Variable-rigidity robot joint structure
A technology of robot joints and stiffness, applied in the field of robots, can solve the problems of poor joint compliance, sacrifice cost, increased energy consumption, etc., and achieve the effects of compact adjustment mechanism, large transmission power, and improved accuracy
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[0041] The present invention will be further described below with reference to the accompanying drawings and examples.
[0042] Append figure 1 Accompany Figure 5 As shown, a variable stereotic robot joint structure includes joint mechanism and variable rigidity adjustment mechanism 4, joint mechanism including first joint 1 and second joint 2, first joint 1 and second joint 2 passing A drive assembly 3 is connected such that the first joint 1 and the second joint 2 can be relatively rotated under the action of the first driving assembly 3;
[0043] The variable rigidity adjustment mechanism 4 includes a housing 41 and a gear rack assembly, and the outer casing 41 is fixedly coupled to the second joint 2, and the gear rack assembly includes mutually engaging gear 47 and the rack 46, and the variable rigidity adjustment mechanism 4 also includes can be driven. The second drive assembly 42 rotates of the gear 47, the second drive assembly 42 is mounted on the joint mechanism, and th...
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