Static robot multi-degree-of-freedom joint self-locking device

Abstract

The utility model discloses a self-locking device for a multi-degree-of-freedom joint of a static robot. The joint self-locking mechanism comprises a trunk, a head, large arms, small arms and palms, and the head and the trunk, the large arms and the trunk, the small arms and the large arms and the palms and the small arms are rotatably connected through the joint self-locking mechanism, so that the function of multiple degrees of freedom is achieved. According to the multi-degree-of-freedom static robot, the head and the trunk, the large arms and the trunk, the small arms and the large arms and the palms and the small arms are rotatably connected through the joint self-locking mechanisms, so that the multi-degree-of-freedom function of the static robot is achieved, and the head joint, the shoulder joint, the elbow joint and the wrist joint of the robot can be freely adjusted at multiple angles; and stable self-locking can be realized at a required position, so that figure postures in a project scene story can be accurately matched, infinite possibility is provided for application of a static robot in theme park scene simulation, and the reality sense and the ornamental value of a scene are greatly enhanced.

Description

Technical Field

[0001] This utility model relates to the field of static robot technology, and in particular to a self-locking device for multi-degree-of-freedom joints of a static robot. Background Technology

[0002] In the rapidly developing theme park industry, uniquely creative and experiential zones have become a key factor in attracting visitors. Theme parks not only encompass traditional amusement parks centered around large-scale rides, but have also expanded to include large miniature landscape parks and emerging formats such as film studios and animation parks that focus on scenario simulations and environmental experiences. These zones provide visitors with immersive entertainment experiences through highly integrated visual art, interactive technology, and storylines.

[0003] Simulated scenarios, a major highlight of theme parks, come in various forms and are rich in content, including but not limited to historical and cultural themes, folk custom themes, and classical culture themes. These simulated scenarios are based on rich folk culture and ethnic customs, combined with classical culture and historical stories. Through meticulously designed scene construction and vivid character displays (often using entertainment robot technology), they aim to recreate historical moments, convey cultural essence, and allow visitors to learn and experience the charm of traditional Chinese culture, national customs, and modern historical changes while being entertained, achieving a perfect fusion of education and entertainment.

[0004] To achieve high fidelity and appeal in scenario simulation, themed amusement projects often use captivating storylines as a blueprint, combining micro-scene layouts with modern technologies such as light, sound, and electricity to accurately recreate the story's scenes. In these projects, entertainment robots, as key characters within the scene, play a crucial role in creating realism through the adjustment and maintenance of their upper body postures. The robots must be able to accurately mimic changes in human facial expressions, arm movements, and fine motor skills, reproducing story characters in a highly realistic manner to tell the story completely and vividly, greatly enhancing the project's fun and entertainment value.

[0005] However, static robots currently used for such scenario simulations still face many challenges in terms of posture adjustment and maintenance. Designing static robots that can match diverse situations and postures based on the needs of different scenarios and stories, and ensuring that their upper bodies (especially the head, arms, and wrists) can accurately simulate human movements, has become a pressing technical challenge. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a static robot multi-degree-of-freedom joint self-locking device.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] This utility model provides a static robot multi-degree-of-freedom joint self-locking device, including: torso, head, upper arm, forearm and palm. The head and torso, the upper arm and torso, the forearm and upper arm, and the palm and forearm are all connected by joint self-locking mechanisms to form rotatable connections, so as to realize multi-degree-of-freedom functions.

[0009] In one specific embodiment, the joint self-locking mechanism includes a fixed gear plate, a movable gear plate, and a spring. The forearm has a first unilateral hemispherical joint, and the upper arm has a second unilateral hemispherical joint. The first and second unilateral hemispherical joints correspond to each other. The fixed gear plate is installed in the first unilateral hemispherical joint, and the movable gear plate is installed in the second unilateral hemispherical joint. The spring is installed in the second unilateral hemispherical joint and is located below the movable gear plate to provide a restoring elastic force. The fixed gear plate and the movable gear plate are arranged face to face to form a meshing transmission.

[0010] In one specific embodiment, the joint self-locking mechanism further includes a screw, which is used to pass sequentially through the first unilateral hemispherical joint, the fixed gear plate, and the movable gear plate and connect to the second unilateral hemispherical joint.

[0011] In one specific embodiment, the first unilateral hemispherical joint is provided with a mounting post, and the fixed gear plate is connected to the mounting post by screws.

[0012] In one specific embodiment, the second unilateral hemispherical joint is provided with a guide post, the spring is sleeved on the guide post, and the movable toothed disc is connected to the guide post.

[0013] In one specific embodiment, the guide post is a hexagonal prism, and the movable toothed disc is provided with a hexagonal guide hole, which is adapted to the hexagonal prism.

[0014] In one specific embodiment, the screw passes sequentially through the mounting post, the fixing gear plate, and the hexagonal guide hole and is connected to the hexagonal prism.

[0015] In one specific embodiment, a lock nut is installed inside the hexagonal prism, and the screw is connected to the lock nut.

[0016] In one specific embodiment, the lower end of the guide post extends outward with a limiting protrusion, and the spring abuts against the limiting protrusion.

[0017] In one specific embodiment, the palm is further provided with movable finger joints.

[0018] The multi-degree-of-freedom joint self-locking device for static robots of this invention offers several advantages over existing technologies. By employing joint self-locking mechanisms to create rotatable connections between the head and torso, upper arm and torso, forearm and upper arm, and hand and forearm, the static robot achieves multi-degree-of-freedom functionality. This means that the robot's head, shoulder, elbow, and wrist joints can be freely adjusted at multiple angles and achieve stable self-locking at the desired positions, thus precisely matching the postures of characters in the project's storyline. This high degree of flexibility and precise positioning capability provides unlimited possibilities for the application of static robots in theme park scenario simulations, greatly enhancing the realism and visual appeal of the scenes. Furthermore, with the help of the joint self-locking mechanism, the static robot can reproduce the characters' actions and emotional expressions in the storyline in a more vivid and realistic way. This not only enhances the visitor's visual experience but also strengthens the interaction between visitors and the robot, making visitors feel as if they are immersed in the storyline, further deepening their immersion and satisfaction with the theme park project.

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the static robot multi-degree-of-freedom joint self-locking device provided by this utility model;

[0022] Figure 2 A cross-sectional schematic diagram of the elbow joint of the static robot multi-degree-of-freedom joint self-locking device provided by this utility model;

[0023] Figure 3 An exploded view of the elbow joint of the static robot multi-degree-of-freedom joint self-locking device provided by this utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the second unilateral hemispherical joint provided by the present invention;

[0025] Figure 5 A schematic diagram of the structure of the movable toothed disc provided by this utility model. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0028] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0033] See Figures 1 to 5 The specific embodiment shown in this utility model discloses a static robot multi-degree-of-freedom joint self-locking device, including: a torso 10, a head 20, an upper arm 30, a forearm 40, and a hand 50. The head 20 and the torso 10, the upper arm 30 and the torso 10, the forearm 40 and the upper arm 30, and the hand 50 and the forearm 40 are all rotatably connected by a joint self-locking mechanism 60 to realize the multi-degree-of-freedom function.

[0034] Specifically, by employing joint self-locking mechanisms 60 to form rotatable connections between the head 20 and torso 10, the upper arm 30 and torso 10, the forearm 40 and upper arm 30, and the hand 50 and forearm 40, the static robot achieves multi-degree-of-freedom functionality. This means that the robot's head joints, shoulder joints, elbow joints, and wrist joints can be freely adjusted at multiple angles and can achieve stable self-locking at the required positions, thereby accurately matching the postures of characters in the project's story. This high degree of flexibility and precise positioning capability provides unlimited possibilities for the application of static robots in theme park scenario simulations, greatly enhancing the realism and visual appeal of the scenes. In addition, with the help of the joint self-locking mechanisms 60, the static robot can reproduce the characters' actions and emotional expressions in the story scenes in a more vivid and realistic way. This not only enhances the visitor's visual experience but also strengthens the interaction between visitors and the robot, making visitors feel as if they are immersed in the storyline, further deepening their immersion and satisfaction with the theme park project. In addition, the ingenious design of the joint self-locking device makes the various joint modules of the static robot highly versatile. This means that in different project scenarios or storylines, it is only necessary to adjust the joint angle and self-locking position to quickly adapt to different character posture requirements without the need for large-scale structural modifications or redesigns of the robot. This universal design not only simplifies the production process of static robots and reduces production costs, but also improves resource utilization efficiency, bringing significant cost benefits to operators.

[0035] See Figures 1 to 5 As shown, in one embodiment, the joint self-locking mechanism 60 includes a fixed gear plate 61, a movable gear plate 62, and a spring 63. The forearm 40 is provided with a first unilateral hemispherical joint 41, and the upper arm 30 is provided with a second unilateral hemispherical joint 31. The first unilateral hemispherical joint 41 and the second unilateral hemispherical joint 31 correspond to each other. The fixed gear plate 61 is installed on the first unilateral hemispherical joint 41, and the movable gear plate 62 is installed on the second unilateral hemispherical joint 31. The spring 63 is installed on the second unilateral hemispherical joint 31 and is located below the movable gear plate 62 to provide a restoring elastic force. The fixed gear plate 61 and the movable gear plate 62 are arranged face to face to form a meshing transmission.

[0036] Specifically, when adjusting the robot's elbow joint (i.e., the connection between the upper arm 30 and the forearm 40), rotating the first unilateral hemispherical joint 41 causes the fixed gear plate 61 to rotate along with it. The tangential tooth surfaces of the fixed gear plate 61 and the movable gear plate 62 press against each other, generating an axial force on the movable gear plate 62, causing the movable gear plate 62 to slide out of the tooth surface engagement. When the first unilateral hemispherical joint 41 is rotated to 2.5 degrees, the fixed gear plate 61 and the movable gear plate 62 pass the highest point of the tangential tooth surface. The spring 63 provides a restoring force to the movable gear plate 62, and the movable gear plate 62 and the fixed gear plate 61 re-engage their tooth surfaces to complete the 5-degree joint angle adjustment and locking. Continuous rotation of the first unilateral hemispherical joint 41 and the reciprocating motion of the movable gear plate 62 achieve the angle adjustment required by the elbow joint self-locking mechanism 60.

[0037] More specifically, the joint is designed as a spherical shape, with two hemispheres positioned at the upper and lower joints (i.e., the first unilateral hemispherical joint 41 and the second unilateral hemispherical joint 31), enabling interference-free rotation of the static robot joints and concealing the components of the joint self-locking mechanism 60 internally. Both the fixed gear plate 61 and the movable gear plate 62 are designed as tangential arcs with the same number of teeth and tooth surfaces, allowing for tooth surface meshing. When adjusting the angle of the robot's elbow joint, the user can rotate the first unilateral hemispherical joint 41 externally (e.g., manually or using a tool). As the first unilateral hemispherical joint 41 rotates, the fixed gear plate 61 also rotates. Since the fixed gear plate 61 and the movable gear plate 62 are face-to-face and mesh with each other, an axial force is generated when their tangential tooth surfaces press against each other. This axial force causes the movable gear plate 62 to slide axially under the compression of the spring 63, temporarily disengaging from the tooth surface meshing with the fixed gear plate 61. When the first unilateral hemispherical joint 41 rotates to a specific angle (e.g., 2.5 degrees), the fixed gear 61 and the movable gear 62 will pass the highest point of their tangential tooth surfaces. At this time, the restoring force of the spring 63 comes into play, pushing the movable gear 62 to slide axially back to its original position and re-engage with the fixed gear 61. Since the fixed gear 61 and the movable gear 62 have a certain angular interval during engagement (5 degrees in this example), each engagement will lock the elbow joint angle adjustment at an increment of 5 degrees.

[0038] In other words, through the meshing transmission of the fixed gear disc 61 and the movable gear disc 62, and the restoring force of the spring 63, precise adjustment and locking of the elbow joint angle can be achieved. Each adjustment is made in 5-degree increments, ensuring the accuracy and stability of the angle adjustment. Furthermore, the joint self-locking mechanism 60 is simple, compact, and easy to operate. Users can adjust and lock the joint angle with a simple rotation, without complicated operating procedures or tools. In addition, due to the small number of components and its reasonable design, it is also easy to maintain and repair daily. Moreover, by employing the joint self-locking mechanism 60 at the elbow joint, the robot can achieve more flexible and diverse movement postures, which helps improve the robot's adaptability and practicality in various application scenarios.

[0039] See Figures 2 to 5 As shown, in one embodiment, the joint self-locking mechanism 60 further includes a screw 64, which is used to pass sequentially through the first unilateral hemispherical joint 41, the fixed toothed disc 61 and the movable toothed disc 62 and connect to the second unilateral hemispherical joint 31.

[0040] Specifically, screw 64 passes through the first unilateral hemispherical joint 41, the fixed gear plate 61 and the movable gear plate 62 in sequence and connects to the second unilateral hemispherical joint 31, so that the first unilateral hemispherical joint 41 and the second unilateral hemispherical joint 31 are locked together, realizing the rotational joint connection between the upper arm 30 and the forearm 40.

[0041] In other words, the introduction of screw 64 significantly enhances the connection stability between the first unilateral hemispherical joint 41 and the second unilateral hemispherical joint 31, ensuring the rigidity and durability of the joint under load. In addition, the fastening effect of screw 64 not only fixes the two hemispherical joints, but also indirectly enhances the meshing stability between the fixed gear plate 61 and the movable gear plate 62, thereby improving the reliability of the self-locking function.

[0042] See Figures 1 to 3 As shown, in one embodiment, the first unilateral hemispherical joint 41 is provided with a mounting post 411, and the fixed gear plate 61 is connected to the mounting post 411 by screws.

[0043] Specifically, by using the mounting post 411 and screws, the fixed gear plate 61 is securely mounted on the first single-sided hemispherical joint 41, improving the stability and reliability of the connection. This helps ensure the performance of the joint self-locking mechanism 60 during long-term use. Furthermore, the screw connection provides additional tightening force, enhancing the structural strength between the first single-sided hemispherical joint 41 and the fixed gear plate 61. This helps resist the effects of external loads and vibrations on the joint self-locking mechanism 60, extending its service life.

[0044] See Figures 1 to 4As shown, in one embodiment, the second unilateral hemispherical joint 31 is provided with a guide post 311, the spring 63 is sleeved on the guide post 311, and the movable toothed disc 62 is connected to the guide post 311.

[0045] Specifically, spring 63 is sleeved on guide post 311, and movable gear disk 62 is connected to guide post 311, achieving a fixed radial angle and axial sliding connection between movable gear disk 62 and guide post 311. Simultaneously, the restoring force generated by spring 63 enables engagement with fixed gear disk 61. When movable gear disk 62 slides axially on guide post 311, the restoring force of spring 63 keeps movable gear disk 62 engaged with fixed gear disk 61. At the same time, guide post 311 ensures that movable gear disk 62 maintains a fixed radial angle, thus guaranteeing transmission stability and accuracy. When unlocking or adjusting the joint angle is required, external operation can be used to slide movable gear disk 62 on guide post 311, temporarily disengaging it from fixed gear disk 61. When the external operation is released, the restoring force of spring 63 causes movable gear disk 62 to re-engage with fixed gear disk 61.

[0046] More specifically, the design of the guide post 311 ensures that the movable gear 62 maintains a fixed angle in the radial direction, thereby improving the stability of the connection and the accuracy of the transmission. Furthermore, the return force of the spring 63 provides smooth axial sliding capability for the movable gear 62, while ensuring stable meshing between the movable gear 62 and the fixed gear 61. In addition, the combined use of the guide post 311 and the spring 63 enhances the structural strength of the second single-sided hemispherical joint 31, enabling it to withstand greater loads and vibrations. Moreover, the sliding and return of the movable gear 62 can be easily achieved through external operation, simplifying the operation and maintenance of the joint self-locking mechanism 60.

[0047] See Figures 2 to 5 As shown, in one embodiment, the guide post 311 is a hexagonal prism, and the movable toothed disc 62 is provided with a hexagonal guide hole 621, which is adapted to the hexagonal prism.

[0048] Specifically, the movable gear disk 62 is mounted on the hexagonal prism through a hexagonal guide hole 621, achieving a fixed radial angle and axial sliding connection with the hexagonal prism. That is, the hexagonal guide hole 621 enables the axial sliding of the movable gear disk 62 while maintaining a fixed radial angle. The polygonal feature of the hexagonal prism ensures that the radial angle is synchronously fixed with that of the movable gear disk 62, while the cylindrical feature enables the axial sliding connection of the movable gear disk 62. In other words, the polygonal feature of the hexagonal prism ensures that the radial angle of the movable gear disk 62 is synchronously fixed with that of the hexagonal prism, thereby improving the stability of the connection and the accuracy of the transmission. Furthermore, the compatibility between the hexagonal guide hole 621 and the hexagonal prism provides the movable gear disk 62 with smooth axial sliding capability, while ensuring the stability of the movable gear disk 62 during sliding. Additionally, the cylindrical feature of the hexagonal prism and its stable connection with the movable gear disk 62 enhance the structural strength of the joint self-locking mechanism 60, enabling it to withstand greater loads and vibrations.

[0049] See Figures 2 to 4 As shown, in one embodiment, the screw 64 passes sequentially through the mounting post 411, the fixing toothed disc 61, and the hexagonal guide hole 621 and is connected to the hexagonal prism.

[0050] Specifically, the screw 64 ensures a stable connection between the fixed gear plate 61, the movable gear plate 62, and the hexagonal prism, improving the overall stability and reliability of the joint self-locking mechanism 60. Furthermore, despite the robust connection provided by the screw 64, the movable gear plate 62 can still smoothly slide axially on the hexagonal prism while maintaining a fixed radial angle due to the design of the hexagonal guide hole 621. In addition, the screw 64 connection, along with the design of the hexagonal prism and polygonal guide hole, collectively enhances the structural strength of the joint self-locking mechanism 60, enabling it to withstand greater loads and vibrations.

[0051] See Figures 2 to 3 As shown, in one embodiment, a locking nut 312 is installed inside the hexagonal prism, and the screw 64 is connected to the locking nut 312.

[0052] Specifically, the use of the lock nut 312 significantly improves the stability of the screw 64 connection, effectively preventing loosening caused by vibration or load changes. Furthermore, by connecting the screw 64 to the lock nut 312 instead of directly screwing it into the threaded hole of the hexagonal prism, damage to the threads of the hexagonal prism is reduced, thereby enhancing the structural strength of the entire joint self-locking mechanism 60. In addition, the locking mechanism of the lock nut 312 effectively extends the lifespan of the screw 64 connection, reducing failures and maintenance costs caused by loosening.

[0053] See Figures 2 to 4As shown, in one embodiment, the lower end of the guide post 311 extends outward with a limiting protrusion 313, and the spring 63 abuts against the limiting protrusion 313.

[0054] Specifically, the use of the limiting protrusion 313 significantly improves the stability of the spring 63, preventing it from shifting or falling off during compression or release, thereby ensuring the reliability and durability of the joint self-locking mechanism 60. Furthermore, by having the spring 63 abut against the limiting protrusion 313, the distribution and direction of the spring force can be controlled more precisely. This helps maintain the proper clearance between the movable gear 62 and the fixed gear 61 and optimizes the meshing effect of the gears. In addition, the design of the limiting protrusion 313 simplifies the installation process of the spring 63, making installation and maintenance easier; at the same time, it also improves the reliability of the spring 63 during long-term use, reducing malfunctions caused by the spring 63 loosening or falling off.

[0055] See Figure 1 As shown, in one embodiment, the palm 50 is further provided with movable finger joints 51.

[0056] Specifically, by designing multiple movable finger joints 51, the bionic dexterous hand or robotic hand can simulate the flexible movement of human fingers. In addition, the movable finger joints 51 enable the bionic dexterous hand or robotic hand to adapt to objects of different shapes and sizes, improving its adaptability in various application scenarios.

[0057] Specifically, this application only details how the upper arm 30 and forearm 40 achieve joint degree of freedom adjustment and fixation through the joint self-locking mechanism 60. Other parts, such as the head 20 and torso 10, the upper arm 30 and torso 10, and the hand 50 and forearm 40, operate on the same principle as the upper arm 30 and forearm 40. That is, by rotating both ends of the joint, the angles of other joints are adjusted and fixed, thereby achieving self-locking of the posture of all designed joints in the static robot. In other words, by designing the joints as spherical, with two hemispheres set in the upper and lower joints, interference-free rotation of the static robot joints is achieved.

[0058] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A self-locking device for multi-degree-of-freedom joints of a static robot, characterized in that, include: The torso, head, upper arm, forearm, and hand are all connected by a joint self-locking mechanism to form a rotatable connection, thereby achieving multi-degree-of-freedom functionality.

2. The static robot multi-degree-of-freedom joint self-locking device according to claim 1, characterized in that, The joint self-locking mechanism includes a fixed gear plate, a movable gear plate, and a spring. The forearm has a first unilateral hemispherical joint, and the upper arm has a second unilateral hemispherical joint. The first and second unilateral hemispherical joints correspond to each other. The fixed gear plate is installed in the first unilateral hemispherical joint, and the movable gear plate is installed in the second unilateral hemispherical joint. The spring is installed in the second unilateral hemispherical joint and is located below the movable gear plate to provide a restoring elastic force. The fixed gear plate and the movable gear plate are arranged face to face to form a meshing transmission.

3. The static robot multi-degree-of-freedom joint self-locking device according to claim 2, characterized in that, The joint self-locking mechanism also includes a screw, which is used to pass through the first unilateral hemispherical joint, the fixed gear plate and the movable gear plate in sequence and connect to the second unilateral hemispherical joint.

4. The static robot multi-degree-of-freedom joint self-locking device according to claim 3, characterized in that, The first unilateral hemispherical joint is provided with a mounting post, and the fixed gear plate is connected to the mounting post by screws.

5. The static robot multi-degree-of-freedom joint self-locking device according to claim 4, characterized in that, The second unilateral hemispherical joint is provided with a guide post, the spring is sleeved on the guide post, and the movable toothed disc is connected to the guide post.

6. The static robot multi-degree-of-freedom joint self-locking device according to claim 5, characterized in that, The guide post is a hexagonal prism, and the movable gear plate is provided with a hexagonal guide hole, which is adapted to the hexagonal prism.

7. The static robot multi-degree-of-freedom joint self-locking device according to claim 6, characterized in that, The screw passes sequentially through the mounting post, the fixing gear plate, and the hexagonal guide hole and is connected to the hexagonal prism.

8. The static robot multi-degree-of-freedom joint self-locking device according to claim 7, characterized in that, The hexagonal prism has an anti-loosening nut installed inside, and the screw is connected to the anti-loosening nut.

9. The static robot multi-degree-of-freedom joint self-locking device according to claim 5, characterized in that, The lower end of the guide post extends outward with a limiting protrusion, and the spring abuts against the limiting protrusion.

10. The static robot multi-degree-of-freedom joint self-locking device according to claim 1, characterized in that, The palm also has movable finger joints.

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