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 used for mounting a first joint module of which the joint axis is arranged along a first direction; the second mounting seat is rotatably connected with the first mounting seat around a first axis corresponding to a first direction, and is used for connecting a mechanical execution piece; and the connecting rod mechanism is used for being rotatably connected with the output end of the first joint module and the second mounting seat and driving the second mounting seat to rotate under the action of the first joint module. Under the action of the first joint module, the connecting rod mechanism can be controlled to present different motion changes, so that the second mounting seat is driven to rotate around a first axis at the joint of the second mounting seat and the first mounting seat, and the second mounting seat can be controlled to swing similar to a human wrist joint or a human ankle joint simply through the first joint module; the structure of the joint assembly is simpler, and motion control is more convenient.

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 typically 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 are complex and inconvenient in motion control, resulting in 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 is complex and its joint assembly is 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 used to mount a first joint module with a joint axis arranged along a first direction;

[0006] The second mounting seat is rotatably connected to the first mounting seat around a first axis corresponding to a first direction, and is used to connect to a mechanical actuator;

[0007] The connecting rod mechanism is used to be rotatably connected to the output end of the first joint module and the second mounting seat, and drives the second mounting seat to rotate under the action of the first joint module.

[0008] Preferably, the connecting rod mechanism includes a transmission plate and two first connecting rods;

[0009] The transmission disc is used to be installed on the output end of the first joint module;

[0010] The first ends of the two first connecting rods are rotatably connected to the opposite ends of the transmission plate, and the second ends of the two first connecting rods are rotatably connected to the opposite ends of the second mounting seat.

[0011] Preferably, the first mounting seat includes a first main body portion and a first connecting arm extending from one side of the first main body portion in a direction perpendicular to the first main body portion;

[0012] The first main body is used to install a first joint module with a joint axis arranged along a first direction;

[0013] The first connecting arm is rotatably connected to the second mounting seat.

[0014] Preferably, the second mounting seat comprises a mounting seat body and two second connecting rods arranged on the mounting seat body at intervals along the second direction;

[0015] The mounting seat body is rotatably connected to the first mounting seat; the two second connecting rods are arranged along the first direction and are rotatably connected to the connecting rod mechanism.

[0016] Preferably, the mounting seat body includes a second main body portion and two second connecting arms extending from a side surface of the second main body portion in a direction perpendicular to the second main body portion;

[0017] The two second connecting arms are rotatably connected to the first mounting seat, and the two second connecting rods are spaced apart along the second direction on one of the second connecting arms.

[0018] A transmission device, comprising the connecting structure and a first joint module;

[0019] The first joint module is installed in the first mounting seat along a first direction;

[0020] The output end of the first joint module and the second mounting seat are rotatably connected to the connecting rod mechanism respectively.

[0021] Preferably, it further comprises a second joint module and a first connecting member;

[0022] The joint axis of the second joint module is arranged along a second direction, and the second direction is perpendicular to the first direction;

[0023] The first end of the first connecting member is connected to the output end of the second joint module, and the second end of the first connecting member is connected to the first joint module.

[0024] Preferably, the transmission device further comprises a third joint module and a second connecting member;

[0025] The joint axis of the third joint module is arranged along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other;

[0026] The portion of the second joint module close to the output end is connected to the output end of the third joint module through the second connecting piece.

[0027] 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;

[0028] 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;

[0029] 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;

[0030] 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.

[0031] Preferably, the first sub-joint includes a fourth joint module, a third connecting member and a fourth connecting member;

[0032] The joint axis of the fourth joint module is arranged along the second direction;

[0033] The output end of the fourth joint module is connected to the fixed end of the transmission device through the third connecting piece, 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 fourth connecting piece.

[0034] Preferably, the second sub-joint includes a fifth joint module, a fifth connecting piece, a sixth joint module, a sixth connecting piece and a seventh joint module;

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

[0036] The joint axis of the sixth joint module is arranged along the first direction;

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

[0038] 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 fifth connecting piece, the sixth joint module is connected to the output end of the seventh joint module through the sixth connecting piece, and the fixed end of the seventh joint module is used to be connected to the structure to be installed.

[0039] 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.

[0040] Preferably, the connecting member in the transmission assembly is configured as a single-side arm connecting member or a double-side arm connecting member;

[0041] 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;

[0042] 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.

[0043] An intelligent service system comprises a manipulator and the transmission assembly;

[0044] 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;

[0045] The manipulator is arranged on the second mounting seat of the wrist joint unit.

[0046] An intelligent mobility system, comprising a mechanical foot and the transmission assembly;

[0047] 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;

[0048] The mechanical foot is arranged on the second mounting seat of the ankle joint unit.

[0049] An intelligent terminal, comprising a main body, and also comprising the intelligent service system and / or the intelligent mobile system;

[0050] 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.

[0051] 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, the first mounting seat serves as the installation reference, the first joint module is installed in the first mounting seat along the first direction, the second mounting seat is rotatably connected to the first mounting seat around the first axis corresponding to the first direction, and the second mounting seat is used to connect a mechanical actuator, which can be a manipulator to control the movement of the manipulator; it can also be a manipulator foot to control the movement of the manipulator foot. The connecting rod mechanism is rotatably connected to the output end of the first joint module and the second mounting seat. Under the action of the first joint module, the connecting rod mechanism can be controlled to exhibit different motion changes, thereby driving the second mounting seat to rotate around the first axis at the connection with the first mounting seat. The second mounting seat can be controlled simply by the first joint module to achieve swinging similar to that of a human wrist joint or a human ankle joint. The swing here can be up and down swinging or left and right swinging, so as to increase the degree of freedom of the connection structure, improve flexibility, and make the structure of the joint assembly formed by it simpler and more convenient in terms of motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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.

[0053] Figure 1 This is an isometric view of a transmission device in one embodiment of the present invention;

[0054] Figure 2 It is a side view of a transmission device according to an embodiment of the present utility model;

[0055] Figure 3 It is an isometric view of the intelligent service system in one embodiment of the present utility model.

[0056] Among them, 1. the first joint module; 2. the first mounting seat; 21. the first main body; 22. the first connecting arm; 3. the second mounting seat; 31. the mounting seat main body; 311. the second main body; 312. the second connecting arm; 32. the second connecting rod; 4. the connecting rod mechanism; 41. the transmission plate; 42. the first connecting rod; 5. the second joint module; 6. the first connecting part; 7. the third joint module; 8. the second connecting part; 9. the fourth joint module; 10. the third connecting part; 11. the fourth connecting part; 12. the fifth joint module; 13. the fifth connecting part; 14. the sixth joint module; 15. the sixth connecting part; 16. the seventh joint module; 17. the structure to be installed. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] 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.

[0060] The present invention provides a connection structure. Figure 1 and Figure 2 The connection structure includes a first mounting seat 2, a second mounting seat 3 and a connecting rod mechanism 4; the first mounting seat 2 is used to install the first joint module 1 set along the joint axis in the first direction; the second mounting seat 3 is rotatably connected to the first mounting seat 2 around the first axis corresponding to the first direction, and is used to connect the mechanical actuator; the connecting rod mechanism 4 is used to be rotatably connected to the output end of the first joint module 1 and the second mounting seat 3, and under the action of the first joint module 1, drive the second mounting seat 3 to rotate.

[0061] 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 2, a second mounting seat 3 and a connecting rod mechanism 4; during installation, the first mounting seat 2 serves as the installation reference, the first joint module 1 is installed in the first mounting seat 2 along a first direction, the second mounting seat 3 is rotatably connected to the first mounting seat 2 around a first axis corresponding to the first direction, and the second mounting seat 3 is used to connect a mechanical actuator, which can be a manipulator to control the movement of the manipulator; or a manipulator foot to control the movement of the manipulator foot. The connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to exhibit different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at its connection with the first mounting seat 2. The second mounting seat 3 can be controlled by the first joint module 1 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, so as to increase the degree of freedom of the connection structure, improve flexibility, and make the structure of the joint assembly formed by it simpler and more convenient in terms of motion control.

[0062] In one embodiment, referring to Figure 1 and Figure 2 The connecting rod mechanism 4 includes a transmission disk 41 and two first connecting rods 42; the transmission disk 41 is used to be installed on the output end of the first joint module 1; the first ends of the two first connecting rods 42 are rotatably connected to the opposite ends of the transmission disk 41, and the second ends of the two first connecting rods 42 are rotatably connected to the opposite ends of the second mounting seat 3.

[0063] As an example, the connecting rod mechanism 4 includes a transmission disk 41 and two first connecting rods 42; during installation, the transmission disk 41 is installed on the output end of the first joint module 1, and the two first connecting rods 42 are arranged in parallel and spaced apart. The first ends of the two first connecting rods 42 are rotatably connected to the opposite ends of the transmission disk 41 respectively, and the opposite ends of the transmission disk 41 here can be two ends symmetrically arranged based on the joint axis of the first joint module 1, and the second ends of the two first connecting rods 42 are rotatably connected to the opposite ends of the second mounting seat 3 respectively, and the opposite ends of the second mounting seat 3 here can be two ends parallel to the opposite ends of the transmission disk 41. The transmission plate 41, the two first connecting rods 42 and the second mounting seat 3 are arranged to cooperate to form a quadrilateral structure, with the second mounting seat 3 as the intermediate piece. The first joint module 1 rotates forward or reversely, which can drive the transmission plate 41 to rotate around the joint axis of the first joint module 1, so as to drive the two first connecting rods 42 to move in opposite directions respectively, so as to control the second mounting seat 3 to achieve 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, so as to increase the degree of freedom of the connection structure, improve flexibility, and make the structure of the joint assembly formed simpler and the motion control more convenient.

[0064] In one embodiment, referring to Figure 1 and Figure 2 The first mounting seat 2 includes a first main body portion 21 and a first connecting arm 22 extending from one side of the first main body portion 21 in a direction perpendicular to the first main body portion 21; the first main body portion 21 is used to install the first joint module 1 set along the first direction of the joint axis; the first connecting arm 22 is rotatably connected to the second mounting seat 3.

[0065] As an example, the first mounting seat 2 includes a first main body 21 and a first connecting arm 22, and the first connecting arm 22 extends from one side of the first main body 21 in a direction perpendicular to the first main body 21; a first mounting position is provided on the first main body 21, and the first joint module 1 is installed in the first mounting position of the first main body 21 along the first direction; the first connecting arm 22 is rotatably connected to the second mounting seat 3, and the connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to present different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at the connection between it and the first mounting seat 2. The second mounting seat 3 can be controlled simply by the first joint module 1 to achieve a swing similar to a human wrist joint or a human ankle joint. The swing here can be up and down or left and right, so as to increase the degree of freedom of the connection structure, improve flexibility, and make the structure of the joint assembly formed simpler and the motion control more convenient.

[0066] In one embodiment, referring to Figure 1 and Figure 2 The second mounting seat 3 includes a mounting seat body 31 and two second connecting rods 32 arranged on the mounting seat body 31 at intervals along the second direction; the mounting seat body 31 is rotatably connected to the first mounting seat 2; the two second connecting rods 32 are arranged along the first direction and are rotatably connected to the connecting rod mechanism 4.

[0067] As an example, the second mounting seat 3 includes a mounting seat body 31 and two second connecting rods 32; the mounting seat body 31 is rotatably connected to the first mounting seat 2, and is used to realize the rotation of the second mounting seat 3 around the first axis at which it is connected to the first mounting seat 2; the two second connecting rods 32 are arranged at opposite ends of the mounting seat body 31 along the second direction, and the two second connecting rods 32 are rotatably connected to the connecting rod mechanism 4 along the first direction, specifically, the two second connecting rods 32 arranged along the first direction are rotatably connected to the second ends of the two first connecting rods 42 in the connecting rod mechanism 4, so that the first joint module 1 controls the mounting seat body 31 through the connecting rod mechanism 4 and the second connecting rod 32 to realize 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.

[0068] In one embodiment, referring to Figure 1 and Figure 2 The mounting seat body 31 includes a second main body portion 311 and two second connecting arms 312 extending from a side surface of the second main body portion 311 in a direction perpendicular to the second main body portion 311; the two second connecting arms 312 are rotatably connected to the first mounting seat 2, and the two second connecting rods 32 are arranged on a second connecting arm 312 at intervals along the second direction.

[0069] As an example, the mounting seat body 31 includes a second main body part 311 and two second connecting arms 312; the second main body part 311 serves as an output part for connecting a manipulator; the two second connecting arms 312 extend from a side surface of the second main body part 311 in a direction perpendicular to the second main body part 311; the two second connecting arms 312 are rotatably connected to the first mounting seat 2, and the rotatable connection is specifically connected by a hinge, a rotating shaft or other means. The two second connecting rods 32 are arranged on a second connecting arm 312 at intervals along the second direction, so that the first joint module 1 can control the mounting seat body 31 through the connecting rod mechanism 4 and the second connecting rod 32 to achieve a swing similar to 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, wherein the second direction is perpendicular to the first direction.

[0070] The present invention provides a transmission device, referring to Figure 1 and Figure 2 , including a connecting structure and a first joint module 1; the first joint module 1 is installed in the first mounting seat 2 along the first direction; the output end of the first joint module 1 and the second mounting seat 3 are rotatably connected to the connecting rod mechanism 4 respectively.

[0071] As an example, 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; the transmission device includes a connecting structure and a first joint module 1, and the connecting structure includes a first mounting seat 2, a second mounting seat 3 and a connecting rod mechanism 4; during installation, the first mounting seat 2 serves as an installation reference, and the first joint module 1 is installed in the first mounting seat 2 along a first direction, and the second mounting seat 3 is rotatably connected to the first mounting seat 2 around a first axis corresponding to the first direction, and the second mounting seat 3 is used to connect a mechanical actuator, which can be a manipulator to control the movement of the manipulator; it can also be a mechanical foot to control the movement of the mechanical foot. The connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to present different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at the connection between it and the first mounting seat 2. The second mounting seat 3 can be controlled simply by the first joint module 1 to achieve swinging similar to the human wrist joint or the human ankle joint. The swing here can be up and down swinging or left and right swinging, so as to increase the degree of freedom of the connection structure, improve flexibility, make the structure of the transmission device simpler, and make motion control more convenient.

[0072] In one embodiment, referring to Figure 1 and Figure 2 The transmission device also includes a second joint module 5 and a first connecting member 6; the joint axis of the second joint module 5 is arranged along the second direction, and the second direction is perpendicular to the first direction; the first end of the first connecting member 6 is connected to the output end of the second joint module 5, and the second end of the first connecting member 6 is connected to the first joint module 1.

[0073] As an example, the transmission device also includes a second joint module 5 and a first connecting member 6; the joint axis of the second joint module 5 is arranged along the second direction, and the second direction is perpendicular to the first direction, that is, the joint axis of the second joint module 5 is perpendicular to the joint axis of the first joint module 1; the first end of the first connecting member 6 is connected to the output end of the second joint module 5, and the second end of the first connecting member 6 is connected to the first joint module 1, that is, the second joint module 5 rotates forward or reversely, which can drive the first connecting member 6 to rotate around the joint axis of the second joint module 5, thereby driving the first joint module 1 and the first mounting seat 2 and the second mounting seat 3 connected thereto to rotate, so that the second mounting seat 3 can swing similar to a human wrist joint or a human ankle joint, and the swing here can be up and down swing or left and right swing, so that the transmission device has two degrees of freedom, is more flexible, has a wider range of motion and is more humanoid. 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 5 is defined as left and right swing; similarly, the opposite is also true.

[0074] In one embodiment, referring to Figure 3The transmission device also includes a third joint module 7 and a second connecting member 8; the joint axis of the third joint module 7 is arranged along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; the part of the second joint module 5 close to the output end is connected to the output end of the third joint module 7 through the second connecting member 8, and the fixed end of the third joint module 7 is used to connect the joint assembly.

[0075] As an example, the transmission device also includes a third joint module 7 and a second connecting member 8; the joint axis of the third joint module 7 is arranged along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; the joint axis of the first joint module 1, the joint axis of the second joint module 5 and the joint axis of the third joint module 7 intersect at one point, which 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 wrist, and the overall structure is more compact and the movement is more flexible.

[0076] In one example, the portion of the second joint module 5 near the output end is connected to the output end of the third joint module 7 through the second connecting member 8. The third joint module 7 is set to rotate forward or reverse in this way, which can drive the second connecting member 8 to rotate around the joint axis of the third joint module 7. The second joint module 5, the first joint module 1, the first mounting seat 2 and the second mounting seat 3 can be driven to rotate around the joint axis of the third joint module 7 through the second connecting member 8, thereby driving the second mounting seat 3 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 joint module configuration. 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 connecting the joint assembly.

[0077] When the transmission device is configured 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 configured as an ankle joint unit, the connecting joint assembly can be a knee joint unit or a hip joint unit. Different combinations can be designed based on actual needs. In this example, by arranging the three joint modules in the transmission device, the transmission device has three degrees of freedom, making it more flexible and human-like, and less prone to singularities, further improving the working capabilities of the end effector of the intelligent terminal system.

[0078] The present invention provides a transmission assembly, referring to Figure 3, 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 17; 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 17; 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 17.

[0079] The structure to be installed 17 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 17 may be the body of the smart terminal.

[0080] 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 first mounting seat 2, a second mounting seat 3 and a connecting rod mechanism 4. During installation, the first mounting seat 2 serves as an installation reference, and the first joint module 1 is installed in the first mounting seat 2 along a first direction. The second mounting seat 3 is rotatably connected to the first mounting seat 2 around a first axis corresponding to the first direction. The second mounting seat 3 is used to connect a mechanical actuator. The mechanical actuator can be a manipulator to control the movement of the manipulator; it can also be a mechanical foot to control the movement of the mechanical foot. The connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to present different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at the connection between it and the first mounting seat 2. The second mounting seat 3 can be controlled simply by the first joint module 1 to achieve swinging similar to the human wrist joint or the human ankle joint. The swing here can be up and down swinging or left and right swinging, so as to increase the degree of freedom of the connection structure, improve flexibility, make the structure of the transmission device simpler, and make motion control more convenient.

[0081] 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.

[0082] 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 17. 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 17. 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 to be installed 17, 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.

[0083] In one embodiment, referring to Figure 3 The first sub-joint includes a fourth joint module 9, a third connecting part 10 and a fourth connecting part 11; the joint axis of the fourth joint module 9 is arranged along the second direction; the output end of the fourth joint module 9 is connected to the fixed end of the transmission device through the third connecting part 10, and the fixed end of the fourth joint module 9 is connected to the structure to be installed 17 or the output end of the second sub-joint through the fourth connecting part 11.

[0084] As an example, the first sub-joint includes a fourth joint module 9, a third connecting member 10 and a fourth connecting member 11; the joint axis of the fourth joint module 9 is arranged along the second direction, and the output end of the fourth joint module 9 is connected to the fixed end of the transmission device through the third connecting member 10; in this way, by controlling the forward or reverse rotation of the fourth joint module 9, the entire transmission device can be driven to bend or stretch through the third connecting member 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 17 or the output end of the second sub-joint through the fourth 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 fourth connecting part 11, and the second sub-joint is connected to the structure to be installed 17, the second sub-joint can drive the fourth joint module 9 to move through the fourth 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 17, 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 17 through the fourth 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 17, so that the elbow joint unit or knee joint unit simulated by the fourth joint module 9 cannot move.

[0085] In one embodiment, referring to Figure 3 The second sub-joint includes a fifth joint module 12, a fifth connecting part 13, a sixth joint module 14, a sixth connecting part 15 and a seventh joint module 16; the joint axis of the fifth joint module 12 is arranged along the third direction; the joint axis of the sixth joint module 14 is arranged along the first direction; the joint axis of the seventh joint module 16 is arranged along the second direction; the output end of the fifth joint module 12 is connected to the fixed end of the transmission device or the fixed end of the first sub-joint, the fifth joint module 12 is connected to the output end of the sixth joint module 14 through the fifth connecting part 13, the sixth joint module 14 is connected to the output end of the seventh joint module 16 through the sixth connecting part 15, and the fixed end of the seventh joint module 16 is used to be connected to the structure to be installed 17.

[0086] As an example, the second sub-joint includes a fifth joint module 12, a fifth connecting part 13, a sixth joint module 14, a sixth connecting part 15 and a seventh joint module 16; during installation, the fixed end of the seventh joint module 16 is used to be connected to the structure to be installed 17 on the main body, and the output end of the fifth joint module 12 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 12 is connected to the fixed end of the transmission device, the fifth joint module 12 can drive the entire transmission device to move, thereby controlling the movement of the wrist joint unit or the ankle joint unit; when the output end of the fifth joint module 12 is connected to the fixed end of the first sub-joint, when the fifth joint module 12 can drive the entire transmission device, the third connecting part 10 and the fourth joint module 9 to move through the fourth connecting part 11, thereby controlling the movement of the elbow joint unit or the knee joint unit. The joint axis of the fifth joint module 12 is arranged along the third direction; the joint axis of the sixth joint module 14 is arranged along the first direction; the joint axis of the seventh joint module 16 is arranged along the second direction; the part of the fifth joint module 12 close to the output end is connected to the output end of the sixth joint module 14 through the fifth connecting member 13, and the part of the sixth joint module 14 close to the output end is connected to the output end of the seventh joint module 16 through the sixth connecting member 15, and the fixed end of the seventh joint module 16 is used to be connected to the structure to be installed 17; this arrangement controls the forward or reverse rotation of the fifth joint module 12, and drives the fourth joint module 9, The third connecting part 10 and the entire transmission device move around the joint axis in the third direction; the sixth joint module 14 is controlled to rotate forward or reverse, and the fifth joint module 12, the fourth connecting part 11, the fourth joint module 9, the third connecting part 10 and the entire transmission device can be driven to move around the joint axis in the first direction through the fifth connecting part 13; the seventh joint module 16 is controlled to rotate forward or reverse, and the sixth joint module 14, the fifth connecting part 13, the fifth joint module 12, the fourth connecting part 11, the fourth joint module 9, the third connecting part 10 and the entire transmission device can be driven to move around the joint axis in the second direction through the sixth connecting part 15.

[0087] In one embodiment, referring to Figure 3 The joint axis of the fifth joint module 12, the joint axis of the sixth joint module 14 and the joint axis of the seventh joint module 16 intersect at one point.

[0088] As an example, the joint axis of the fifth joint module 12, the joint axis of the sixth joint module 14 and the joint axis of the seventh joint module 16 intersect at one point, which can be regarded as a virtual spherical joint. It 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 12 and the joint axis of the sixth joint module 14 are perpendicular to each other, and the joint axis of the sixth joint module 14 and the joint axis of the seventh joint module 16 are perpendicular to each other; when the sixth joint module 14 is in the first state, the joint axis of the fifth joint module 12 and the joint axis of the seventh joint module 16 are perpendicular to each other; when the sixth joint module 14 changes from the first state to the second state, the joint axis of the fifth joint module 12 and the joint axis of the seventh joint module 16 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 12 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 12 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 12 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 12 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 5 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 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 5; when the joint axis of the second joint module 5 changes from the first state to the second state, the joint axis of the first joint module 1 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.

[0089] In one embodiment, the connecting member in the transmission assembly is configured 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 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 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 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.

[0090] 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.

[0091] 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 6, a second connector 8, a third connector 10, a fourth connector 11, a fifth connector 13, and a sixth connector 15. 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.

[0092] 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 3 of the wrist joint unit.

[0093] 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 3 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 first mounting seat 2, a second mounting seat 3 and a connecting rod mechanism 4; during installation, the first mounting seat 2 serves as the installation reference, the first joint module 1 is installed in the first mounting seat 2 along a first direction, the second mounting seat 3 is rotatably connected to the first mounting seat 2 around a first axis corresponding to the first direction, and the second mounting seat 3 is used to connect to the manipulator to control the movement of the manipulator. The connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to present different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at the connection between it and the first mounting seat 2. The second mounting seat 3 can be controlled simply by the first joint module 1 to achieve a swing similar to that of a human wrist joint. The swing here can be an up and down swing or a left and right swing, so as to increase the degree of freedom of the connection structure, improve flexibility, make the structure of the transmission device simpler, and make motion control more convenient.

[0094] 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.

[0095] 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 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 17. 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 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 17. 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 17. In other words, the movement of the wrist joint unit is controlled by the elbow joint unit, and the movement of both the elbow and wrist joint units are controlled by the shoulder joint unit.

[0096] An embodiment of the present invention 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 3 of the ankle joint unit.

[0097] As an example, the intelligent mobility 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 3 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 first mounting seat 2, a second mounting seat 3 and a connecting rod mechanism 4; during installation, the first mounting seat 2 serves as an installation reference, the first joint module 1 is installed in the first mounting seat 2 along a first direction, and the second mounting seat 3 is rotatably connected to the first mounting seat 2 around a first axis corresponding to the first direction. The second mounting seat 3 is used to connect to the mechanical foot to control the movement of the mechanical foot. The connecting rod mechanism 4 is rotatably connected to the output end of the first joint module 1 and the second mounting seat 3. Under the action of the first joint module 1, the connecting rod mechanism 4 can be controlled to present different motion changes, thereby driving the second mounting seat 3 to rotate around the first axis at the connection between it and the first mounting seat 2. The second mounting seat 3 can be controlled simply by the first joint module 1 to achieve swinging similar to that of a human ankle joint. The swing here can be up and down swinging or left and right swinging, so as to increase the degree of freedom of the connection structure, improve flexibility, make the structure of the transmission device simpler, and make motion control more convenient.

[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 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.

[0099] 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 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 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 17. 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 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 17. 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 17. In other words, the movement of the ankle joint unit is controlled by the knee joint unit, and the movement of both the knee joint unit and the ankle joint unit are controlled by the hip joint unit.

[0100] 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.

[0101] 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.

[0102] The above embodiments 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 used to mount a first joint module with a joint axis arranged along a first direction; The second mounting seat is rotatably connected to the first mounting seat around a first axis corresponding to a first direction, and is used to connect to a mechanical actuator; The connecting rod mechanism is used to be rotatably connected to the output end of the first joint module and the second mounting seat, and drives the second mounting seat to rotate under the action of the first joint module.

2. The connection structure according to claim 1, characterized in that: The connecting rod mechanism includes a transmission plate and two first connecting rods; The transmission disc is used to be installed on the output end of the first joint module; The first ends of the two first connecting rods are rotatably connected to the opposite ends of the transmission plate, and the second ends of the two first connecting rods are rotatably connected to the opposite ends of the second mounting seat.

3. The connection structure according to claim 1, characterized in that: The first mounting base includes a first main body and a first connecting arm extending from one side of the first main body in a direction perpendicular to the first main body; The first main body is used to install a first joint module with a joint axis arranged along a first direction; The first connecting arm is rotatably connected to the second mounting seat.

4. The connection structure according to claim 1, characterized in that: The second mounting seat includes a mounting seat body and two second connecting rods spaced apart along a second direction on the mounting seat body; The mounting seat body is rotatably connected to the first mounting seat; the two second connecting rods are arranged along the first direction and are rotatably connected to the connecting rod mechanism.

5. The connection structure according to claim 4, characterized in that: The mounting seat body includes a second main body portion and two second connecting arms extending from a side surface of the second main body portion in a direction perpendicular to the second main body portion; The two second connecting arms are rotatably connected to the first mounting seat, and the two second connecting rods are spaced apart along the second direction on one of the second connecting arms.

6. A transmission device, characterized in that: comprising the connection structure according to any one of claims 1 to 5 and a first joint module; The first joint module is installed in the first mounting seat along a first direction; The output end of the first joint module and the second mounting seat are rotatably connected to the connecting rod mechanism respectively.

7. The transmission device according to claim 6, characterized in that Also includes a second joint module and a first connecting member; The joint axis of the second joint module is arranged along a second direction, and the second direction is perpendicular to the first direction; The first end of the first connecting member is connected to the output end of the second joint module, and the second end of the first connecting member is connected to the first joint module.

8. The transmission device according to claim 7, characterized in that The transmission device also includes a third joint module and a second connecting member; The joint axis of the third joint module is arranged along the third direction, and the third direction, the second direction and the first direction are perpendicular to each other; The portion of the second joint module close to the output end is connected to the output end of the third joint module through the second connecting piece.

9. A transmission assembly, characterized in that: The transmission device and connecting joint assembly comprised of any one of claims 6 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 third connecting member and a fourth connecting member; The joint axis of the fourth joint module is arranged along the second direction; The output end of the fourth joint module is connected to the fixed end of the transmission device through the third connecting piece, 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 fourth connecting piece.

11. The transmission assembly according to claim 9, characterized in that: The second sub-joint includes a fifth joint module, a fifth connecting piece, a sixth joint module, a sixth connecting piece and a seventh joint module; The joint axis of the fifth joint module is arranged along the third direction; The joint axis of the sixth joint module is arranged along the first direction; The joint axis of the seventh joint module is arranged along the second 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 fifth connecting piece, the sixth joint module is connected to the output end of the seventh joint module through the sixth 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 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.

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 foot 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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