Title:
HUMANOID ROBOT JOINT MECHANISM
Document Type and Number:
WIPO Patent Application WO/2015/151842
Kind Code:
A1
Abstract:
A joint mechanism (Y1) is provided with a first member (100); a second member (200) having a first part (210) and a second part (220); a gear device (300) that includes a crank shaft (10) on which a first eccentric part (10a) is formed, a first rocking gear (14) including a first insertion hole (14b) and a first outer tooth (14a), a carrier (4) which holds the crank shaft (10) and an outer casing (2) including an inner tooth pin (3), the gear device being configured so that the carrier (4) and the outer casing (2) are concentrically displaced by the rocking of the first rocking gear (14); a first fixing member (30) that fixes the outer casing (2) and the first member (100) to each other; and a second fixing member (40) that fixes the carrier (4) and the second member (200) to each other. The second fixing member (40) includes a one-side fixing portion (40a) that fixes the first part (210) and the carrier (4) to each other and an other-side fixing portion (40b) that fixes the second part (220) and the carrier (4) to each other.
Inventors:
WANG HONGYOU (JP)
MAKIZOE YOSHIAKI (JP)
SHIMADA HIDESHI (JP)
MAKIZOE YOSHIAKI (JP)
SHIMADA HIDESHI (JP)
Application Number:
PCT/JP2015/058342
Publication Date:
October 08, 2015
Filing Date:
March 19, 2015
Export Citation:
Assignee:
NABTESCO CORP (JP)
International Classes:
B25J17/00; F16H1/32
Foreign References:
| JP2012223081A | 2012-11-12 | |||
| JPH05272598A | 1993-10-19 | |||
| JP2005297079A | 2005-10-27 |
Attorney, Agent or Firm:
KOTANI, Etsuji et al. (JP)
Etsuji Kotani (JP)
Etsuji Kotani (JP)
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