ROBOT DUAL-JOINT UNIT AS WELL AS LEGGED ROBOT AND COOPERATIVE ROBOT ARM USING SAME

摘要

The present application relates to the technical field of robot joints, and discloses a robot dual-joint unit, and a legged robot and a cooperative manipulator using the same. The robot dual-joint unit includes a first joint consisting of a first motor and reducer assembly (1), a second joint consisting of a second motor assembly (2) and a second reducer (6); a first output connecting rod (3) is fixedly provided on an output shaft of the first motor and reducer assembly, the second reducer is provided in the first output connecting rod, and the second motor assembly drives the second reducer through a transmission rod (9). In the present application, a fixed end of the second motor assembly is fixed with a fixed end of the first motor and reducer assembly, rather than a fixed end of a second motor of a conventional robot joint series structure is fixed on an output end of a first motor and reducer assembly, such that the output inertia of two output shafts of the robot dual-joint is smaller, and a power cable leading to the second motor assembly of the second joint is omitted.