rotatably connected to the connecting rod mechanism.

8. The transmission device according to claim 7, characterized in that Also includes a third joint module; The joint axis of the third joint module is arranged along the second direction; The output end of the third joint module is connected to the first mounting seat.

9. A transmission assembly, characterized in that: The transmission device and connecting joint assembly comprised of any one of claims 7 to 8, 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.

10. The transmission assembly according to claim 9, characterized in that: The first sub-joint includes a fourth joint module, a first connecting member and a second connecting member; The joint axis of 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.

11. The transmission assembly according to claim 9, 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 joint axis of the fifth joint module is arranged along the second direction; The joint axis of the sixth joint module is arranged along the third direction; The joint axis of the seventh joint module is arranged along the first direction; The output end of the fifth joint module is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module is connected to the output end of the sixth joint module through the third connecting piece, 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.

12. The transmission assembly according to claim 11, 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.

13. The transmission assembly according to claim 11, characterized in that: The connecting parts in the transmission assembly are all configured as single-side arm connecting parts or double-side arm connecting parts; 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.

14. An intelligent service system, characterized in that: comprising a manipulator and a transmission assembly according to any one of claims 9 to 13; In the transmission assembly, the transmission device is a wrist joint unit, the first sub-joint is an elbow joint unit, and the second sub-joint is a shoulder joint unit; The manipulator is arranged on the second mounting seat of the wrist joint unit.

15. An intelligent mobile system, characterized in that: comprising a mechanical foot and a transmission assembly according to any one of claims 9 to 13; 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.

16. An intelligent terminal, comprising a main body, characterized in that: Also includes the intelligent service system according to claim 14 and / or the intelligent mobile system according to claim 15; 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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