A robot joint configuration determining method, a robot using the same, and a computer readable storage medium are provided. The method includes: simulating a joint model of a first joint of the robot using first motion deviation data to obtain first result data; simulating the joint model using second motion deviation data to obtain second result data; taking the motion deviation data corresponding to one of the first result data and the second result data meeting one or more preset conditions as a target motion deviation data for the first joint; and determining type information of a reducer in a configuration information of the first joint based on the target motion deviation data. In the present disclosure, the motion deviation of the first joint that is relatively accurate can be obtained through the results of the two simulations.

A boot seal is detachably attached to a joint including: a drive link and link members; and a ball joint for linking them to be relatively rotatable or swivelable. The ball joint includes a ball shank having a shaft section fixed to the drive link and a ball section provided on one end of the shaft section and a holder that is fixed to an end section of each of the link members and that has a ball-receiving section for supporting the ball section in a state where the ball section is surrounded. A cover main body that covers the gap between the ball shank and the holder and that is formed of a flexible material includes through-holes through which the shaft section is made to pass, a slit that continuously extends between the through-holes, and a fastener opening and hermetically closing the slit along the entire length thereof.

A torque balancing device, a self-balancing joint and a surgical robot are provided. The torque balancing device includes a first body, a second body, an elastic part and a transmission part, the first body includes a first connection end and a first opposite end opposite to the first connection end, the second body includes a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body is rotatably connected to the first connection end of the first body, the elastic part is provided in the first body, and the transmission part is connected to the second body and the elastic part.

A torque balancing device, a self-balancing joint and a surgical robot are provided. The torque balancing device includes a first body, a second body, an elastic part and a transmission part, the first body includes a first connection end and a first opposite end opposite to the first connection end, the second body includes a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body is rotatably connected to the first connection end of the first body, the elastic part is provided in the first body, and the transmission part is connected to the second body and the elastic part.

The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.

The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.

A motorized leg (1) is provided with a lower knee member (110), an upper knee member (120), a knee joint mechanism (130) coupling the lower knee member (110) and the upper knee member (120) such that the angle therebetween can be changed, and an extendable device (140) capable of changing the angle between the lower knee member (110) and the upper knee member (120) by extending and contracting. The extendable device (140) comprises a motor (M) and a transmission (T) that transmits power from the motor (M). The transmission (T) comprises a first transmission mechanism (T1) that transmits power from the motor (M) at a first gear ratio, and a second transmission mechanism (T2) that transmits power from the motor (M) at a second gear ratio different from the first gear ratio.