Rotary actuator unit, and joint unit for robot or heavy equipment provided with same

Abstract

Provided is a rotary actuator unit using simple link structure, and a robot joint unit employing the same. The rotary actuator unit comprises a first input part 10, a second input part 20, an output link member 30, an intermediate link member 40, an output side shaft OP, an intermediate shaft MP, and an input side shaft IP. The first input part 10 and the second input part 20 constitute an input side link mechanism L1 having two degrees of freedom. The intermediate link member 40 and the output link member 30 constitute an output side link mechanism L2. A tip of the input side link mechanism L1 and a base end of the output side link mechanism L2 are rotatably supported around the input side shaft IP. A two dimensional position of the input side shaft IP is freely manipulated by controlling a first liner actuator 11 of the first input part 10 and a second linear actuator 21 of the second input part 20. A rotation of the output link member around the output shaft OP is used as an output.

Dependencies are inferred from the claim text.