Joint device for robot device and leg- walking robot device
AssigneeSony Corporation
InventorMasaki Nagatsuka
Life of this patent
Estimating the term…
Abstract
If an external force is applied to any one of the legs of a walking robot, or if the output-end gear provided in the leg stops rotating, the motor and gears for driving the leg are prevented from breaking. More specifically, the thigh section 3 of the leg comprises a slip gear 12 arranged in a column of gears. The slip gear 12 slips in the direction opposite to the direction the slip gear is rotated with a force transmitted between an electric motor 11, i.e., drive means, and the thigh section 3, when this force becomes equal to or greater than a predetermined value.
Claims13
A joint device for use in a robot apparatus having a first component and a second component that are rotatable around an axle, said device comprising:
- drive means for transmitting a force through a set of gears including the first component and the second component;
- and
- a slip gear arranged in the set of gears and having first and second members in which the first member has a V-shaped groove provided on its outer circumferential surface and said second member has a mating V-shaped tooth member provided on its inner circumferential surface whereby said slip gear is designed to slip in a direction opposite to a direction the slip gear is rotated with a force transmitted between the drive means and the first or second component, when the force becomes equal to or greater than a predetermined value.
A walking device for use in a robot apparatus having leg sections, each of said leg sections designed to be driven by a drive force transmitted from drive means through a set of gears, said device comprising:
- a slip gear arranged in the set of gears and having first and second members in which the first member has a V-shaped groove provided on its outer circumferential surface and said second member has a mating V-shaped tooth member provided on its inner circumferential surface whereby said slip gear is designed to slip in a direction opposite to a direction the slip gear is rotated with a force transmitted between the drive means and one leg section, when the force becomes equal to or greater than a predetermined value.
A walking robot apparatus having a plurality of leg sections, each of said leg sections designed to be driven by a drive force transmitted from drive means through a set of gears, said apparatus comprising:
- a slip gear arranged in the set of gears and having first and second members in which the first member has a V-shaped groove provided on its outer circumferential surface and said second member has a mating V-shaped tooth member provided on its inner circumferential surface whereby said slip gear is designed to slip in a direction opposite to a direction the slip gear is rotated with a force transmitted between the drive means and one leg section, when the force becomes equal to or greater than a predetermined value.
Dependencies are inferred from the claim text.