Robot joint structure and robot

The utility model discloses a robot joint structure and a robot, the robot joint structure is applied to a multi-joint robot, the multi-joint robot at least comprises a first mechanical arm and a second mechanical arm, and the robot joint structure comprises a driving motor arranged on the inner wal...

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Bibliographic Details
Main Authors ZHU JIAZENG, CHEN GANG, QU YUNFEI, SUN JIAXING, GUO CHANGJIAN
Format Patent
LanguageChinese
English
Published 22.03.2024
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The utility model discloses a robot joint structure and a robot, the robot joint structure is applied to a multi-joint robot, the multi-joint robot at least comprises a first mechanical arm and a second mechanical arm, and the robot joint structure comprises a driving motor arranged on the inner wall of the second mechanical arm; the harmonic speed reducer comprises a rigid-flexible gear and a wave generator arranged in the rigid-flexible gear, the driving motor is in driving connection with the wave generator, the rigid-flexible gear comprises a rigid gear and a flexible gear which are rotationally connected, and the wave generator is arranged in the rigid gear; the flexible gear is arranged on the outer side of the rigid gear and extends in the axial direction of the driving motor to form a cavity with an opening, the opening of the cavity faces or backs on the driving motor, and one of the rigid gear and the flexible gear, which backs on the driving motor, is connected with the first mechanical arm; and th
Bibliography:Application Number: CN202321909774U