Attitude control device and mechanical equipment
By combining a single joint actuator with connecting components in mechanical equipment, the problem of complex joint structures in traditional mechanical equipment is solved, achieving simple assembly and multi-degree-of-freedom posture control, reducing costs and improving assembly efficiency.
Patent Information
- Application Number
- CN202520155108.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2035-01-22
AI Technical Summary
Traditional mechanical equipment has complex joint structures, is cumbersome to assemble, costly, and prone to errors, especially multi-degree-of-freedom attitude control mechanisms.
A single joint actuator is used in conjunction with a connecting assembly, including a first base, a drive unit, and a second base. By combining the three output components of the joint actuator with the connecting assembly, multi-degree-of-freedom attitude control is achieved, simplifying the structure and reducing assembly difficulty.
This approach simplifies the assembly of the attitude control device, reduces production costs, minimizes the possibility of assembly errors, and improves structural strength and motion control efficiency.
Smart Images
Figure CN223802616U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical device technical field, especially in a kind of attitude control device and mechanical equipment. BACKGROUND
[0002] With the continuous development of robot technology, especially in the wide application in industry, service, medical treatment and other fields, the design and execution ability of robot joint become the key to realize task.The joint structure of traditional mechanical equipment is usually more complex, especially the attitude control mechanism of multiple degrees of freedom, involves multiple independent components, resulting in assembly process is tedious, cost is higher and prone to error. SUMMARY
[0003] The main purpose of the utility model is to propose a kind of attitude control device and mechanical equipment, to improve the joint part assembly tedious problem of mechanical equipment in prior art.
[0004] To achieve the above object, the attitude control device provided by the utility model comprises:
[0005] First base;
[0006] Drive device, including joint executor and connecting component, the joint executor includes drive component and transmission component, the transmission component includes first output piece, second output piece and third output piece respectively with the drive connection of drive component, the connecting component includes first connecting piece, second connecting piece and support piece, the support piece is located on the joint executor, the first connecting piece is drivenly connected with the first output piece, the second connecting piece is drivenly connected with the second output piece, the third output piece is drivenly connected with the first base, so that joint executor is rotatably arranged relative to first base, or, the joint executor is fixedly arranged on the first base, the third output piece is drivenly connected with the support piece;
[0007] Second base, the second base is movably arranged on the support piece, and the first connecting portion and the second connecting portion are arranged on the second base, the first output piece is rotatably connected with the first connecting portion through the first connecting piece, and the second output piece is rotatably connected with the second connecting portion through the second connecting piece, to adjust the attitude of the second base on the support piece.
[0008] In an embodiment, the first output piece and the second output piece are arranged on opposite sides of the joint executor, and the rotation axes of the first output piece and the second output piece are arranged to coincide.
[0009] In an embodiment, the rotation axes of the first output piece and the third output piece are arranged to be perpendicular to each other.
[0010] In an embodiment, the support member is arranged to extend along the direction of the rotation axis of the third output member.
[0011] In an embodiment, the posture control device further comprises a universal joint having four ends, two of which are arranged opposite to each other and connected to the support member, and the other two of which are arranged opposite to each other and connected to the second base.
[0012] In an embodiment, the axis of the universal joint is located on the extension of the rotation axis of the third output member.
[0013] In an embodiment, the first connecting member comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the first output member, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to the first connecting portion, and the axis of the second connecting rod is parallel to the rotation axis of the third output member.
[0014] In an embodiment, the second connecting member comprises a third connecting rod and a fourth connecting rod, one end of the third connecting rod is connected to the second output member, the other end of the third connecting rod is rotatably connected to one end of the fourth connecting rod, the other end of the fourth connecting rod is rotatably connected to the second connecting portion, and the axis of the fourth connecting rod is parallel to the rotation axis of the third output member.
[0015] In an embodiment, a spherical joint structure is arranged at the connection between the first connecting rod and the second connecting rod.
[0016] In an embodiment, a spherical joint structure is arranged at the connection between the second connecting rod and the first connecting portion.
[0017] In an embodiment, a spherical joint structure is arranged at the connection between the third connecting rod and the fourth connecting rod.
[0018] In an embodiment, a spherical joint structure is arranged at the connection between the fourth connecting rod and the second connecting portion.
[0019] In an embodiment, the joint actuator comprises a housing, the first output member comprises a first flange plate, the driving assembly comprises a first motor, the housing is provided with a first opening, and the first flange plate is arranged at the first opening and drivingly connected to the first motor.
[0020] In an embodiment, the second output member comprises a second flange plate, the driving assembly further comprises a second motor, the housing is provided with a second opening, and the second flange plate is arranged at the second opening and drivingly connected to the second motor.
[0021] And / or, the third output member comprises a third flange plate, the drive assembly further comprises a third motor, the housing is provided with a third opening, the third flange plate is arranged at the third opening and is in driving connection with the third motor.
[0022] The utility model discloses further provide a kind of mechanical equipment, including the attitude control device in any of preceding embodiments.
[0023] The technical scheme of the utility model discloses a single joint executor is used to form a driving device with a connecting assembly, so that the attitude control device is simple in structure and easy to assemble, specifically, the attitude control device includes a first base, a driving device and a second base, the driving device includes a joint executor and a connecting assembly, the joint executor includes a first output member, a second output member and a third output member, the connecting assembly includes a first connecting member, a second connecting member and a support member, the first connecting member is in driving connection with the first output member, the second connecting member is in driving connection with the second output member, the third output member is in driving connection with the first base to enable the joint executor to be rotatably arranged on the first base, the support member is arranged on the joint executor, and the second base is movably arranged on the support member and is rotatably connected with the first connecting member and the second connecting member respectively, to adjust the attitude of the second base on the support member. BRIEF DESCRIPTION OF DRAWINGS
[0024] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained from the structures shown in these drawings without creative labor for those skilled in the art.
[0025] Figure 1 The structure schematic diagram of the embodiment of the attitude control device provided by the utility model is shown in the figure.
[0026] Figure 2 The split structure schematic diagram of the embodiment of the attitude control device provided by the utility model is shown in the figure.
[0027] Figure 3 The top view of the joint executor in the embodiment of the attitude control device provided by the utility model is shown in the figure.
[0028] Figure 4 The split structure schematic diagram of the joint executor in the embodiment of the attitude control device provided by the utility model is shown in the figure.
[0029] Figure 5 The split structure schematic diagram of the connecting assembly and the second base in the embodiment of the attitude control device provided by the utility model is shown in the figure.
[0030] Figure 6 is a front view of an embodiment of the posture control device provided by the present application;
[0031] Figure 7 is a front view of an embodiment of the posture control device provided by the present application; Figure 6 is a sectional view along direction A-A of the embodiment of the posture control device provided by the present application;
[0032] Figure 8 is a sectional view along direction B-B of the embodiment of the posture control device provided by the present application. Figure 6
[0033] Explanation of reference numerals:
[0034] 100, posture control device; 1, first base; 2, driving device; 21, joint actuator; 211, driving assembly; 2111, first motor; 2112, second motor; 2113, third motor; 212, transmission assembly; 2121, first output; 2122, second output; 2123, third output; 213, housing; 2131, first opening; 2132, second opening; 2133, third opening; 214, mounting portion; 215, encoder; 22, connecting assembly; 221, first connecting piece; 221a, first connecting rod; 221b, second connecting rod; 222, second connecting piece; 222a, third connecting rod; 222b, fourth connecting rod; 223, support piece; 3, second base; 31, first connecting portion; 32, second connecting portion; 4, universal joint; 41, end.
[0035] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION
[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.
[0038] In addition, if the description of "first", "second" and the like is involved in the embodiments of the utility model, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.
[0039] The utility model provides a posture control device.
[0040] Please refer to Figures 1 to 4 In an embodiment of the utility model, the posture control device 100 includes first base 1, drive device 2 and second base 3, drive device 2 includes joint executor 21 and connecting assembly 22, joint executor 21 includes drive assembly 211 and transmission assembly 212, transmission assembly 212 includes first output piece 2121, second output piece 2122 and third output piece 2123 respectively connected with drive assembly 211, connecting assembly 22 includes first connecting piece 221, second connecting piece 222 and support 223, first connecting piece 221 is connected with first output piece 2121, second connecting piece 222 is connected with second output piece 2122, third output piece 2123 is connected with first base 1, and third output piece 2123 outputs torque to make joint executor 21 rotate on first base 1.
[0041] Support 223 is fixed on joint executor 21 and is spaced apart from first output piece 2121 and second output piece 2122, second base 3 is movably arranged on the support 223, and the second base 3 has a first connecting portion 31 and a second connecting portion 32, the first output piece 2121 is rotatably connected with the first connecting portion 31 through the first connecting piece 221, the second output piece 2122 is rotatably connected with the second connecting portion 32 through the second connecting piece 222, and the first output piece 2121 and the second output piece 2122 are rotated to adjust the posture of the second base 3 on the support 223.
[0042] In another embodiment of the utility model, joint actuator 21 is fixedly arranged on first base 1, so that first output 2121 and second output 2122 cannot rotate around the axis direction of third output 2123, and support 223 is drivingly connected with third output 2123, and second base 3 is movably arranged at the end of support 223 away from joint actuator 21, and third output 2123 outputs torque to enable support 223 to drive second base 3 to rotate around the rotation axis of third output 2123. Since joint actuator 21 cannot rotate on first base 1, first connecting piece 221 and second connecting piece 222 limit the rotation angle of second base 3 within a certain range, but through first output 2121, second output 2122 and third output 2123, the posture of second base 3 on support 223 can also be adjusted, and the fixed connection of joint actuator 21 and first base 1 can improve the structural strength of posture control device 100.
[0043] It can be understood that the joint actuator 21 of the scheme integrates three output members, and is drivingly connected with the first base 1 and the connecting assembly 22 respectively, and the second base 3 is connected with the connecting assembly 22 and the support 223 to complete the rapid assembly, so that the second base 3 has multiple degrees of freedom, the posture control device 100 is simple in structure, less in installation steps and less prone to errors, thereby being conducive to reducing production cost, and the above two embodiments can be selected according to actual application scenarios and stress load factors, without specific limitation.
[0044] In an embodiment, the first output 2121 and the second output 2122 are arranged on opposite sides of the joint actuator 21 and have coinciding rotation axes, and the rotation axis of the first output 2121 intersects the rotation axis of the third output 2123.
[0045] In an embodiment of the utility model, the first output 2121 and the second output 2122 are arranged on opposite sides of the joint actuator 21 and have coinciding rotation axes, and the rotation axis of the first output 2121 intersects the rotation axis of the third output 2123.
[0046] In an embodiment, the rotation axis of the first output 2121 and the rotation axis of the third output 2123 are arranged perpendicular to each other.
[0047] As Figure 3 shown, in an embodiment of the present application, the rotation axes of the first output member 2121 and the third output member 2123 are arranged perpendicular to each other, specifically, the included angle between the rotation axes of the first output member 2121 and the third output member 2123 is α, and the value of α is 90° in an ideal state. Due to the consideration of actual processing and assembly errors and other factors, in an embodiment, the α satisfies: 89°≤α≤91°, that is, the value of α can be 89°, 90° or 91°, or any value within the aforementioned range, and when the value of the included angle α is within the range, the rotation axes of the first output member 2121 and the third output member 2123 are considered to be arranged perpendicular to each other, and in some other embodiments of the present application, α can also be less than 89° or greater than 91°, and the actual product is used as the criterion, which is not specifically limited here, and the axes are perpendicular to further simplify the physical model of the joint actuator 100 and make the structure more reasonable.
[0048] In an embodiment, the support member 223 is arranged extending along the rotation axis direction of the third output member 2123.
[0049] As Figure 1 , Figure 5 and Figure 6 shown, in an embodiment of the present application, the support member 223 is arranged extending along the rotation axis direction of the third output member 2123, specifically, the support member 223 is arranged on the joint actuator 21 and located at the opposite side of the third output member 2123, the second base 3 is arranged on the side of the joint actuator 21 away from the first base 1 and movably arranged on the support member 223, and the axes of the support member 223 and the third output member 2123 coincide to simplify the structural design of the attitude control device 100, the load can be more evenly distributed to the related components, and the damage caused by uneven stress is reduced.
[0050] In an embodiment, the attitude control device 100 further comprises a universal joint 4, and the universal joint 4 has four end heads 41, two oppositely arranged end heads 41 are rotatably connected with the support member 223, and the other two oppositely arranged end heads 41 are rotatably connected with the second base 3.
[0051] As Figure 5 shown, in an embodiment of the present application, the attitude control device 100 further comprises a universal joint 4, specifically, the universal joint 4 adopts a cross shaft universal joint and has four end heads 41, the support member 223 has a whole "Y" shape structure, the lower end of the support member 223 is connected with the joint actuator 21, the upper end of the support member 223 is rotatably connected with two oppositely arranged end heads 41 of the universal joint 4, the other two oppositely arranged end heads 41 of the universal joint 4 are rotatably connected with the second base 3, and the first connecting member 221 and the second connecting member 222 can drive the second base 3 to rotate around the two rotation axes of the universal joint 4, respectively.
[0052] Further, since the third output member 2123 of the joint actuator 21 is drivingly connected with the base, when the third output member 2123 outputs torque, the second base 3 is enabled to rotate about the rotation axis of the third output member 2123, and thus the second base 3 has three degrees of freedom. As can be seen above, the use of the universal joint 4 can improve the flexibility of the second base 3, and the angle range can be wide and the inclination angle can be large. The structure of the cross shaft universal joint is relatively simple, the manufacturing process is mature, and the cost is low. Of course, in some other embodiments of the present application, in addition to the cross shaft universal joint, a conventional universal joint with crossed shafts, a spherical coupling or the like can be used for connection to realize the multi-degree of freedom of the second base 3, which is not limited here.
[0053] In an embodiment, the axis of the universal joint 4 is located on the extension line of the rotation axis of the third output member 2123.
[0054] As shown in Figure 7 In an embodiment of the present application, the axis of the universal joint 4 is located on the extension line of the rotation axis of the third output member 2123, so that the universal joint 4 can maintain accurate transmission, reduce the influence of angle change on torque transmission, and make the design and installation relatively simple, which can improve the assembly efficiency and reduce the problems caused by installation errors.
[0055] In an embodiment, the first connecting member 221 includes a first connecting rod 221a and a second connecting rod 221b, one end of the first connecting rod 221a is connected with the first output member 2121, the other end of the first connecting rod 221a is rotationally connected with one end of the second connecting rod 221b, the other end of the second connecting rod 221b is rotationally connected with the first connecting portion 31, and the axis of the second connecting rod 221b is parallel to the rotation axis of the third output member 2123.
[0056] And / or, the second connecting member 222 includes a third connecting rod 222a and a fourth connecting rod 222b, one end of the third connecting rod 222a is connected with the second output member 2122, the other end of the third connecting rod 222a is rotationally connected with one end of the fourth connecting rod 222b, the other end of the fourth connecting rod 222b is rotationally connected with the second connecting portion 32, and the axis of the fourth connecting rod 222b is parallel to the rotation axis of the third output member 2123.
[0057] As shown in Figures 1 to 5As shown, in an embodiment of the present application, the first connecting member 221 comprises a first connecting rod 221a and a second connecting rod 221b, one end of the first connecting rod 221a is drivingly connected with the first output member 2121, the other end of the first connecting rod 221a away from the first output member 2121 is rotationally connected with the lower end of the second connecting rod 221b, the upper end of the second connecting rod 221b is rotationally connected with the first connecting portion 31 of the second base 3, when the driving assembly 211 drives the first output member 2121 to rotate around the rotation axis thereof, the first connecting rod 221a drives the second connecting rod 221b to move up and down to drive the second base 3 to rotate; and / or, the second connecting member 222 comprises a third connecting rod 222a and a fourth connecting rod 222b, one end of the third connecting rod 222a is drivingly connected with the second output member 2122, the other end of the third connecting rod 222a away from the second output member 2122 is rotationally connected with the lower end of the fourth connecting rod 222b, the upper end of the fourth connecting rod 222b is rotationally connected with the second connecting portion 32 of the second base 3, when the driving assembly 211 drives the second output member 2122 to rotate around the rotation axis thereof, the third connecting rod 222a drives the fourth connecting rod 222b to move up and down to drive the second base 3 to rotate.
[0058] The second connecting rod 221b and the fourth connecting rod 222b can move up or down at the same time to make the second base 3 flip up and down, when the second connecting rod 221b and the fourth connecting rod 222b move in the opposite direction, the second base 3 tilts left and right, in this process, the axis direction of the second connecting rod 221b and the fourth connecting rod 222b is parallel to the axis direction of the third output member 2123 and the supporting member 223, which further simplifies the structure of the posture control device 100.
[0059] In an embodiment, a spherical joint structure is arranged at the connection between the first connecting rod 221a and the second connecting rod 221b;
[0060] And / or, a spherical joint structure is arranged at the connection between the second connecting rod 221b and the first connecting portion 31;
[0061] And / or, a spherical joint structure is arranged at the connection between the third connecting rod 222a and the fourth connecting rod 222b;
[0062] And / or, a spherical joint structure is arranged at the connection between the fourth connecting rod 222b and the second connecting portion 32.
[0063] As Figure 5As shown, in an embodiment of the present application, the first connecting rod 221a is provided with a spherical part at one end away from the first output member 2121, the second connecting rod 221b is provided with a spherical groove at one end close to the first connecting rod 221a, the spherical part is rotatably embedded in the spherical groove, the first connecting part 31 of the second base 3 is also provided with a spherical part, the second connecting rod 221b is provided with a second spherical groove at one end close to the second base 3, when the first output member 2121 drives the first connecting rod 221a to rotate, the spherical parts on the first connecting rod 221a and the first connecting part 31 rotate in the two spherical grooves of the second connecting rod 221b respectively, so that the second connecting rod 221b keeps parallel to the axis of the third output member 2123 during movement.
[0064] The third connecting rod 222a, the fourth connecting rod 222b and the second connecting part 32 of the second base 3 are also provided with the same spherical joint structure, the spherical joint can uniformly distribute load in multiple directions and can bear complex mechanical load with multiple degrees of freedom. This makes it have very good adaptability in the environment that needs to bear rotation, inclination or other complex mechanical conditions. Of course, in some other embodiments of the present application, in addition to the spherical joint structure, sliding joints, joint structures, shaft couplings and other connection modes can also be used, which are not limited here.
[0065] In an embodiment, the joint actuator 21 comprises a shell 213, the first output member 2121 comprises a first flange plate, the driving assembly 211 comprises a first motor 2111, the shell 213 is provided with a first opening 2131, and the first flange plate is arranged at the first opening 2131 and is drivingly connected with the first motor 2111.
[0066] And / or, the second output member 2122 comprises a second flange plate, the driving assembly 211 further comprises a second motor 2112, the shell 213 is provided with a second opening 2132, and the second flange plate is arranged at the second opening 2132 and is drivingly connected with the second motor 2112.
[0067] And / or, the third output member 2123 comprises a third flange plate, the driving assembly 211 further comprises a third motor 2113, the shell 213 is provided with a third opening 2133, and the third flange plate is arranged at the third opening 2133 and is drivingly connected with the third motor 2113.
[0068] For example, Figure 4 , Figure 7 and Figure 8As shown, in the embodiment of the utility model, joint executor 21 still includes spherical casing 213, drive assembly 211 includes first motor 2111, second motor 2112, third motor 2113, specifically, still be provided with support (not shown) in casing 213, drive assembly 211 and transmission assembly 212 are all arranged on the support, first opening 2131 is opened on casing 213, first output 2121 includes first flange plate, transmission 212 includes a plurality of gear sets, the first flange plate is rotatably arranged at first opening 2131, first motor 2111 is drivenly connected through first gear set and first flange plate, to be used for driving first flange plate to rotate around its rotation axis, and / or, second output 2122 includes second flange plate, still be provided with second opening 2132 on casing 213, the second flange plate is rotatably arranged at second opening 2132, second motor 2112 is drivenly connected through second gear set and second flange plate, to be used for driving second flange plate to rotate around its rotation axis, and / or, third output 2123 includes third flange plate, still be provided with third opening 2133 on casing 213, the third flange plate is rotatably arranged at third opening 2133, third motor 2113 is drivenly connected through third gear set and third flange plate, to be used for driving third output 2123 to rotate, each flange plate.
[0069] The three motors in the embodiment are high-speed motors, and each gear set forms a speed reducer to transmit low speed to each output. In some other embodiments of the utility model, the motor can be connected to the corresponding output by direct drive, belt, chain or other means, which is not specifically limited here and can be designed and selected according to actual needs. The casing 213 of the joint executor 21 is further provided with a mounting portion 214, which is separately arranged on opposite sides of the casing 213 with the third output 2123. The mounting portion 214 is an integral structure or a separate assembly structure for fixed connection with the support 223 or the first base 1.
[0070] Further, the first flange plate is further provided with an output shaft extending along the axis direction of the first flange plate, and the end of the output shaft away from the first flange plate is arranged to pass through the second opening 2132 of the casing 213. The second flange plate is rotatably sleeved on the output shaft to improve the stability of the joint executor 21.
[0071] In addition, please refer to Figure 4The joint actuator 21 further comprises a control circuit board (not shown) and a plurality of encoders 215 arranged in the housing 213, in particular, the control circuit board is electrically connected with the encoders 215 and the driving assembly 211 respectively, the control circuit board is used for receiving an external signal, and controlling the driving assembly 211 and the transmission assembly 121 to complete a designated action according to the signal, and the control circuit board is further used for receiving detection information from the encoders 215, and acquiring rotation angles, speeds, times and other parameters of the first output 2121, the second output 2122 and the third output 2123 according to the information, and controlling and adjusting the operation of the driving assembly 211 in real time according to the parameters and the external signal, so as to realize closed-loop control.
[0072] It should be noted that the encoders 215 can adopt one or more of magnetic encoders, photoelectric encoders, rotation speed sensors, Hall sensors and other devices, so as to detect the rotation angles, rotation speeds and other parameters of the first output 2121, the second output 2122 and the third output 2123, which are not limited here.
[0073] The utility model further provides a kind of mechanical equipment, and the specific structure of the attitude control device 100 of the mechanical equipment comprises the above-mentioned embodiment, since the above-mentioned all technical solutions of the mechanical equipment are used, at least have all beneficial effects brought by the technical scheme of the above-mentioned embodiment, which will not be repeated here.
[0074] The above-mentioned is only the exemplary embodiment of the utility model, and not therefore limit the patent range of the utility model, all equivalent structural transformations made by using the utility model specification and drawing contents, or direct / indirectly applied in other related technical fields are included in the patent protection range of the utility model.
Claims
1. A posture control device, characterized by, The posture control device comprises: a first base; a driving device, which comprises a joint actuator and a connecting assembly, the joint actuator comprises a driving assembly and a transmission assembly, the transmission assembly comprises a first output, a second output and a third output which are respectively drivingly connected with the driving assembly, the connecting assembly comprises a first connecting member, a second connecting member and a support, the support is arranged on the joint actuator, the first connecting member is drivingly connected with the first output, the second connecting member is drivingly connected with the second output, the third output is drivingly connected with the first base, so that the joint actuator is rotatably arranged relative to the first base, or the joint actuator is fixedly arranged on the first base, and the third output is drivingly connected with the support; a second base, which is movably arranged on the support, and the second base is provided with a first connecting portion and a second connecting portion which are arranged at intervals, the first output is rotatably connected with the first connecting portion through the first connecting member, and the second output is rotatably connected with the second connecting portion through the second connecting member, so as to adjust the posture of the second base on the support.
2. The attitude control device according to claim 1, wherein The first output and the second output are arranged on opposite sides of the joint actuator and have coincident rotation axes, and the rotation axis of the first output intersects with the rotation axis of the third output.
3. The attitude control device according to claim 2, wherein The rotation axis of the first output and the rotation axis of the third output are arranged perpendicularly to each other.
4. The attitude control device according to claim 3, wherein The support is arranged along the direction of the rotation axis of the third output.
5. The attitude control device according to any one of claims 1 to 4, wherein The posture control device further comprises a universal joint, which has four end heads, two of which are oppositely arranged and rotatably connected with the support, and the other two of which are oppositely arranged and rotatably connected with the second base.
6. The attitude control device according to claim 5, wherein The axis of the universal joint is located on the extension line of the rotation axis of the third output.
7. The attitude control device according to claim 1, wherein The first connecting member comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the first output, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with the first connecting portion, and the axis of the second connecting rod is parallel to the rotation axis of the third output. The second connecting member comprises a third connecting rod and a fourth connecting rod, one end of the third connecting rod is connected with the second output, the other end of the third connecting rod is rotatably connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is rotatably connected with the second connecting portion, and the axis of the fourth connecting rod is parallel to the rotation axis of the third output.
8. The attitude control device according to claim 7, wherein A spherical joint structure is arranged at the connection between the first connecting rod and the second connecting rod; A spherical joint structure is arranged at the connection between the second connecting rod and the first connecting portion; A spherical joint structure is arranged at the connection between the third connecting rod and the fourth connecting rod; A spherical joint structure is arranged at the connection between the fourth connecting rod and the second connecting portion.
9. The attitude control device according to claim 1, wherein The joint actuator comprises a housing, the first output comprises a first flange plate, the driving assembly comprises a first motor, the housing is provided with a first opening, the first flange plate is arranged at the first opening and is drivingly connected with the first motor; And / or, the second output comprises a second flange plate, the driving assembly further comprises a second motor, the housing is provided with a second opening, the second flange plate is arranged at the second opening and is drivingly connected with the second motor; And / or, the third output comprises a third flange plate, the driving assembly further comprises a third motor, the housing is provided with a third opening, the third flange plate is arranged at the third opening and is drivingly connected with the third motor.
10. A mechanical device, characterized by The posture control device comprises the posture control device according to any one of claims 1 to 9.