The utility model relates to flexible joint technical field, and disclose a kind of
robot arm flexible joint structure of flexible adjustment, including end moving part and connecting rod moving part, both are connected by spherical movable roll and spherical movable groove gap cooperation, the adjusting column of connecting rod moving part right end is connected with
magnetorheological elastomer ring, there is solenoid on ring, there is circumferential array's
nickel-
titanium alloy spring between end moving part and connecting rod moving part, close solenoid,
magnetorheological elastomer ring stiffness is low, joint full flexibility, activate
nickel-
titanium alloy spring, joint can
small amplitude rotation adjustment, combine
tactile sensor feedback, can realize the light and soft action of dynamic following, when needing big support force, solenoid is energized,
magnetorheological elastomer ring stiffness is promoted, constrain end moving part and connecting rod moving part, lock joint form,
nickel-
titanium alloy spring increases contraction amplitude, output high degree, applicable to deep
massage etc. Operation, can accurately transmit
massage degree, improve physiotherapy effect.