JOINT MECHANISM OF ROBOT AND ROBOT - CHIBA INST TECHNOLOGY

Title:

JOINT MECHANISM OF ROBOT AND ROBOT

Document Type and Number:

Japanese Patent JP2015016513

Kind Code:

A

Abstract:

PROBLEM TO BE SOLVED: To provide a joint mechanism of a robot which enables easy movement by reducing a force required when a second link is rotated and bent and stretched with respect to a first link.SOLUTION: A robot 1 includes an arm part 2 and a palm part 3. The palm part 3 includes a plurality of finger parts 4 mounted to its tip. The arm part 2 includes a motor 23 and a differential gear mechanism 5 connecting the arm part 2 and the palm part 3 to each other. The differential gear mechanism 5 includes a pinion 51 mounted to a connection part 31 installed in the palm part 3, and a pair of side gears 52, 53 coaxially arranged with a predetermined distance so as to engage with the pinion 51. The motor 23 includes a wire 6 mounted to an output shaft 23A of the motor 23, and the wire 6 is connected to the finger parts 4 through a through hole of the pinion 51 and a through hole of the connection part 31. The robot 1 can perform drive control of the finger parts 4 by pulling the wire 6 with the motor 23.

Inventors:

YAMATO HIDEAKI
TODA KENGO
SHIMIZU MASAHARU
KODACHI TAKASHI
OKUMURA HISASHI
FURUTA TAKAYUKI

Application Number:

JP2013143194A

Publication Date:

January 29, 2015

Filing Date:

July 09, 2013

Export Citation:

Click for automatic bibliography generation Help