A joint actuator of a robot including a driving device, a driving shaft, a reducer, a torsion sensor, and a dual encoder is provided. The driving shaft is connected to the driving device. The driving device is configured to drive the driving shaft to rotate. The reducer includes a motive power input component and a motive power output component. The motive power input component and the motive power output component are sleeved on the driving shaft. The motive power input component is disposed between the driving shaft and the motive power output component. The torsion sensor is connected to the motive power output component of the reducer. The dual encoder is connected to the driving device and the driving shaft. The driving device is located between the dual encoder and the reducer.

A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.

A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.

An exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot are provided. The self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface lock/unlock the second friction surface.

A robot joint structure includes a first robot member, a second robot member, and a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other. The speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member. The fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member. At least a part of an axial range of the first fastening member does not overlap internal teeth of the internal gear when viewed in a radial direction.

A robot joint structure includes a first robot member, a second robot member, and a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other. The speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member. The fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member. At least a part of an axial range of the first fastening member does not overlap internal teeth of the internal gear when viewed in a radial direction.

A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.

A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.

An actuator unit (1) includes a direct drive motor (2), a first magnetic gear (3) connected to a rotating shaft (6) of the direct drive motor (2), a second magnetic gear (4) configured to be magnetically engaged with the first magnetic gear (3), and a planetary reducer (5) connected to a rotating shaft of the second magnetic gear (4).

An actuator unit (1) includes a direct drive motor (2), a first magnetic gear (3) connected to a rotating shaft (6) of the direct drive motor (2), a second magnetic gear (4) configured to be magnetically engaged with the first magnetic gear (3), and a planetary reducer (5) connected to a rotating shaft of the second magnetic gear (4).