| 摘要 |
A motorized robot arm joint comprising a first segment (1), a second segment (2) moveably mounted on the first segment and driven by an actuator (8) connected to a control unit (20) and rigidly connected to a mounting (5) that has a first friction element (10) and is mounted on the first segment such that it moves when subjected to a driving force greater than a predetermined threshold and presses the first friction element against a second friction element (12) that is rigidly connected to the second segment. One of the friction elements is wedge-shaped and has a bisecting plane that is substantially parallel to a plane of movement of the second segment such that it can be engaged between two jaws (13.1, 13.2) of the other of the friction elements, the jaws having surfaces arranged so as to make point-by-point contact with the wedge shape. |
