Title:
DRIVE MECHANISM, AND ROBOT ARM
Document Type and Number:
WIPO Patent Application WO/2023/171704
Kind Code:
A1
Abstract:
A drive mechanism according to the present disclosure comprises a drive portion A, a driven portion 52 configured to be capable of rotating about a first axis of rotation 21 on the basis of a driving force transmitted from the drive portion A, and an engagement structure 40 that engages the drive portion A and the driven portion 52 in such a way as to be capable of transmitting power, wherein the engagement structure 40 comprises an engaging portion 22 which is coupled to the drive portion A and which is configured to be capable of rotating about a second axis of rotation 31 extending parallel to the first axis of rotation 21, an engaged portion 41 which engages with the engaging portion 22, and resilient portions 42A, 42B which urge the engaged portion 41 toward the engaging portion 22, and wherein an engaging surface of the engaging portion 22 that engages with the engaged portion 41 includes: a first surface part 23Ba of which, when the engaging portion 22 is positioned in a first rotational position rotated a first amount of rotation relative to the driven portion 52 about the second axis of rotation 31, an amount of change of rotational torque acting on the drive portion A, based on a load acting on the engaging portion 41 from the engaged portion 23 with respect to a change in rotational position, is a first amount of change; and a second surface part 23Bb of which, when the engaging portion 22 is positioned in a second rotational position rotated a second amount of rotation, greater than the first amount of rotation, about the second axis of rotation 31, the amount of change of rotational torque acting on the drive portion A, based on the load acting on the engaging portion 41 from the engaged portion 23 with respect to a change in rotational position, is a second amount of change, smaller than the first amount of change.
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Inventors:
TSUCHIYA KOKI (JP)
Application Number:
PCT/JP2023/008775
Publication Date:
September 14, 2023
Filing Date:
March 08, 2023
Export Citation:
Assignee:
SUMITOMO HEAVY INDUSTRIES (JP)
International Classes:
B25J17/00
Foreign References:
| JP2018132070A | 2018-08-23 | |||
| JP2014097548A | 2014-05-29 |
Attorney, Agent or Firm:
INABA, Yoshiyuki et al. (JP)
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