Symmetric robot joint
A robot joint, symmetrical technology, applied in the field of robots, can solve the problems of large volume, complex structure, bloated wrist joint structure, etc., and achieve the effect of small transmission viscous resistance, low control difficulty, and increased hollowness.
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[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0027] Such as Figure 1-2 , Figure 5 As shown, a symmetrical robot joint provided by the present invention includes a base 1, a waist seat 2, a big arm 3, a three-axis assembly 4, a small arm 5, a wrist shaft assembly 6, and an end flange 7 that are sequentially connected in rotation, wherein A five-axis drive mechanism and a six-axis drive mechanism are symmetrically arranged inside the forearm 5, the five-axis drive mechanism is connected with the wrist shaft assembly 6, and is used to drive the wrist shaft assembly 6 to rotate around the fifth axis 22 relative to the forearm 5, and the six-axis drive mechanism It is connected with the end flange 7 and is used to drive the end flange 7 to rotate around the sixth axis 15 , and the sixth axis 1...
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