Modular driving device of elastic joints of multi-joint hopping robot

The invention provides a modular driving device of elastic joints of a hopping robot. The device comprises a joint shaft bracket, a joint shaft, a joint shaft fixing pin, a joint torsion spring, a joint bearing, a joint bearing support, a motor mounting rack, a motor, an electromagnetic clutch, an electromagnetic clutch mounting rack, a worm small support bearing, a worm-wheel shaft, a worm gear support large bearing, a worm gear support large bearing end cover, a worm shaft, a worm support large bearing, a worm gear mounting rack, a worm gear support small bearing, a synchronous toothed belt, a synchronous pulley, an electromagnetic clutch bracket, a tension wheel mounting rack, a tension wheel, a worm support large bearing end cover, a worm fixing pin and a worm. The modular driving device is suitable for driving the joints of the hopping robot, and has the characteristics of low power demand for the motor, and high hopping performance; and the motor performance is played fully.