Joint structure for robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorMasayuki KAMON
Life of this patent
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Abstract
A joint structure for a robot includes a first link and a second link rotatably coupled to each other through a joint part and a first linear-motion actuator and a second linear-motion actuator coupling the first link to the second link at a part separated from the joint part. The first linear-motion actuator and the second linear-motion actuator are each connected with the first link and the second link so as to be rotatable about two axes perpendicular to each other. When the second link is in an upright state, a first shaft member and second shaft members are disposed so that an angle formed by axial centers thereof becomes a right angle and the axial centers are oriented in a horizontal direction.
Claims3
A joint structure for a robot, comprising:
- a first link and a second link, rotatably coupled to each other through a joint part;
- and
- a first linear-motion actuator and a second linear-motion actuator, each having a main body and a shaft member configured to linearly move in an axial center direction relatively to the main body, the linear-motion actuators coupling the first link to the second link at a part separated from the joint part,
- wherein the first linear-motion actuator and the second linear-motion actuator are each connected with the first link and the second link so as to be rotatable about two axes perpendicular to each other,
- wherein the joint part couples the second link to the first link so as to be rotatable about one of the first shaft member and the second shaft member, and
- wherein when the second link is in an upright state, the first shaft member and the second shaft member are disposed so that an angle formed by axial centers thereof becomes a right angle and the axial centers are oriented in a horizontal direction.
Dependencies are inferred from the claim text.