Two-degree-of-freedom joint module and robot

Abstract

The utility model provides a two-degree-of-freedom joint module, which comprises a side swinging block, a side swinging block, a first connecting rod and a second connecting rod, and is characterized in that the side swinging block can rotate around a first axis; the pitching swinging block is configured to rotate around a second axis relative to the side swinging block; the side swinging block comprises a left swinging part and a right swinging part, and the left swinging part and the right swinging part are respectively coupled to the side swinging transmission tendon; the left side swinging part and the right side swinging part respectively comprise a first tendon guide part for the side swinging transmission tendon; the left side swing part and the right side swing part are located on the left side and the right side of the pitching swing block respectively. On the premise that the two-degree-of-freedom joint module has a set limited physical space, the left side swing part and the right side swing part are arranged on the left side and the right side of the pitching swing block correspondingly, so that the force arm of the side swing transmission tendon when the side swing transmission tendon drives the side swing block to move can be increased, the torque is effectively increased, and the load is improved. The utility model further provides a robot comprising the two-degree-of-freedom joint module.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, to a two-degree-of-freedom joint module and a robot. Background Art

[0002] A two-degree-of-freedom joint module of a robotic system (especially a dexterous hand), such as the wrist joint of a dexterous hand, has a first joint (including a side swing block) and a second joint (including a pitch swing block). Applicants have discovered that the first joint of a two-degree-of-freedom joint module typically needs to meet greater load requirements, which generally requires a higher-power actuator. A higher-power drive means the actuator is more expensive and generally larger, requiring more physical space. Utility Model Content

[0003] The purpose of the embodiments of the present utility model is to provide a two-degree-of-freedom joint module to solve the technical problems of the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in the present application is as follows: providing a two-degree-of-freedom joint module, comprising: a roll pendulum block configured to rotate about a first axis; a pitch pendulum block configured to rotate about a second axis relative to the roll pendulum block;

[0005] The side-swing pendulum block includes a left side pendulum portion and a right side pendulum portion, wherein the left side pendulum portion and the right side pendulum portion are respectively coupled to a side pendulum transmission tendon; the left side pendulum portion and the right side pendulum portion respectively include a first tendon guide portion for the side-swing transmission tendon;

[0006] The left side swing part and the right side swing part are respectively located on the left and right sides of the pitch swing block.

[0007] In one embodiment of the present application, the left swing part and the right swing part respectively include the first tendon guide part in an arc shape, and the side swing transmission tendon is wound around the first tendon guide part and led out from the first tendon guide part.

[0008] In one embodiment of the present application, the pitch pendulum block is coupled to the pitch transmission tendon; the two-degree-of-freedom joint module also includes a pitch wheel, on which a second tendon guide portion for the pitch transmission tendon is provided; the pitch transmission tendon is wound around the second tendon guide portion and led out from the second tendon guide portion; the pitch wheel is fixedly connected to the pitch pendulum block.

[0009] In one embodiment of the present application, the radius of the first tendon guide portion of the side swing block is greater than the radius of the second tendon guide portion.

[0010] In one embodiment of the present application, the two-degree-of-freedom joint module also includes an intermediate element; the side pendulum block is fixedly connected to the intermediate element and can rotate around a first axis; the pitch pendulum block and the side pendulum block or the intermediate element are hinged on the second axis.

[0011] In one embodiment of the present application, the pitch pendulum block includes a left arm, a right arm, and a connecting plate connected to the left arm and the right arm respectively; the pitch pendulum block is hinged to the side pendulum block or the intermediate element through the left arm and the right arm; the connecting plate is configured to be connected to an external component; the left arm is located between the left pendulum part and the pitch wheel, and the right arm is located between the pitch wheel and the right pendulum part.

[0012] In one embodiment of the present application, the intermediate element includes a first shaft and a second shaft; the intermediate element and the support member are hingedly connected to the first shaft and rotate around the first axis; the pitch pendulum block and the intermediate element are hingedly connected to the second shaft and rotate around the second axis;

[0013] The pitch wheel is a hollow structure, the intermediate element is passed through the hollow structure of the pitch wheel, and the first axis of the intermediate element is located in the hollow structure of the pitch wheel; the central axis of the pitch wheel coincides with the second axis.

[0014] In one embodiment of the present application, the intermediate element includes a mounting portion, and the intermediate element is fixedly connected to the side swing block via the mounting portion;

[0015] The side-swing block also includes a connecting portion located between the left-side swing portion and the right-side swing portion, the connecting portion is provided with a groove, the mounting portion of the intermediate element is positioned at the groove, the connecting portion and the mounting portion are respectively provided with mounting holes, and fasteners are provided in the mounting holes.

[0016] In one embodiment of the present application, the two-degree-of-freedom joint module further includes a base, and the support member is fixedly connected to the base;

[0017] A first tendon sheath bracket is fixedly connected to the base, and is used to guide the tendon sheath of the roll-over transmission tendon. The first tendon sheath bracket is aligned with the guide groove of the first tendon guide portion. The roll-over transmission tendon includes a first portion wound around the first tendon guide portion, a second portion in a straight line after being led out of the first tendon guide portion, and a third portion that can slide axially along the tendon sheath.

[0018] A second tendon sheath bracket is fixedly connected to the intermediate element or the side swing block, and the second tendon sheath bracket is used to guide the tendon sheath of the pitch transmission tendon, and the second tendon sheath bracket is aligned with the guide groove of the second tendon guide part; the pitch transmission tendon includes a first part wrapped around the second tendon guide part, a second part that is in a straight line after being led out from the second tendon guide part, and a third part that can slide along the axial direction of the tendon sheath.

[0019] The present application also provides a robot comprising an actuating device and the two-degree-of-freedom joint module as described above.

[0020] The beneficial effects of this application are:

[0021] The two-degree-of-freedom joint module provided herein, within a limited physical space, increases the moment arm D when the roll transmission tendon drives the roll mass by locating the left and right roll sections on the left and right sides of the pitch mass. While maintaining the same driving force F when the roll transmission tendon drives the roll mass, the moment M (M = FX d) can be effectively increased, thereby increasing the load. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 is a schematic diagram of a partial structure of a two-degree-of-freedom joint module provided in an embodiment of the present application;

[0024] Figure 2 yes Figure 1 Shown is an exploded view of a two-degree-of-freedom joint module;

[0025] Figure 3 A schematic structural diagram of a side-swing block of a two-degree-of-freedom joint module provided in an embodiment of the present application;

[0026] Figure 4 This is a structural diagram of a two-degree-of-freedom joint module provided in an embodiment of the present application.

[0027] Reference numerals:

[0028] 10-side swing block; 11-left swing part; 12-right swing part; 13-connecting part; 14-first tendon guide part; 15-tendon fixing part; 16-groove; 17-mounting hole; 20-pitch swing block; 21-left arm; 22-right arm; 23-connecting plate; 30-pitch wheel; 31-second tendon guide part; 41-side swing transmission tendon; 42-pitch transmission tendon; 50-the intermediate element; 51-first axis; 52-second axis; 53-mounting part; 61-support member; 62-base; 63-first tendon sheath bracket; 64-second tendon sheath bracket; 65-tendon sheath. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application 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 this application and are not intended to limit this application.

[0030] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side swing", "pitch", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0033] See also Figure 1-Figure 4 , a two-degree-of-freedom joint module and a robot provided by this application are now described.

[0034] The utility model provides a two-degree-of-freedom joint module, comprising a first joint and a second joint, wherein the first joint comprises a side swing block 10 and the second joint comprises a pitch swing block 20.

[0035] The roll pendulum mass 10 is configured to be rotatable around a first axis Y. The pitch pendulum mass 20 is configured to be rotatable around a second axis X relative to the roll pendulum mass 10 .

[0036] The side-swing pendulum block 10 includes a left-side pendulum portion 11 and a right-side pendulum portion 12, each coupled to a side-swing transmission tendon 41. By controlling the side-swing transmission tendon 41, for example, by pulling the side-swing transmission tendon 41 through an actuator, the side-swing pendulum block 10 can be driven to rotate about a first axis Y.

[0037] In this embodiment of the present application, the left and right swing sections 11 and 12 each include a first tendon guide 14 for the side-swing transmission tendon 41. After one end of the side-swing transmission tendon 41 is fixedly coupled to the side-swing pendulum block 10, the first tendon guide 14 guides the side-swing transmission tendon 41. The first tendon guide 14 can be a guide groove or a channel.

[0038] The left and right swing portions 11 and 12 are located on the left and right sides of the pitch pendulum mass 20, respectively. Preferably, the left and right swing portions 11 and 12 are symmetrically distributed relative to the first axis Y. When the roll pendulum mass 10 is driven to rotate, one of the two roll transmission tendons 41 tightens while the other releases, and the two roll transmission tendons 41 move approximately the same distance.

[0039] Compared to placing the left and right pendulum portions 11 and 12 inside the pitch pendulum mass 20, assuming the two-degree-of-freedom joint module has a limited physical space, placing the left and right pendulum portions 11 and 12 on the left and right sides of the pitch pendulum mass 20, respectively, can increase the moment arm D when the roll transmission tendon 41 drives the roll pendulum mass 10. When the first joint of the two-degree-of-freedom joint module needs to meet a specific load, while maintaining the same driving force F when the roll transmission tendon 41 drives the roll pendulum mass 10, the torque M (M = F xd) can be effectively increased, thus increasing the load. This eliminates the need for a more powerful actuator.

[0040] The side-swing pendulum 10 also includes a connecting portion 13 located between the left-side pendulum portion 11 and the right-side pendulum portion 12. The left-side pendulum portion 11, the right-side pendulum portion 12, and the connecting portion 13 are preferably integrally formed. The pitch pendulum 20 can be mounted directly or indirectly on the side-swing pendulum 10 and rotates relative to the side-swing pendulum 10 about the second axis X. Rotation of the side-swing pendulum 10 about the first axis Y drives the pitch pendulum 20 along with it.

[0041] Preferably, the left and right swing parts 11 and 12 each include an arcuate first tendon guide 14. After the two side swing transmission tendons 41 are fixedly connected to the left and right swing parts 11 and 12, respectively, the side swing transmission tendons 41 are wound around the first tendon guide 14 and led out from the first tendon guide 14. The arcuate first tendon guide 14 can guide the side swing transmission tendons 41, so that when the side swing transmission tendons 41 are led out from the first tendon guide 14, they are tangent to the side swing transmission tendons 41 wound around the first tendon guide 14.

[0042] Tendon fixing portions 15 for fixing the side-swing transmission tendon 41 may be provided on the left-side swing portion 11 and the right-side swing portion 12. Alternatively, in other embodiments, the tendon fixing portions 15 for fixing the side-swing transmission tendon 41 may also be provided on the connecting portion 13 of the side-swing pendulum block 10.

[0043] The pitch pendulum block 20 can be driven by a tendon transmission method, or by a gear transmission method, a connecting rod transmission method, or other transmission methods.

[0044] In a preferred embodiment, the pitch pendulum mass 20 is coupled to a pitch transmission tendon 42. By controlling the pitch transmission tendon 42, for example, by pulling the pitch transmission tendon 42 via an actuator, the pitch pendulum mass 20 can be driven to rotate about the second axis X. The two-degree-of-freedom joint module may further include a pitch wheel 30. The pitch wheel 30 is fixedly connected to the pitch pendulum mass 20.

[0045] The pitch wheel 30 is provided with a second tendon guide 31 for the pitch transmission tendon 42. After being fixedly coupled to the pitch wheel 30 or the pitch pendulum block 20, the pitch transmission tendon 42 passes through the second tendon guide 31, which guides the pitch transmission tendon 42. The second tendon guide 31 can be a guide groove structure or a channel. The second tendon guide 31 can be arranged along the circumferential outer side of the pitch wheel 30.

[0046] In one embodiment, the two pitch transmission tendons 42 are respectively wound around the second tendon guide portion 31 of the pitch wheel 30 in different directions and led out from the second tendon guide portion 31. When the pitch pendulum 20 is driven to rotate, one of the two pitch transmission tendons 42 is tightened and the other is released, and the two pitch transmission tendons 42 move approximately the same distance.

[0047] The pitch pendulum block 20 may be provided with a tendon fixing portion 15 for fixing the pitch transmission tendon 42 , or the tendon fixing portion 15 for fixing the pitch transmission tendon 42 may also be provided on the pitch wheel 30 .

[0048] The first axis Y may be orthogonal or non-orthogonal to the second axis X. In a preferred embodiment, the first axis Y is orthogonal to the second axis X, and the roll motion of the roll pendulum 10 is relatively decoupled from the pitch motion of the pitch pendulum 20, making their spatial positions easier to determine. This makes it easier to calculate the spatial position of the robot's dexterous hand, facilitating motion control of the dexterous hand.

[0049] In one embodiment, the first tendon guide portion 14 of the left swing portion 11 and the right swing portion 12 is in an arc shape as a whole, and the axis of the arc shape is preferably on the first axis Y.

[0050] The two-degree-of-freedom joint module further includes an intermediate element 50. The roll pendulum mass 10 is fixedly connected to the intermediate element 50 and is rotatable about the first axis Y. The pitch pendulum mass 20 is hingedly connected to the intermediate element 50 about the second axis X, or the pitch pendulum mass 20 is hingedly connected to the roll pendulum mass 10 about the second axis X.

[0051] In one embodiment, the pitch pendulum mass 20 includes a left arm 21, a right arm 22, and a connecting plate 23 connected to the left arm 21 and the right arm 22, respectively. The pitch pendulum mass 20 is articulated to the roll pendulum mass 10 or the intermediate element 50 via the left arm 21 and the right arm 22. The connecting plate 23 is configured to connect to an external component, such as a hand module when the two-degree-of-freedom joint module is a wrist joint.

[0052] In one embodiment, the pitch wheel 30 may be fixedly connected to the connecting plate 23 ; or, in another embodiment, the pitch wheel 30 may also be fixedly connected to the left arm 21 or the right arm 22 .

[0053] The pitch wheel 30 is a hollow structure, and the intermediate element 50 is disposed through the hollow structure of the pitch wheel 30. Preferably, the central axis of the pitch wheel 30 coincides with the second axis X.

[0054] In one embodiment, the intermediate element 50 includes a first shaft 51 and a second shaft 52. The intermediate element 50 and the support member 61 are hingedly connected to the first shaft 51 and rotate about the first axis Y. A bearing can be installed at the hinged location. The pitch pendulum mass 20 and the intermediate element 50 are hingedly connected to the second shaft 52 and rotate about the second axis X. A bearing can be installed at the hinged location. As a preferred embodiment, the first shaft 51 and the second shaft 52 are perpendicular to each other and intersect.

[0055] Preferably, the pitch wheel 30 is centrally located relative to the pitch pendulum block 20. The pitch wheel 30 is fixedly connected to the connecting plate 23 and is located between the left arm 21 and the right arm 22. The first shaft 51 of the intermediate element 50 is located within the hollow structure of the pitch wheel 30. The left arm 21 is located between the left pendulum portion 11 and the pitch wheel 30, and the right arm 22 is located between the pitch wheel 30 and the right pendulum portion 12.

[0056] The left side swing portion 11, the right side swing portion 12 and the connecting portion 13 of the side swing block 10 can be provided separately or integrally. The intermediate element 50 also includes a mounting portion 53, through which the intermediate element 50 is fixedly connected to the side swing block 10.

[0057] The connecting portion 13 is provided with a groove 16, and the mounting portion 53 of the intermediate element 50 is positioned in the groove 16. The side surface of the groove 16 cooperates with the mounting portion 53 to position the mounting portion 53. The connecting portion 13 and the mounting portion 53 are respectively provided with mounting holes 17, and fasteners are disposed in the mounting holes 17.

[0058] The radius of the first tendon guide portion 14 of the side-swing pendulum mass 10 may be equal to or smaller than the radius of the second tendon guide portion 31 of the pitch wheel 30. However, in a preferred embodiment, the radius of the first tendon guide portion 14 of the side-swing pendulum mass 10 is greater than the radius of the second tendon guide portion 31 of the pitch wheel 30. An escape hole is provided on the intermediate element 50 and / or the connecting portion 13 of the side-swing pendulum mass 10, through which the pitch wheel 30 passes when rotating relative to the side-swing pendulum mass 10 about the second axis X following the pitch pendulum mass 20.

[0059] The two-degree-of-freedom joint module further includes a base 62 , and the support member 61 is fixedly connected to the base 62 .

[0060] A first tendon sheath support 63 is fixedly attached to the base 62. The first tendon sheath support 63 is used to guide the tendon sheath 65 of the side-swing transmission tendon 41. One end of the tendon sheath 65 is fixed to the first tendon sheath support 63. After the side-swing transmission tendon 41 is fixed to the side-swing pendulum block 10, the side-swing transmission tendon 41 includes a first portion wrapped around the first tendon guide 14, a second portion that is linear after being drawn out of the first tendon guide 14, and a third portion that enters the tendon sheath 65 and can slide axially along the tendon sheath 65. The first tendon sheath support 63 is aligned with the guide groove of the first tendon guide 14. The first portion, second portion, and third portion that slide axially along the tendon sheath 65 of the side-swing transmission tendon 41 smoothly transition between them, and their relative angular positions are stable, unaffected by the side-swing motion, and can avoid lateral resistance during tendon transmission. The first tendon sheath support 63 may include a first tendon sheath fixing bracket and a pressure plate.

[0061] A second tendon sheath support 64 is fixedly attached to the intermediate element 50 or the roll pendulum block 10. This second tendon sheath support 64 is used to guide the tendon sheath 65 of the pitch transmission tendon 42. One end of the tendon sheath 65 is fixed to the second tendon sheath support 64 and moves with the roll pendulum block 10 and the intermediate element 50. The pitch transmission tendon 42 includes a first portion wrapped around the second tendon guide 31, a second portion that extends straight from the second tendon guide 31, and a third portion that slides axially along the tendon sheath 65. The second tendon sheath support 64 is aligned with the guide groove of the second tendon guide 31, ensuring a smooth transition between the first and second portions of the pitch transmission tendon 42 and the third portion that slides axially along the tendon sheath 65. The relative angular positional relationship between the three portions is stable and unaffected by roll and pitch motions. The second tendon sheath support 64 may include a second tendon sheath fixing bracket and a pressure plate.

[0062] The present application also provides a wrist joint, comprising an actuator and the two-degree-of-freedom joint module as described above.

[0063] The present application also provides a robot comprising an actuator and the two-degree-of-freedom joint module as described above.

[0064] One end of the roll transmission tendon 41 is connected to the roll mass 10, and the other end is connected to the first actuator. One end of the pitch transmission tendon 42 is connected to the pitch mass 20 or the pitch wheel 30, and the other end is connected to the second actuator.

[0065] The robot may be a robot hand component or any other position component of the robot.

[0066] The two-degree-of-freedom joint module can be applied to the wrist joint of a robot's dexterous hand. The pitch pendulum block 20 can be connected to the robot's hand module. The base 62 can be connected to the robot's arm; alternatively, the base 62 can be part of the robot's arm.

[0067] Alternatively, the two-degree-of-freedom joint module can also be applied to two-degree-of-freedom joints at other positions of the robot.

[0068] It is understandable that the orientation or position relationship indicated by terms such as "roll" and "pitch" is based on the orientation or position relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0069] The beneficial effects of this application are:

[0070] The two-degree-of-freedom joint module provided herein, within a limited physical space, increases the moment arm D when the roll transmission tendon drives the roll mass by locating the left and right roll sections on the left and right sides of the pitch mass. While maintaining the same driving force F when the roll transmission tendon drives the roll mass, the moment M (M = FX d) can be effectively increased, thereby increasing the load.

[0071] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A two-degree-of-freedom joint module, comprising: The side swing block is configured to rotate around a first axis; the pitch swing block is configured to rotate around a second axis relative to the side swing block; and the invention is characterized in that: The side-swing pendulum block includes a left side pendulum portion and a right side pendulum portion, wherein the left side pendulum portion and the right side pendulum portion are respectively coupled to a side pendulum transmission tendon; the left side pendulum portion and the right side pendulum portion respectively include a first tendon guide portion for the side-swing transmission tendon; The left side swing part and the right side swing part are respectively located on the left and right sides of the pitch swing block.

2. A two-degree-of-freedom joint module according to claim 1, characterized in that: The left-side swing part and the right-side swing part respectively include the first tendon guide part in an arc shape, and the side-swing transmission tendon is wound around the first tendon guide part and led out from the first tendon guide part.

3. A two-degree-of-freedom joint module according to claim 1, characterized in that: The pitch pendulum block is coupled to the pitch transmission tendon; the two-degree-of-freedom joint module also includes a pitch wheel, on which a second tendon guide for the pitch transmission tendon is provided; the pitch transmission tendon is wound around the second tendon guide and led out from the second tendon guide; the pitch wheel is fixedly connected to the pitch pendulum block.

4. A two-degree-of-freedom joint module according to claim 3, characterized in that: The radius of the first tendon guide is greater than the radius of the second tendon guide.

5. A two-degree-of-freedom joint module according to claim 3, characterized in that: The two-degree-of-freedom joint module also includes an intermediate element; the side-swing pendulum block is fixedly connected to the intermediate element and can rotate around a first axis; the pitch pendulum block and the side-swing pendulum block or the intermediate element are hinged on the second axis.

6. A two-degree-of-freedom joint module according to claim 5, characterized in that: The pitch pendulum block includes a left side arm, a right side arm, and a connecting plate connected to the left side arm and the right side arm respectively; the pitch pendulum block is hinged to the side pendulum block or the intermediate element through the left side arm and the right side arm; the connecting plate is configured to be connected to an external component; the left side arm is located between the left side pendulum part and the pitch wheel, and the right side arm is located between the pitch wheel and the right side pendulum part.

7. A two-degree-of-freedom joint module according to claim 5, characterized in that: The intermediate element includes a first shaft and a second shaft; the intermediate element and the support member are hingedly connected to the first shaft and rotate around the first axis; the pitch pendulum block and the intermediate element are hingedly connected to the second shaft and rotate around the second axis; The pitch wheel is a hollow structure, the intermediate element is passed through the hollow structure of the pitch wheel, and the first axis of the intermediate element is located in the hollow structure of the pitch wheel; the central axis of the pitch wheel coincides with the second axis.

8. The two-degree-of-freedom joint module according to claim 5, characterized in that: The intermediate element includes a mounting portion, and the intermediate element is fixedly connected to the side swing block via the mounting portion; The side-swing block also includes a connecting portion located between the left-side swing portion and the right-side swing portion, the connecting portion is provided with a groove, the mounting portion of the intermediate element is positioned at the groove, the connecting portion and the mounting portion are respectively provided with mounting holes, and fasteners are provided in the mounting holes.

9. The two-degree-of-freedom joint module according to claim 7, characterized in that: The two-degree-of-freedom joint module further includes a base, and the support member is fixedly connected to the base; A first tendon sheath bracket is fixedly connected to the base, and is used to guide the tendon sheath of the roll-over transmission tendon. The first tendon sheath bracket is aligned with the guide groove of the first tendon guide portion. The roll-over transmission tendon includes a first portion wound around the first tendon guide portion, a second portion in a straight line after being led out of the first tendon guide portion, and a third portion that can slide axially along the tendon sheath. A second tendon sheath bracket is fixedly connected to the intermediate element or the side swing block, and the second tendon sheath bracket is used to guide the tendon sheath of the pitch transmission tendon, and the second tendon sheath bracket is aligned with the guide groove of the second tendon guide part; the pitch transmission tendon includes a first part wrapped around the second tendon guide part, a second part that is in a straight line after being led out from the second tendon guide part, and a third part that can slide along the axial direction of the tendon sheath.

10. A robot, characterized in that: The invention comprises an actuating device and a two-degree-of-freedom joint module according to any one of claims 1 to 9.

Images