A robot joint drive with end shock mitigation adjustment

Abstract

The application discloses a robot joint drive with terminal shock absorption adjustment, which comprises a first mechanical arm, a second mechanical arm, a driving device arranged in the first mechanical arm and used for driving the second mechanical arm, and a pulling rope with one end arranged on the driving device and the other end arranged on the second mechanical arm and used for pulling the second mechanical arm in cooperation with the driving device. The robot joint drive with terminal shock absorption adjustment drives the winding roller to wind and unwind the pulling rope through the frameless motor driving gear set, realizes flexible pulling of the second mechanical arm through the multidirectional arrangement of the first winding roller, the second winding roller and the first pulling roller and the second pulling roller, and naturally buffers the impact in the joint motion process by utilizing the elastic deformation characteristics of the rope, so that the damage of the driving system caused by the rigid collision is reduced, and the service life of the joint is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robots, in particular to a robot joint drive with end shock adjustment. BACKGROUND

[0002] In the field of humanoid robot driving technology, motor driving system has long been the mainstream solution for joint driving due to its fast response speed and high control precision, and is widely used in industrial and service robots. However, traditional motor driving relies on rigid transmission structure (such as gear, lead screw), which has significant defects in joint motion process: on the one hand, rigid connection leads to lack of power transmission buffer, when the robot performs dynamic actions such as jumping, running or contacts complex ground, instantaneous impact force is easy to act directly on joint components through transmission chain, causing problems such as joint bearing wear, drive motor overload, which seriously affects the stability of robot motion; on the other hand, the rigidity of motor driving makes the joint motion lack of flexibility, which is difficult to meet the demand of contact force control in human-robot collaboration scene, and there is a safety hazard when grabbing fragile objects or interacting with humans. Although existing technology tries to solve the impact problem by adding independent shock absorbing structure (such as spring damper) at the joint, the rigidity of driving still leads to low coordination efficiency of shock absorbing structure and driving system, which cannot fundamentally realize the organic combination of motion flexibility and impact buffer. SUMMARY

[0003] The present application aims to provide a robot joint drive with end shock adjustment to solve the problems raised in the background.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a robot joint drive with end shock adjustment, comprising:

[0005] A first mechanical arm;

[0006] A second mechanical arm connected with the first mechanical arm;

[0007] A driving device arranged in the first mechanical arm for driving the second mechanical arm;

[0008] A pulling rope, one end of which is arranged on the driving device and the other end of which is arranged on the second mechanical arm, cooperating with the driving device to pull the second mechanical arm.

[0009] Preferably, the driving device comprises a motor mounting block arranged in the first mechanical arm, a frameless motor connected on the motor mounting block, and a driving gear arranged on the frameless motor.

[0010] Preferably, the driving device further comprises a rotating roller arranged in the first mechanical arm, the rotating roller is provided with a transmission gear and a winding roller, the transmission gear is engaged with the driving gear, and the winding roller is provided with the pulling rope.

[0011] Preferably, the first mechanical arm and the second mechanical arm are both provided with a connecting table, the connecting table arranged on the first mechanical arm is connected with a connecting rotating shaft, the connecting rotating shaft is provided with a first winding roller and a second winding roller, and the first winding roller and the second winding roller are both wound with the pulling rope.

[0012] The connecting table arranged on the second mechanical arm is provided with a connecting rod, the connecting rod is provided with a first pulling roller and a second pulling roller, the first pulling roller and the second pulling roller are also both wound with the pulling rope and connected with one end of the pulling rope.

[0013] Preferably, the connecting table is further provided with a connecting shaft, the connecting shaft is provided with a connecting belt, and the connecting belt is used for connecting the first mechanical arm and the second mechanical arm into one body.

[0014] Preferably, all the connecting tables are provided with mounting plates, one end of all the mounting plates is connected with a supporting rod, the other end of all the supporting rods is respectively connected with a universal ball and a rotating piece, and the rotating piece is further provided with an arc-shaped gear.

[0015] Preferably, the arc-shaped gear is provided with a connecting groove, and a rotating shaft is inserted into the connecting groove and connected with the rotating piece.

[0016] Preferably, the arc-shaped gear is engaged with the universal ball, and the contact between the arc-shaped gear and the universal ball serves as a rotating fulcrum of the first mechanical arm and the second mechanical arm.

[0017] Preferably, the winding roller is provided with at least two pulling ropes, all the pulling ropes are respectively wound with the first winding roller and the second winding roller, and finally connected with the first pulling roller and the second pulling roller.

[0018] Preferably, the first mechanical arm and the second mechanical arm are further provided with a guard plate mounting groove, which is used for mounting a guard plate to protect the connecting part of the first mechanical arm and the second mechanical arm.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The robot joint drive with end shock absorption adjustment is driven by a gear set of a frameless motor to drive a winding roller to pull a rope, and the flexible pulling of the second mechanical arm is realized through the multidirectional arrangement of the first winding roller, the second winding roller, and the first pulling roller and the second pulling roller. Compared with the traditional rigid transmission, the structure utilizes the elastic deformation characteristics of the rope to naturally buffer the impact during the joint movement, reduces the damage of rigid collision to the driving system, and prolongs the service life of the joint.

[0021] The robot joint drive with end shock absorption adjustment is driven by the meshing transmission of the driving gear and the transmission gear and the independent arrangement of the multiple pulling ropes on the winding roller, so that the driving force is evenly distributed to each pulling point through the rope, improving the stability and control accuracy of the joint movement. At the same time, the meshing structure of the arc gear and the universal ball as the rotation fulcrum ensures that the joint maintains a stable force transmission path during multi-angle movement.

[0022] The robot joint drive with end shock absorption adjustment is flexibly connected with the first mechanical arm and the second mechanical arm through the connecting shaft of the connecting belt, and the spherical contact fulcrum of the universal ball and the arc gear, so that the joint can realize multi-degree-of-freedom movement. By adjusting the tension of each pulling rope, the rotation angle and speed of the joint in different planes can be accurately controlled to adapt to complex operation scene requirements.

[0023] The robot joint drive with end shock absorption adjustment can realize dynamic adjustment of the joint shock absorption performance by adjusting the pre-tightening force of the pulling rope or replacing the rope material with different elastic modulus. This design enables the robot to optimize the shock absorption effect according to the load characteristics when performing different tasks (such as lifting heavy objects or fine operation), thereby improving the adaptability and operation efficiency of the system. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a front structure schematic diagram of the present application;

[0025] Figure 2 It is a back structure schematic diagram of the present application;

[0026] Figure 3 It is a driving device structure schematic diagram of the present application;

[0027] Figure 4 It is a universal ball structure schematic diagram of the present application;

[0028] Figure 5 It is a structure schematic diagram of the present application Figure 4 without rotating parts;

[0029] Figure 6 It is an enlarged structure schematic diagram of A in the present application Figure 3 ;

[0030] Figure 7 It is aFigure 3 Enlarged structural schematic view at B;

[0031] Figure 8 For the invention Figure 2 Enlarged structural schematic view at C.

[0032] In the figure: 1, first mechanical arm; 2, second mechanical arm; 3, connecting belt; 31, connecting shaft; 4, driving device; 41, motor mounting block; 42, frameless motor; 43, driving gear; 44, transmission gear; 45, rotating roller; 46, winding roller; 5, pulling rope; 6, first winding roller; 7, second winding roller; 8, connecting rotating shaft; 9, connecting table; 10, first pulling roller; 101, connecting rod; 102, second pulling roller; 11, guard plate mounting groove; 12, support rod; 13, universal ball; 14, rotating part; 141, arc gear; 142, connecting groove; 15, mounting plate. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] Please refer to Figures 1-8 The present application provides a technical solution: a robot joint drive with end shock absorption adjustment, comprising:

[0035] Please refer to Figures 1-2 The first mechanical arm 1 and the second mechanical arm 2 are driven by the driving device 4, so that the first mechanical arm 1 and the second mechanical arm 2 can rotate between them to achieve a bent state. The first mechanical arm 1 serves as the thigh of the robot, and the second mechanical arm 2 serves as the calf of the robot. The thigh drives the calf to bend and rotate, thereby achieving the effect of lifting the leg. The second mechanical arm 2 is connected to the first mechanical arm 1. The first mechanical arm 1 and the second mechanical arm 2 are also provided with a guard plate mounting groove 11. The guard plate installed in the guard plate mounting groove 11 serves as the knee of the robot and is used to protect the joint connection. It is used to install the guard plate to protect the connection between the first mechanical arm 1 and the second mechanical arm 2.

[0036] Please refer to Figure 1 , Figure 2 , Figure 6When the driving device 4 is started, the frameless motor 42 inside it drives the winding roller 46 to rotate and release or tighten the pulling rope 5 through the meshing transmission of the driving gear 43 and the transmission gear 44. One end of the pulling rope 5 is fixed to the driving device 4, and the other end is connected to the second mechanical arm 2. Through the guiding action of the first winding roller 6, the second winding roller 7, and the first pulling roller 10 and the second pulling roller 102, the driving force is converted into a pulling force on the second mechanical arm 2, so that the second mechanical arm 2 rotates relative to the first mechanical arm 1 around the connecting shaft 8, realizing the bending action of the thigh first mechanical arm 1 and the calf second mechanical arm 2. When it is necessary to lift the leg, the driving device 4 controls the second mechanical arm 2 to rotate upward by adjusting the tension of the pulling rope 5, forming a leg bending; conversely, releasing the pulling force can make the leg stretch. The guard plate is installed in the guard plate mounting groove 11 of the first mechanical arm 1 and the second mechanical arm 2, covering the joint connection, forming a protective structure similar to the knee, blocking foreign matter from invading during the movement of the mechanical arm, and providing physical protection for the internal transmission parts and the pulling rope 5, ensuring the structural reliability of the joint when bending frequently.

[0037] Please refer to Figure 1 、 Figure 2 、 Figure 6 , the driving device 4 is arranged in the first mechanical arm 1, the driving device 4 is used to start the traction rotation between the first mechanical arm 1 and the second mechanical arm 2, and is used to drive the second mechanical arm 2, the driving device 4 includes a motor mounting block 41 arranged in the first mechanical arm 1, the motor mounting block 41 is used to fix the frameless motor 42, so as to be stably installed in the first mechanical arm 1, the motor mounting block 41 is connected with the frameless motor 42, the frameless motor 42 is used to drive the driving gear 43 to rotate, the driving gear 43 is arranged on the frameless motor 42, the rotation of the driving gear 43 can drive the transmission gear 44 to rotate synchronously, the driving device 4 further includes a rotating roller 45 arranged in the first mechanical arm 1, the transmission gear 44 and the winding roller 46 are arranged on the rotating roller 45, when the driving gear 43 drives the transmission gear 44 to rotate, the winding roller 46 can be driven to rotate, through the rotating direction of the winding roller 46, the release and tightening of the pulling rope 5 can be changed, so as to change the rotating bending direction between the first mechanical arm 1 and the second mechanical arm 2, the transmission gear 44 and the driving gear 43 are engaged, and the winding roller 46 is provided with the pulling rope 5.

[0038] When the frameless motor 42 is powered on, the rotor drives the driving gear 43 to rotate synchronously, the meshing of the driving gear 43 and the transmission gear 44 drives the rotating roller 45 to rotate around its own axis, and further drives the winding roller 46 fixed to the rotating roller 45 to rotate. The clockwise or counterclockwise rotation direction of the winding roller 46 determines the winding and unwinding state of the pulling rope 5: when the winding roller 46 rotates clockwise, the pulling rope 5 is wound and tightened, and through the guiding action of the first winding roller 6 and the first pulling roller 10, the second mechanical arm 2 is pulled to the first mechanical arm 1, realizing the bending action of the joint; when the winding roller 46 rotates counterclockwise, the pulling rope 5 is released and relaxed, and the second mechanical arm 2 moves away from the first mechanical arm 1 under the action of gravity or reverse tension, realizing the stretching action of the joint. The motor mounting block 41 is fixed in the first mechanical arm 1 by fixed connection, providing stable support for the frameless motor 42 and ensuring effective transmission of driving torque to the transmission system. The rotating roller 45 is connected to the inner wall of the first mechanical arm 1 through bearings at both ends, ensuring the rotation accuracy and stability during transmission. By controlling the forward and reverse rotation and speed of the frameless motor 42, the tension and displacement of the pulling rope 5 can be accurately adjusted, realizing precise control of the relative angle between the first mechanical arm 1 and the second mechanical arm 2.

[0039] The pulling rope 5 is provided at one end on the driving device 4, and at the other end on the second mechanical arm 2, serving as a driving transmission medium of the driving device 4 to drive the rotation and release between the first mechanical arm 1 and the second mechanical arm 2 through pulling and releasing.

[0040] Please refer to Figures 7-8 , one end of the pulling rope 5 is fixed to the winding roller 46 of the driving device 4, and the other end is wound around the first winding roller 6 and the second winding roller 7 and then fixed to the first pulling roller 10 and the second pulling roller 102 of the second mechanical arm 2. When the winding roller 46 in the driving device 4 rotates clockwise, the pulling rope 5 is wound and tightened, and through the tension of the rope, the first pulling roller 10 and the second pulling roller 102 are pulled, causing the second mechanical arm 2 to rotate around the connecting shaft 8 towards the first mechanical arm 1, realizing leg bending; when the winding roller 46 rotates counterclockwise, the pulling rope 5 is released and relaxed, and the second mechanical arm 2 stretches under the action of gravity or reverse tension. The first winding roller 6 and the second winding roller 7 change the axial tension of the winding roller 46 into a rotational driving force perpendicular to the joint axis, ensuring that the pulling rope 5 maintains a stable force transmission path during winding and unwinding, avoiding transmission lag or precision loss caused by rope relaxation.

[0041] Please refer to Figure 8, the first mechanical arm 1 and the second mechanical arm 2 are provided with a connecting table 9, the connecting table 9 is used for bearing a second winding roller 7, a connecting rotating shaft 8 and a first pulling roller 10 and the like structure, the connecting rotating shaft 8 is connected to the connecting table 9 provided on the first mechanical arm 1, the connecting rotating shaft 8 is used for enabling the first winding roller 6 and the second winding roller 7 to rotate, is used for cooperating with the first pulling roller 10 and the second pulling roller 102 to form a pulley block, thereby improving the utilization rate of kinetic energy, the connecting rotating shaft 8 is provided with the first winding roller 6 and the second winding roller 7, the first winding roller 6 and the second winding roller 7 respectively wind two pulling ropes 5, the first winding roller 6 and the second winding roller 7 are all wound with the pulling rope 5, the connecting table 9 provided on the second mechanical arm 2 is provided with a connecting rod 101, the connecting rod 101 is used for connecting the first pulling roller 10 and the second pulling roller 102, is used for enabling the first pulling roller 10 and the second pulling roller 102 to be connected and rotated, thereby enabling the first pulling roller 10 and the second pulling roller 102 to form a movable pulley, and the first winding roller 6 and the second winding roller 7 serve as a fixed pulley, four rollers form two pulley blocks, thereby respectively pulling and releasing the second mechanical arm 2, achieving control of the driving of the second mechanical arm 2, the connecting rod 101 is provided with the first pulling roller 10 and the second pulling roller 102, the first pulling roller 10 and the second pulling roller 102 are also all wound with the pulling rope 5, and one end is connected to the first pulling roller 10 and the second pulling roller 102.

[0042] When the winding roller 46 of the driving device 4 winds and unwinds the pulling rope 5, the connecting table 9 of the first mechanical arm 1 supports the first winding roller 6 and the second winding roller 7 as a fixed pulley block through the connecting rotating shaft 8, and the connecting table 9 of the second mechanical arm 2 supports the first pulling roller 10 and the second pulling roller 102 as a movable pulley block through the connecting rod 101. One end of the two pulling ropes 5 is fixed and wound on the winding roller 46, and the other end is wound on the first pulling roller 10 and the second pulling roller 102 after passing through the first winding roller 6 and the second winding roller 7. When the winding roller 46 rotates clockwise to tighten the pulling rope 5, the first winding roller 6 and the second winding roller 7 guide the direction of the rope, so that the first pulling roller 10 and the second pulling roller 102 drive the second mechanical arm 2 to rotate around the connecting rotating shaft 8 towards the first mechanical arm 1, realizing joint bending; when the winding roller 46 rotates counterclockwise to release the pulling rope 5, the second mechanical arm 2 stretches under the action of gravity or reverse tension. The pulley block structure converts the axial tension of the winding roller 46 into a rotational torque perpendicular to the joint axis by changing the direction and point of force, and simultaneously utilizes the labor-saving characteristics of the pulley block to improve the tension transmission efficiency of the pulling rope 5 under the same driving force, reduce energy loss, and realize efficient driving and precise control of the second mechanical arm 2.

[0043] Please refer to Figures 4-5, the connecting shaft 31 is provided with the connecting belt 3, the connecting belt 3 is used for connecting the first mechanical arm 1 and the second mechanical arm 2, the connecting belt 3 is used for connecting the first mechanical arm 1 and the second mechanical arm 2 into an integrated whole, all the connecting tables 9 are provided with the mounting plate 15, the mounting plate 15 is used for bearing and fixing the support rod 12, one end of all the mounting plates 15 is connected with the support rod 12, the other end of all the support rods 12 is respectively connected with the universal ball 13 and the rotating piece 14, the universal ball 13 is semispherical, a threaded point is arranged on the universal ball 13, the threaded point is engaged with the arc gear 141 in the rotating piece 14, so that the arc gear 141 can roll on the universal ball 13, the arc gear 141 is also arranged in the rotating piece 14, a connecting groove 142 is arranged in the arc gear 141, a rotating shaft is inserted into the connecting groove 142, so that the arc gear 141 can rotate around the shaft core, the rotating shaft is inserted into the connecting groove 142 and is used for connecting the rotating piece 14, the arc gear 141 is engaged with the universal ball 13, and the contact between the arc gear 141 and the universal ball 13 serves as the rotating support point of the first mechanical arm 1 and the second mechanical arm 2.

[0044] The connecting shaft 31 of the connecting table 9 serves as a hinged support point, the first mechanical arm 1 and the second mechanical arm 2 are flexibly connected through the connecting belt 3, and the two can relatively rotate in the axial direction of the connecting shaft 31 while maintaining the structural integrity. The mounting plate 15 is fixed to the connecting table 9 and supports the support rod 12, one end of which is connected to the universal ball 13, and the other end is connected to the rotating piece 14. The spherical surface of the universal ball 13 is provided with a threaded point, which is engaged with the arc gear 141 in the rotating piece 14, forming a rollable spherical contact support point. When the first mechanical arm 1 and the second mechanical arm 2 rotate relative to each other, the arc gear 141 rolls along the surface of the universal ball 13, and the rotating shaft in the connecting groove 142 allows the arc gear 141 to rotate around its own axis, thereby adapting to the multi-angle bending requirement of the joint. This structure transmits the rotating torque of the mechanical arm to the engagement interface of the universal ball 13 and the arc gear 141 through the support rod 12, disperses the radial load during joint movement using the spherical contact feature, and provides multi-degree-of-freedom rotation support, ensuring that the rotating support point maintains a stable force transmission path when the first mechanical arm 1 and the second mechanical arm 2 bend under the drive of the pulling rope 5, avoiding structural deviation or wear caused by single-point stress. The material of the connecting belt 3 is rubber, which can withstand lateral deviation. At this time, the contact angle of the rotating piece 14 and the universal ball 13 changes, but due to the special design of the universal ball 13, it does not affect the engagement support state of the universal ball 13 and the rotating piece 14, thereby adapting to various angles.

[0045] Please refer to Figure 6At least two pulling ropes 5 are wound around the winding roller 46, all the pulling ropes 5 are wound around the first winding roller 6 and the second winding roller 7 respectively, and finally connected to the first pulling roller 10 and the second pulling roller 102.

[0046] In the robot joint driving use with the end shock absorption adjustment, when the frameless motor 42 in the driving device 4 is powered on and operates, the rotor drives the driving gear 43 to rotate synchronously, the transmission gear 44 on the rotating roller 45 is driven to rotate by the gear meshing, and the rotating roller 45 rotates around the unmarked axis of the bearing set. The bearing set adopts high-precision rolling bearings, the inner ring is fixed to the shaft neck at both ends of the rotating roller 45, and the outer ring is in interference fit with the bearing seat on the inner wall of the first mechanical arm 1, so as to ensure the positioning accuracy of the rotating roller 45 in the radial and axial directions during rotation, and reduce the transmission gap. The rotating roller 45 synchronously drives the winding roller 46 to rotate, and realizes the winding and unwinding of the pulling rope 5: when the winding roller 46 rotates clockwise, the two pulling ropes 5 are wound and tightened along the circumferential wire grooves respectively; when it rotates counterclockwise, the rope is loosened and released.

[0047] One end of the pulling rope 5 is fixed to the winding roller 46, and the other end is wound around the first winding roller 6, the second winding roller 7 fixed pulley set on the connecting table 9 of the first mechanical arm 1, and the first pulling roller 10 and the second pulling roller 102 movable pulley set on the connecting rod 101 of the second mechanical arm 2 in sequence, and is fixed to the end face of the pulling roller. When the winding roller 46 tightens the pulling rope 5, the fixed pulley set changes the direction of the rope tension, the movable pulley set rotates with the second mechanical arm 2 around the connecting shaft 8 to the first mechanical arm 1, and realizes the joint bending; when the rope is released, the second mechanical arm 2 is stretched under the action of gravity or reverse balanced tension. The pulley set is in rolling contact with the rope through the rope groove, converts the axial driving force of the winding roller 46 into the rotating torque perpendicular to the joint axis, and reduces the friction loss of the rope and the roller.

[0048] The mounting plate 15 of the connecting table 9 is fixed by bolts The one end of the support rod 12 is connected with the universal ball 13, and the other end is connected with the rotating part 14. The universal ball 13 is semispherical, and the spherical surface is uniformly distributed to engage with the screw threads, and forms a spherical gear pair with the outer tooth surface of the arc gear 141 in the rotating part 14. When the first mechanical arm 1 and the second mechanical arm 2 rotate relative to each other, the arc gear 141 rolls along the surface of the universal ball 13, and the rotating shaft in the connecting groove 142 allows the arc gear 141 to swing around its own core, which can adapt to the bending of multiple angles within 0-90°. The universal ball 13 uniformly disperses the radial load during joint rotation to the support rod 12 through spherical contact, avoids the structural deformation caused by single-point force, and at the same time maintains the continuous meshing state with the arc gear 141, so as to ensure the stable force transmission path of the rotating support point.

[0049] The guard plate mounting groove 11 is embedded in the first and second mechanical arm connection, the guard plate is fixed in the groove by buckle or bolt, forming physical protection for the connecting shaft 8, pulley set and pulling rope 5. The connecting belt 3 is sleeved on the connecting shaft 31, and the flexible structure of rubber material maintains the overall connection of the mechanical arm, allows the two arms to rotate around the axis of the connecting shaft 31 within a small range, cooperates with the multi-degree-of-freedom support of the universal ball 13-arc gear 141, realizes the cooperative action of the main movement of the joint in the flexion and extension plane and the lateral fine adjustment. The whole driving system realizes high-precision transmission through the bearing set, force conversion through the rope-driven pulley set, load dispersion through the support point of the universal ball 13, forms the combination of rigid support and flexible driving, realizes the efficient driving and stable movement of the robot leg joint.

[0050] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot joint drive with end shock mitigation adjustment, characterized by, The utility model relates to a kind of mechanical arm, including: First mechanical arm (1); Second mechanical arm (2), the second mechanical arm (2) and the first mechanical arm (1) are connected; Driving device (4) is arranged in the first mechanical arm (1), for the second mechanical arm (2) driving; Pulling rope (5), one end is arranged in the driving device (4), the other end is arranged in the second mechanical arm (2), cooperate the second mechanical arm (2) pulling of the driving device (4); The first mechanical arm (1) and the second mechanical arm (2) are equipped with connecting table (9), the connecting table (9) on the first mechanical arm (1) is connected with connecting shaft (8), the connecting shaft (8) is equipped with first winding roller (6) and second winding roller (7), the first winding roller (6) and the second winding roller (7) are all wound with pulling rope (5); Connecting rod (101) is arranged on the connecting table (9) on the second mechanical arm (2), the first pulling roller (10) and the second pulling roller (102) are arranged on the connecting rod (101), and the first pulling roller (10) and the second pulling roller (102) are also all wound with pulling rope (5), and one end is connected in the first pulling roller (10) and the second pulling roller (102); Connecting shaft (31) is further arranged on the connecting table (9), the connecting shaft (31) is equipped with connecting belt (3), and the connecting belt (3) is used to connect the first mechanical arm (1) and the second mechanical arm (2) into an integral whole; All the connecting table (9) is equipped with mounting plate (15), one end of all the mounting plate (15) is connected with support rod (12), the other end of all the support rod (12) is respectively connected with universal ball (13) and rotating part (14), and arc gear (141) is further arranged in the rotating part (14); Connection groove (142) is formed in the arc gear (141), and shaft is inserted in the connection groove (142), which is used to be connected with the rotating part (14); The arc gear (141) is engaged with the universal ball (13), and the contact between the arc gear (141) and the universal ball (13) serves as the rotation fulcrum of the first mechanical arm (1) and the second mechanical arm (2).

2. A robot joint drive with end shock mitigation adjustment according to claim 1, characterized in that: The driving device (4) includes motor mounting block (41) arranged in the first mechanical arm (1), the motor mounting block (41) is connected with frameless motor (42), and the frameless motor (42) is provided with driving gear (43).

3. A robot joint drive with end shock mitigation adjustment according to claim 2, characterized in that: The driving device (4) further includes rotating roller (45) arranged in the first mechanical arm (1), the rotating roller (45) is provided with transmission gear (44) and winding roller (46), the transmission gear (44) is engaged with the driving gear (43), and the winding roller (46) is provided with the pulling rope (5).

4. A robot joint drive with end shock mitigation adjustment according to claim 3, characterized in that: The winding roller (46) is provided with at least two pulling ropes (5), all the pulling ropes (5) are wound with the first winding roller (6) and the second winding roller (7) respectively, and finally connected to the first pulling roller (10) and the second pulling roller (102).

5. The robot joint drive with end shock mitigation adjustment of claim 1, wherein: The first mechanical arm (1) and the second mechanical arm (2) are also provided with a guard plate mounting groove (11) for mounting a guard plate to protect the connection of the first mechanical arm (1) and the second mechanical arm (2).

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