Title:
関節駆動装置及び多軸マニュピレータ
Document Type and Number:
Japanese Patent JP6687928
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a joint driving device and a multi-axial manipulator capable of reducing weights of joints without compromising a loadable weight, as well as reducing a weight of the whole device.SOLUTION: A joint driving device for driving joints connecting adjacent link members with each other, drives a link member to be driven using a driving power provided to a drive shaft disposed in a root-side link member, and comprises: a drive power transmission drive means for transmitting the drive power to a succeeding joint; and a switch means for switching between a drive and a stop of the link member to be driven by the drive power transmission drive means. The drive power transmission drive means is constituted of a differential gear mechanism.SELECTED DRAWING: Figure 1
Inventors:
Hiroshi Yamashita
Application Number:
JP2016063297A
Publication Date:
April 28, 2020
Filing Date:
March 28, 2016
Export Citation:
Assignee:
Hiroshi Yamashita
International Classes:
B25J17/00; F16H1/28; F16H19/02; F16H48/10; F16H48/20
Domestic Patent References:
| JP2007069286A | ||||
| JP61019586A | ||||
| JP63102888A |
Foreign References:
| US4685861 | ||||
| US20120077637 |