ROBOT HAVING FLEXIBLE ROBOTIC JOINT MECHANISM

摘要

The present invention relates to a flexible joint robot including first arms; a second arm joined to the lower parts of the first arms by fist rotary shafts while being interposed between the first arms; a rotary block having the right side joined to the right side of the second arm by a third rotary shaft, the left side arranged toward the first rotary shaft, and an inner guide groove formed in the longitudinal direction; a slider which is inserted into the guide groove, is joined to the rotary block, and is movable in the longitudinal direction along the guide groove; a linear actuator having one end joined to the upper part of the first arm by a second rotary shaft and the other end joined to the slider by a fourth rotary shaft; a first elastic means interposed between the left end of the guide groove and the slider; and a second elastic means having one end joined to the left side of the rotary block and the other side joined to the second arm. The present invention is capable of absorbing an impact without a chainge in the length of the linear actuator when an external impact is applied to the upper and lower sides of the second arm, thereby preventing the strain of the arms, linear actuator, and the rotary shafts and damage thereto.