Title:
ロボットの関節構造体
Document Type and Number:
Japanese Patent JP6920336
Kind Code:
B2
Abstract:
A joint structure for a robot of the present disclosure includes a first link (10) and a second link (20), rotatably coupled to each other through a joint part (40). The joint part (40) has a first rotary member (41) disposed so that an axial center thereof is oriented in a first direction and connected to the first link (10), and a pair of the second rotary members (42A), (42B) disposed so that axial centers thereof are oriented in a second direction. A first linear-motion actuator (30A) is connected at a base-end part thereof to the second link (20) and connected at a tip-end part thereof to the second rotary member (42A). A second linear-motion actuator (30B) is connected at a base-end part thereof to the second link (20) and connected at a tip-end part thereof to the second rotary member (42B). The first rotary member (41) is pivoted relatively to the second rotary members (42A), (42B) by pivoting the second rotary members (42A), (42B).
Inventors:
Masayuki Sweep
Application Number:
JP2018552976A
Publication Date:
August 18, 2021
Filing Date:
November 24, 2017
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J17/00
Domestic Patent References:
| JP7024771A | ||||
| JP2013091122A | ||||
| JP2009297809A | ||||
| JP2002079487A | ||||
| JP60052294A |
Foreign References:
| WO2012039479A1 |
Attorney, Agent or Firm:
Patent business corporation Yuko patent office