The invention discloses a large-output-force
robot flexible energy-storing joint based on gravity energy storing and relates to a flexible driving device used for a
robot. The large-output-force
robot flexible energy-storing joint based on gravity energy storing aims to solve the problems that due to the linear type
force output of an existing series elastic
actuator of a robot joint, the structure is not compact, occupied space is large, power required by a motor is large, and accurate
force output control and accurate
position control of the joint are not facilitated. The large-output-force robot flexible energy-storing joint based on gravity energy storing comprises an
upper limb connecting plate, an
upper limb motor shell, a joint gearbox, a
lower limb connecting plate, a
lower limb support, a speed
reducer, a
rotary transformer, a motor provided with an
encoder, an series elastic body and a
torsion spring, wherein the joint gearbox comprises a shell body, a third
bevel gear, a fourth
bevel gear, a first
bevel gear, a second bevel gear and a joint shaft, the series elastic body comprises an inner ring body, an outer ring body and at least four groups of wavy clips, the inner ring body and the outer ring body are concentric, and the at least four groups of wavy clips which are integrated are connected between the inner circle and the outer circle of the inner ring body in the circumferential direction and between the inner circle and the outer circle of the outer ring body in the circumferential direction. The large-output-force robot flexible energy-storing joint based on gravity energy storing is applied to the field of robots.