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US 2026/0216901 A1Published application
Robot joint structure and robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsSo YUKIZAKI, Yuki TANAKA, Masayuki KAMON
Life of this patent
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Abstract
A joint structure of a robot includes a first link mechanism configured rotatably about a first axis and is rotatably connected to a first frame and an end of a first linear actuator; and a second link mechanism configured rotatably about the first axis and is rotatably connected to the first frame and the end of the second linear actuator.
Claims8
A robot joint structure comprising:
- a first frame and a second frame;
- a support that rotatably supports the second frame about a first axis, the support being rotatably supported by the first frame about a second axis perpendicular to the first axis;
- a first linear actuator and a second linear actuator, each of which having one end connected to a corresponding one of both sides of the second frame and another end operating to extend/retract;
- a first link mechanism that is configured rotatably about the first axis and is rotatably connected to the first frame and the another end of the first linear actuator;
- and
- a second link mechanism that is configured rotatably about the first axis and is rotatably connected to the first frame and the another end of the second linear actuator.
3 more elements
A robot comprising a joint structure that forms at least one of a waist joint, a neck joint or a wrist joint, wherein
- the joint structure includes
- a first frame and a second frame,
- a support that rotatably supports the second frame about a first axis, the support being rotatably supported by the first frame about a second axis perpendicular to the first axis;
- a first linear actuator and a second linear actuator, each of which having one end connected to a corresponding one of both sides of the second frame and another end operating to extend/retract,
- a first link mechanism that is configured rotatably about the first axis and is rotatably connected to the first frame and the another end of the first linear actuator;
- and
- a second link mechanism that is configured rotatably about the first axis and is rotatably connected to the first frame and the another end of the second linear actuator.
4 more elements
Dependencies are inferred from the claim text.