CN116985178A - Integrated joints and robots - Google Patents

Abstract

This application relates to an integrated joint and robot. Among them, the integrated joint includes: a driving joint part and a driven joint part. One end of the driving joint part and one end of the driven joint part are hingedly connected to each other. The driving joint part includes a driving joint housing and a driving assembly located in the driving joint housing. The driving component is fixed to the driving joint housing, and the length direction of the driving component is the same as the length direction of the driving joint housing. The driving assembly is connected to a connecting rod group, and the connecting rod group is connected to the driving joint housing and the driven joint part. The driving assembly is used to drive the driven joint part through the connecting rod group during operation. According to the embodiments of the present application, the space of the integrated joint occupied by the driving component can be reduced, and space is reserved for installing other structures at the hinge of the driving joint part and the driven joint part.

Description

Integrated joints and robots

Technical field

The present application relates to the field of robots, and in particular to an integrated joint and a robot.

Background technique

Among related technologies, with the continuous development of robotics technology, more and more robots are flooding into the market as home entertainment, educational consumer products and other consumer products. At the same time, as a large number of robots enter the market, people's requirements for robots are becoming higher and higher. Among them, the flexible movement mode of the robot also puts forward higher requirements on the volume and weight of the limbs and joints.

Integrating the transmission system with the limb structure and joint structure to improve the integration of the robot's limbs and joints has become an effective way to reduce the size and weight of the robot. However, the current integrated robot joints have problems such as large size, weak reverse drive capability, and easy damage under impact loads.

Contents of the invention

According to a first aspect of the embodiment of the present application, an integrated joint is provided, including: a driving joint part and a driven joint part;

One end of the driving joint part and one end of the driven joint part are hingedly connected to each other;

The driving joint part includes a driving joint housing and a driving component located in the driving joint housing; the driving component is fixed to the driving joint housing, and the length direction of the driving component is consistent with the driving joint. The length direction of the housing is the same; the driving component is connected to a connecting rod group, and the connecting rod group is connected to the driving joint housing and the driven joint part; the driving component is used to pass through the connecting rod during operation The connecting rod group drives the driven joint part.

According to the above embodiments, it can be seen that by integrating the driving component into the driving joint part, and allowing the driving component to drive the driven joint part through the connecting rod group, it is possible to avoid integrating the driving-related structures at the joint, that is, the driving joint At the same time, the structural strength of the driving joint housing can be increased through the structure of the driving assembly fixed in the driving joint housing. Furthermore, the driving assembly can be integrated into the driving joint housing to achieve While enhancing the structural strength of the driving joint, the integrated joint space occupied by the driving component is reduced, especially the space occupied at the hinge between the driving joint and the driven joint. Space is reserved for arranging other structures on the integrated joint, especially for arranging other structures at the hinge between the driving joint part and the driven joint part.

Since the length direction of the driving assembly is the same as the length direction of the driving joint housing, that is, the length direction of the driving joint housing is the surface with a smaller projected area of the driving assembly. Therefore, the driving assembly can be better integrated within the driving joint portion to further reduce the space of the integrated joint occupied by the driving assembly.

In some embodiments, the driving assembly includes a stator, a rotor, a rolling column and a screw; the stator is fixed in the driving joint housing, and the stator and the driving joint housing are coaxially arranged; the rotor The rotor is located in the stator and coaxially arranged with the stator; the rotor is used to rotate relative to the stator when the driving assembly is running; the screw is located in the rotor and is coaxial with the rotor. The shaft is provided; the rolling column is disposed between the screw and the rotor in a manner that can rotate around the screw; the surface of the rolling column is provided with threads for engaging with the threads of the screw; the rotor The surface facing the screw is provided with threads for engaging with the threads of the rolling column surface.

In some embodiments, the drive assembly further includes at least two roller trays; the rolling columns include tooth slots; the screw includes gears;

The roller tray is coaxially arranged with the screw and is sleeved on the screw; at least two of the roller pallets are also sleeved on at least two ends of the rolling column; the tooth groove is connected to the screw. The gears mesh with each other.

In some embodiments, the driving assembly includes at least two rolling columns; and the rolling columns are spaced at the same distance along the length of the screw.

In some embodiments, the driving assembly further includes: a guide sleeve, a piston rod and a sleeve rod;

The guide sleeve is coaxially arranged with the screw, and in the length direction of the screw, a guide hole is provided in the center of the guide sleeve; one end of the piston rod is fixedly connected to the screw, and the other end passes through The guide hole is fixedly connected to the sleeve rod; the sleeve rod is hingedly connected to the connecting rod group.

In some embodiments, the driving assembly further includes: a limiting plate and a limiting column;

The limiting plate is located between the stator and the guide sleeve, and is in contact with the stator and the guide sleeve at the same time; the limiting column is located on the side of the rotor away from the driven joint part , and fixed to the driving joint housing;

The limit plate is provided with a limit groove and a limit hole on one side facing the stator; in the length direction of the screw rod, the limit hole is located in the center of the limit groove; the piston rod passes through The limiting hole; one end of the rotor facing the limiting plate is located in the limiting groove;

The rotor is coaxially arranged with the limiting column; one end of the rotor away from the limiting plate is rotatably connected to the limiting column.

In some embodiments, the stator is attached and fixed to the inner wall of the driving joint housing.

In some embodiments, the rotor includes a rotor part and a rotor threaded part; the rotor threaded part is located on a side of the rotor facing the screw;

The rotor part is used to rotate relative to the stator when the driving assembly is running; the rotor thread part is provided with threads on a side away from the rotor for engaging with the threads of the screw.

In some embodiments, it further includes: an angle sensor; the angle sensor includes a measuring rotor and a measuring stator, the measuring rotor is located in the measuring stator and is coaxially arranged with the measuring stator;

The measuring rotor is fixedly connected to the rotor, and the measuring stator is fixedly connected to the driving joint housing; the angle sensor is used to measure the driving joint part according to the deflection of the measuring rotor relative to the measuring stator. and the angle between the driven joint part.

According to a second aspect of the present application, a robot is provided, including any one of the above integrated joints; and the robot further includes a trunk body; an end of the driving joint part away from the driven joint part and the trunk body connected; the driving component is located at an end of the driving joint part away from the driven joint part.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Figure 1 is a schematic structural diagram of an integrated joint according to an embodiment of the present application.

Figure 2 is a side view of an integrated joint according to an embodiment of the present application.

Figure 3 is a cross-sectional view along section line AA of Figure 2 according to an embodiment of the present application.

FIG. 4 is a partial enlarged view of the driving assembly of FIG. 3 according to an embodiment of the present application.

Figure 5 is a schematic structural diagram of a rolling column according to an embodiment of the present application.

Figure 6 is a schematic structural diagram of a screw according to an embodiment of the present application.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the appended claims.

Among existing robot limbs, the limbs that support the robot's trunk often include at least one joint. Moreover, in the existing technology, the bending or straightening of the joint is generally controlled by integrating the motor and the reducer directly at the joint, or the output shaft of the motor is connected to a multiple reduction structure, and the output of the motor is amplified through the multiple reduction structure. After the torque is applied, the bending or straightening of the joint is controlled through the connecting rod structure.

However, if the motor and reducer are directly integrated at the joints of the limbs, the size of the joints will be larger, which will make the overall limbs of the robot larger and difficult to install other components that need to be installed at the joints. equipment at the location. And if the output shaft of the motor is connected to a multiple deceleration structure, and then the joints are controlled through the connecting rod structure, then when the robot limbs are impacted, due to the existence of the multiple deceleration structures, the impact force will directly impact the robot's limb structure, causing it to The impact resistance is weak. For example, when a robot falls from a certain height, its limbs will bear an impact load when it lands. At this time, the ability of the multiple reducers to amplify the torque of the motor will cause the impact load to be unable to be transmitted to the motor, and will be completely controlled by the limb structure. bear.

This application provides an integrated joint 10, that is, a joint integrated with a drive system. FIG. 1 shows a schematic structural diagram of the integrated joint 10 , FIG. 2 shows a side view of the integrated joint 10 , and FIG. 3 shows a cross-sectional view along the section line AA in FIG. 2 . As shown in FIGS. 1 , 2 and 3 , the integrated joint 10 includes a driving joint part 11 and a driven joint part 12 .

One end of the driving joint part 11 and one end of the driven joint part 12 are hingedly connected to each other.

The driving joint part 11 includes a driving joint housing 111 and a driving assembly 112 located in the driving joint housing 111 . The driving assembly 112 is fixed to the driving joint housing 111, and the length direction of the driving assembly 112 is the same as the length direction of the driving joint housing 111. The driving assembly 112 is connected to the connecting rod group 13 , and the connecting rod group 13 is connected to the driving joint housing 111 and the driven joint part 12 .

Specifically, the length direction of the driving assembly 112 is the same as the length direction of the driving joint housing 111 , that is, the length directions of the driving assembly 112 and the driving joint housing 111 are both in the first direction X shown in FIG. 3 .

In this arrangement, by integrating the driving component 112 into the driving joint part 11 and allowing the driving component 112 to drive the driven joint part 12 through the connecting rod group 13, it is possible to avoid integrating drive-related structures at the joint. That is, while the hinge portion of the driving joint part 11 and the driven joint part 12 is connected, the structural strength of the driving joint housing 111 is increased through the structure of the driving assembly 112 fixed in the driving joint housing 111. Furthermore, the structural strength of the driving joint housing 111 can be increased by The driving assembly 112 is integrated into the driving joint part 11 to enhance the structural strength of the driving joint part 11 and at the same time reduce the space of the integrated joint 10 occupied by the driving assembly 112, especially to reduce the space between the driving joint part 11 and the driven joint part. 12. The space occupied by the hinge. Space is reserved for arranging other structures on the integrated joint 10 , especially for arranging other structures at the hinge of the driving joint part 11 and the driven joint part 12 .

Since the length direction of the driving component 112 is the same as the length direction of the driving joint housing 111 , that is, the projection area of the driving component 112 is smaller in the length direction of the driving joint housing 111 . Therefore, the driving assembly 112 can be better integrated into the driving joint portion 11 to further reduce the space of the integrated joint 10 occupied by the driving assembly 112 .

In some embodiments, FIG. 4 shows an enlarged view of a portion of the drive assembly 112 of FIG. 3 . As shown in FIG. 4 , the driving assembly 112 includes: a stator 1121 , a rotor 1122 , a rolling column 1123 and a screw 1124 . The stator 1121 is fixed in the driving joint housing 111 , and the stator 1121 and the driving joint housing 111 are coaxially arranged. By fixing the stator 1121 within the driving joint housing 111, the structure of the stator 1121 can enhance the structural strength of the driving joint housing 111.

The rotor 1122 is located in the stator 1121 and is coaxially arranged with the stator 1121 . The rotor 1122 is used to rotate relative to the stator 1121 when the driving assembly 112 is running. The screw 1124 is located in the rotor 1122 and is coaxially arranged with the rotor 1122 . The rolling column 1123 is disposed between the screw 1124 and the rotor 1122 so as to be rotatable around the screw 1124 . The surface of the rolling column 1123 is provided with threads for engaging with the threads of the screw rod 1124 . The surface of the rotor 1122 facing the screw 1124 is provided with threads for engaging with the threads on the surface of the rolling column 1123 .

Specifically, when the driving assembly 112 is running, the rotor 1122 rotates relative to the stator 1121. Therefore, the threads on the rotor 1122 can drive the rolling column 1123 itself to rotate. Furthermore, the rotor 1122 can transmit power to the rolling column through the rolling column 1123. The column 1123 is threadedly engaged with the screw 1124 to convert the rotational motion of the rotor 1122 into the motion of the screw 1124 in its length direction, that is, into the motion of the screw 1124 in the first direction X in FIG. 4 .

Moreover, the connecting rod group 13 is connected to the screw 1124, the driving joint housing 111 and the driven joint part 12 at the same time. Therefore, after receiving the power from the screw 1124, the connecting rod group 13 can control the bending state of the driving joint part and the driven joint accordingly. That is, when the screw 1124 in the driving assembly 112 moves along the first direction The joint 10 is straightened. When the screw 1124 moves in the reverse direction along the first direction 10 bends.

At the same time, when the rotor 1122 transmits power to the screw 1124 through the rolling column 1123, the rolling column 1123 rotates around the screw 1124, which can cause friction between the rotor 1122 and the rolling column 1123, and friction between the rolling column 1123 and the screw 1124. Compared with when the rolling column 1123 is not provided, the sliding friction is converted into rolling friction. Therefore, the sliding friction between the traditional gear and the screw can be converted into rolling friction through the rolling column 1123, thereby reducing the friction loss and improving the rotor. 1122 transmits power to the efficiency of the screw 1124.

The power is transmitted by providing a rolling column 1123 that can rotate around the screw 1124. The power is transmitted between the rotor 1122 and the rolling column 1123, and between the rolling column 1123 and the screw 1124 through thread engagement. In the thread engagement mode, the engagement area is surface contact. In the ball screw transmission mode, the meshing area is point contact. Therefore, by arranging the rolling column 1123 and adopting the thread engagement method, the engagement area can be converted from point contact to surface contact, thereby increasing the engagement contact area and further increasing the force compared to the ball screw transmission mode. area to enhance transmission capacity.

Since the driving assembly 112 arranged in this way does not have a multi-stage reducer structure, the driven joint part 12 can transmit the impact load to the screw 1124 through the connecting rod group 13 when it bears an impact load. Since there is no reducer structure between the screw 1124 and the rotor 1122, the screw 1124 can reversely convert the impact load it bears into the rotation of the rotor 1122. At this time, the driving component 112 can be equivalent to a generator. When the rotor 1122 rotates, it will be affected by an electromagnetic force opposite to the direction of its rotation. Furthermore, the impact load borne by the integrated joint 10 can be shared and resolved by this electromagnetic force, that is, the reverse driving capability of the integrated joint 10 can be improved to reduce the impact load. The integrated joint 10 is likely to be damaged due to impact load.

Moreover, on the basis of improving the reverse driving capability of the integrated joint 10 , the setting of the rolling column 1123 can further enhance the reverse driving capability of the integrated joint 10 .

Therefore, the above-mentioned driving assembly 112 can simultaneously achieve better forward driving capabilities and reverse driving capabilities on the integrated joint 10 and at the same time reduce the space occupied by the driving assembly 112 in the integrated joint 10 . Among them, the forward driving capability is the ability of the integrated joint 10 to output power to drive the robot.

In some embodiments, as shown in FIGS. 3 and 4 , the drive assembly 112 further includes at least two roller trays 1127 . Referring to the structural diagram of the rolling column 1123 shown in FIG. 5 , the rolling column 1123 includes tooth grooves 11232 . Referring to the structural diagram of the screw 1124 shown in FIG. 6 , the screw 1124 includes a gear 11241.

The roller tray 1127 is coaxially arranged with the screw rod 1124 and is sleeved on the screw rod 1124 . At least two roller trays 1127 are also sleeved on at least two ends of the rolling column 1123 . The tooth slot 11232 meshes with the gear 11241.

Specifically, in this embodiment, the driving assembly 112 includes two roller trays 1127, and the two roller trays are correspondingly sleeved on both ends of the rolling column 1123, but it is not limited to this in other embodiments. The two roller pallets 1127 are coaxially arranged and sleeved on the screw rod 1124 , that is, the screw rod 1124 passes through the center of the roller pallet 1127 .

In addition, the roller tray 1127 is sleeved on both ends of the rolling column 1123. The roller tray 1127 may be provided with a roller fitting hole 11271 surrounding the screw rod 1124. Correspondingly, roller matching portions 11231 are provided at both ends of the rolling column 1123 . The roller fitting portion 11231 is coaxial with the other parts of the rolling column 1123 and has a smaller diameter than the other parts of the rolling column 1123 . By matching the roller fitting portion 11231 with the roller fitting hole 11271, the roller tray 1127 is sleeved on both ends of the rolling column 1123. It should be noted that the aforementioned manner in which the roller trays 1127 are sleeved on both ends of the rolling column 1123 is only a relatively feasible embodiment, but is not limited to this in other embodiments.

The movement range of the rolling column 1123 in the first direction . Moreover, by arranging the intermeshing tooth slots 11232 and the gears 11241, relative sliding between the rolling column 1123 and the screw rod 1124 is avoided. Therefore, the efficiency of the rolling column 1123 in transmitting the power of the rotor 1122 to the screw 1124 can be improved, and the efficiency of the driving assembly 112 can be improved to further enhance the forward driving capability and reverse driving capability of the integrated joint 10 .

Based on the provision of the rolling columns 1123, in some embodiments, the driving assembly 112 includes at least two rolling columns 1123. And in the length direction of the screw 1124, the spacing between the rolling columns 1123 is the same.

Specifically, when the number of rolling columns 1123 is greater than or equal to two, the spacing between the rolling columns 1123 in the first direction X is the same. For example, when the number of rolling columns 1123 is two, one rolling column 1123 is arranged every 180 degrees around the screw 1124 in the first direction On the first direction Not limited to this.

In this way, by arranging at least two rolling columns 1123 with equal spacing between the rolling columns 1123, the torque exerted by the rotor 1122 on the rolling columns 1123 can be evenly distributed to each rolling column 1123, thereby lowering the weight of each rolling column 1123. The load to be borne avoids problems such as slippage in the thread engagement relationship, thereby improving the reliability of the driving assembly 112 .

In some embodiments, as shown in FIGS. 3 and 4 , the driving assembly 112 further includes: a guide sleeve 1125 , a piston rod 1126 and a sleeve rod 1130 .

The guide sleeve 1125 is coaxially arranged with the screw rod 1124, and in the length direction of the screw rod 1124, a guide hole 11251 is provided in the center of the guide sleeve 1125. One end of the piston rod 1126 is fixedly connected to the screw rod 1124, and the other end passes through the guide hole 11251 and is fixedly connected to the sleeve rod 1130. The sleeve rod 1130 is hingedly connected with the connecting rod group 13 .

Specifically, mounting holes 11261 can be provided at both ends of the piston rod 1126, and the screw rod 1124 and the sleeve rod 1130 can be respectively inserted into the mounting holes 11261 at both ends of the piston rod 1126 to achieve a fixed connection between the screw rod 1124 and the sleeve rod 1130 and the piston rod 1126.

Through the guide sleeve 1125 and the matching piston rod 1126, the power output direction of the screw 1124 can be limited, thereby preventing the screw 1124 from deviating from the first direction X when the screw 1124 moves in the first direction X. The efficiency of outputting power to the connecting rod group 13 is reduced.

In some embodiments, as shown in FIGS. 3 and 4 , the driving assembly 112 further includes: a limiting plate 1128 and a limiting column 1129 .

The limiting plate 1128 is located between the stator 1121 and the guide sleeve 1125, and is in contact with the stator 1121 and the guide sleeve 1125 at the same time.

A limiting groove 11281 and a limiting hole 11282 are provided on the side of the limiting plate 1128 facing the stator 1121 . In the length direction of the screw rod 1124, the limiting hole 11282 is located in the center of the limiting groove 11281. The piston rod 1126 passes through the limiting hole 11282. One end of the rotor 1122 facing the limiting plate 1128 is located in the limiting groove 11281.

The rotor 1122 and the limiting column 1129 are coaxially arranged. One end of the rotor 1122 away from the limiting plate 1128 is rotatably connected to the limiting column 1129 .

By providing the limiting plate 1128 and the limiting column 1129, the movement range of the rotor 1122 can be limited, that is, the rotor 1122 is limited to rotate on the axis of the limiting plate 1128 and the limiting column 1129. The rotation of the rotor 1122 can be realized, and the space of the integrated joint 10 occupied by the driving assembly 112 can be reduced while achieving better forward driving capability and reverse driving capability on the integrated joint 10 .

In some embodiments, as shown in FIG. 3 , the stator 1121 is attached and fixed to the inner wall of the driving joint housing 111 .

With this arrangement, the structure of the stator 1121 can better match the structure of the driving joint housing 111 , thereby further enhancing the stator 1121 to the structure of the driving joint housing 111 , thereby further improving the integrated joint. 10% impact load resistance.

In some embodiments, as shown in FIGS. 3 and 4 , the rotor 1122 includes a rotor portion 11221 and a rotor thread portion 11222 . The rotor thread portion 11222 is located on the side of the rotor 1122 facing the screw 1124 .

The rotor part 11221 is used to rotate relative to the stator 1121 when the driving assembly 112 is running. The side of the rotor thread portion 11222 away from the rotor 1122 is provided with threads for engaging with the threads of the screw rod 1124 .

With this arrangement, the rotor part 11221 that actually rotates can be separated from the rotor threaded part 11222 that is provided with threads, thereby avoiding the impact of the threads on the rotor part 11221 that needs to rotate, thereby further improving the efficiency of the driving assembly 112 .

In some embodiments, as shown in FIGS. 3 and 4 , the integrated joint 10 further includes: an angle sensor 14 . The angle sensor 14 includes a measuring rotor 141 and a measuring stator 142. The measuring rotor 141 is located in the measuring stator 142 and is coaxially arranged with the measuring stator 142.

The measuring rotor 141 is fixedly connected to the rotor 1122, and the measuring stator 142 is fixedly connected to the driving joint housing 111. The angle sensor 14 is used to measure the angle between the driving joint part 11 and the driven joint part 12 based on the deflection of the measuring rotor 141 relative to the measuring stator 142 .

Specifically, because the measuring rotor 141 and the rotor 1122 are fixedly connected. Therefore, when the rotor 1122 rotates, the measurement rotor 141 rotates synchronously. The rotating measuring rotor 141 will generate current through the measuring stator 142. According to the amount of current generated, that is, the flow direction of the current, the angle between the driving joint part 11 and the driven joint part 12 can be determined.

With this arrangement, the angle sensor 14 can be integrated into the driving joint part 11 and at the same time, the structural strength of the driving joint housing 111 can be further strengthened through the measurement stator 142 fixed to the driving joint housing 111 , so that the driving joint part can be realized. While measuring the angle between 11 and the driven joint part 12, the impact load resistance capability of the integrated joint 10 is further improved.

This application also provides a robot, including any of the above-mentioned integrated joints 10 . And the robot also includes a torso body. One end of the driving joint part 11 away from the driven joint part 12 is connected to the trunk body. The driving assembly 112 is located at an end of the driving joint part 11 away from the driven joint part 12 .

Because one end of the driving joint part 11 away from the driven joint part 12 is connected to the torso of the robot. The structural strength of the connection between the robot's trunk body and the driving joint part 11 is generally weak. Therefore, by locating the driving assembly 112 at an end of the driving joint part 11 away from the driven joint part 12 , the structural strength of the driving joint housing 111 located in this part can be strengthened in a targeted manner, thereby further improving the integrated joint 10 impact load resistance.

The above-mentioned embodiments of the present application can complement each other without conflict.

It should be noted that in the accompanying drawings, the dimensions of layers and regions may be exaggerated for clarity of illustration. Also, it will be understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element or intervening layers may be present. In addition, it will be understood that when an element or layer is referred to as being "under" another element or layer, it can be directly under the other element or more intervening layers or elements may be present. In addition, it will also be understood that when a layer or element is referred to as being "between" two layers or elements, it can be the only layer between the two layers or elements, or more intervening layers may also be present. or component. Similar reference numbers indicate similar elements throughout.

The term "plurality" refers to two or more than two, unless expressly limited otherwise.

Other embodiments of the present application will be readily apparent to those skilled in the art, from consideration of the specification and practice. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the technical field that are not disclosed in this application. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. An integrated joint, characterized in that it includes: a driving joint part and a driven joint part; One end of the driving joint part and one end of the driven joint part are hingedly connected to each other; The driving joint part includes a driving joint housing and a driving component located in the driving joint housing; the driving component is fixed to the driving joint housing, and the length direction of the driving component is consistent with the driving joint. The length direction of the housing is the same; the driving component is connected to a connecting rod group, and the connecting rod group is connected to the driving joint housing and the driven joint part; the driving component is used to pass through the connecting rod during operation The connecting rod group drives the driven joint part. 2. The integrated joint according to claim 1, wherein the driving assembly includes a stator, a rotor, a rolling column and a screw; the stator is fixed in the driving joint housing, and the stator and the The drive joint housing is arranged coaxially; the rotor is located in the stator and is arranged coaxially with the stator; the rotor is used to rotate relative to the stator when the driving assembly is running; the screw is located Inside the rotor and coaxially with the rotor; the rolling column is disposed between the screw and the rotor in a manner that can rotate around the screw; the surface of the rolling column is provided with a surface for contacting the screw. The threads of the screw are engaged with threads; the surface of the rotor facing the screw is provided with threads for engaging with the threads on the surface of the rolling column. 3. The integrated joint according to claim 2, wherein the drive assembly further includes at least two roller trays; the rolling column includes tooth slots; the screw includes a gear; The roller tray is coaxially arranged with the screw and is sleeved on the screw; at least two of the roller pallets are also sleeved on at least two ends of the rolling column; the tooth groove is connected to the screw. The gears mesh with each other. 4. The integrated joint according to claim 3, wherein the driving assembly includes at least two rolling columns; and the rolling columns have the same spacing in the length direction of the screw. 5. The integrated joint according to claim 2, wherein the driving assembly further includes: a guide sleeve, a piston rod and a sleeve rod; The guide sleeve is coaxially arranged with the screw, and in the length direction of the screw, a guide hole is provided in the center of the guide sleeve; one end of the piston rod is fixedly connected to the screw, and the other end passes through The guide hole is fixedly connected to the sleeve rod; the sleeve rod is hingedly connected to the connecting rod group. 6. The integrated joint according to claim 5, wherein the driving assembly further includes: a limiting plate and a limiting column; The limiting plate is located between the stator and the guide sleeve, and is in contact with the stator and the guide sleeve at the same time; the limiting column is located on the side of the rotor away from the driven joint part , and fixed to the driving joint housing; The limit plate is provided with a limit groove and a limit hole on one side facing the stator; in the length direction of the screw rod, the limit hole is located in the center of the limit groove; the piston rod passes through The limiting hole; one end of the rotor facing the limiting plate is located in the limiting groove; The rotor is coaxially arranged with the limiting column; one end of the rotor away from the limiting plate is rotatably connected to the limiting column. 7. The integrated joint according to claim 2, wherein the stator is attached and fixed to the inner wall of the driving joint housing. 8. The integrated joint according to claim 2, wherein the rotor includes a rotor part and a rotor thread part; the rotor thread part is located on a side of the rotor facing the screw; The rotor part is used to rotate relative to the stator when the driving assembly is running; the rotor thread part is provided with threads on a side away from the rotor for engaging with the threads of the screw. 9. The integrated joint according to claim 2, further comprising: an angle sensor; the angle sensor includes a measuring rotor and a measuring stator, the measuring rotor is located in the measuring stator and is connected to the measuring stator. Stator coaxial setting; The measuring rotor is fixedly connected to the rotor, and the measuring stator is fixedly connected to the driving joint housing; the angle sensor is used to measure the driving joint part according to the deflection of the measuring rotor relative to the measuring stator. and the angle between the driven joint part. 10. A robot, characterized in that it includes the integrated joint according to any one of claims 1 to 9; and the robot further includes a trunk body; one end of the driving joint part away from the driven joint part and The trunk bodies are connected; the driving component is located at an end of the driving joint part away from the driven joint part.