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JOINT UNIT, JOINT SYSTEM, ROBOT FOR MANIPULATION AND/OR TRANSPORTATION, ROBOTIC EXOSKELETON SYSTEM AND METHOD FOR MANIPULATION AND/OR TRANSPORTATION
JOINT UNIT, JOINT SYSTEM, ROBOT FOR MANIPULATION AND/OR TRANSPORTATION, ROBOTIC EXOSKELETON SYSTEM AND METHOD FOR MANIPULATION AND/OR TRANSPORTATION
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机译:关节单元,关节系统,用于操纵和/或运输的机器人,机器人外骨骼系统以及用于操纵和/或运输的方法
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摘要
The invention relates to a joint unit, in particular a joint unit of a robot, a joint system, a robot for manipulation and/or transportation, in particular for transportation of an object, a robotic exoskeleton system and a method for manipulation and/or transportation, in particular for transportation of an object, in particular for moving a body.;A joint unit (40), in particular a joint unit (40) of a robot, is presented. It comprises in series connection a rotary drive (2), a gear (5), at least one spring element (7) and a joint output (8). The gear (5) comprises a gear input and a gear output, wherein the gear input is mechanically coupled to the rotary drive (2) and suitable for transformation of the torque provided by the rotary drive (2). The spring element (7) is mechanically coupled to the gear output and suitable for at least partial storing of the torque provided by the gear output and/or of the torque provided by an external load applied to the joint unit (40). The joint output (8) is mechanically coupled to the spring element (7) for transmitting the torque realized by the rotary drive (2) and/or stored by the spring element (7).
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