Robot joint structure and robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsJunichi KARASUYAMA, Masayuki KAMON
Life of this patent
Estimating the term…
Abstract
A first link (11) and a second link (12); a joint (20) that connects the first link (11) and the second link (11) to each other; a driver (30) that rotates the first link (11) and the second link (12) relative to each other; and a movable cover (40) that is configured movably with respect to the joint (20) to move in response to relative rotation between the first link (11) and the second link (12) to cover the joint (20) are provided.
Claims13
A robot joint structure comprising:
- a first link and a second link;
- a joint that connects the first link and the second link to each other;
- a driver that rotates the first link and the second link relative to each other;
- and
- a movable cover that is configured movably with respect to the joint to move in response to relative rotation between the first link and the second link to cover the joint.
The robot joint structure according to claim 2, wherein
- the engager includes one selected from a group consisting of a convex protrusion and an arc-shaped elongated hole;
- the engagee includes another selected from the group consisting of the convex protrusion and the arc-shaped elongated hole;
- and
- the movable cover moves to rotate in response to contact between the protrusion and one end of an inner circumferential surface of the elongated hole.
The robot joint structure according to claim 3, wherein the movable cover does not move while the protrusion moves within the elongated hole regardless of the relative rotation between the first link and the second link;
- and
- the movable cover moves when the protrusion contacts the one end of the inner circumferential surface of the elongated hole in response to the relative rotation between the first link and the second link.
The robot joint structure according to claim 3, wherein
- the joint includes a third link that connects the first link and the second link to each other;
- the engager includes the protrusion, which is provided to the third link;
- the engagee includes the arc-shaped elongated hole;
- and
- the movable cover moves in response to the contact between the protrusion, which is provided to the third link, and the one end of the inner circumferential surface of the elongated hole.
A robot comprising:
- a first link and a second link;
- a joint that connects the first link and the second link to each other;
- a driver that rotates the first link and the second link relative to each other;
- and
- a movable cover that is configured movably with respect to the joint to move in response to relative rotation between the first link and the second link to cover the joint.
Dependencies are inferred from the claim text.