Robot safety joint device based on variable stiffness principle

The invention discloses a robot safety joint device based on a variable stiffness principle. The robot safety joint device is mainly used for protecting people and a robot in sudden accidents such as overload of the robot. A safety joint mainly comprises a rotating module, a supporting frame, an elastic body module, a guiding module and a base module. According to the robot safety joint device based on the variable stiffness principle, the concept of a variable stiffness mechanism and the concept of a robot joint are combined, the rigid-flexible coupling effect is achieved, the good stress boundary condition is obtained through design of a cam contour line, the safety joint has the higher stiffness threshold value control precision and operation stability, a novel machinable spring is adopted, more accurate rigidity, higher strength and better stability are guaranteed, and meanwhile miniaturization of the whole structure is facilitated. 本发明公开了基于变刚度原理的机器人安全关节装置，主要用来在机器人出现过载等突发事故中对人及机器进行保护。安全关节主要包括转动模块、支撑架、弹性体模