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Humanoid robot joint mechanism

A robot, human-like technology, applied in the direction of robots, manipulators, mechanical equipment, etc., can solve problems such as difficulty in increasing the transmission torque

Inactive Publication Date: 2016-11-23
NABLESCO CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the output-side gear of this harmonic gear unit is an elastic external gear, and therefore, the fixing position between the elastic external gear and the main body casing of the upper half of the main body is restricted, thereby making it difficult to increase the distance from the harmonic gear unit to the main body. Transmission torque of the upper half

Method used

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  • Humanoid robot joint mechanism
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Embodiment Construction

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, for convenience of description, each of the drawings referred to below simplifies the main members necessary for the description of the present embodiment. Therefore, the joint mechanism Y1 of the humanoid robot X1 according to the present embodiment may include arbitrary constituent members not shown in the drawings referred to in this specification.

[0018] Such as figure 1 As shown, the humanoid robot X1 of this embodiment is a humanoid robot having a plurality of joints. The humanoid robot X1 includes a joint mechanism Y1, and the joint mechanism Y1 includes: a first member 100, which constitutes a part from the hand to an elbow; a second member 200, which constitutes a part from the elbow to a shoulder; and a gear device 300, which constitutes an elbow. part and realize the relative rotation between the first member 100 and the second member 200 . In ...

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Abstract

A joint mechanism (Y1) is provided with a first member (100); a second member (200) having a first part (210) and a second part (220); a gear device (300) that includes a crank shaft (10) on which a first eccentric part (10a) is formed, a first rocking gear (14) including a first insertion hole (14b) and a first outer tooth (14a), a carrier (4) which holds the crank shaft (10) and an outer casing (2) including an inner tooth pin (3), the gear device being configured so that the carrier (4) and the outer casing (2) are concentrically displaced by the rocking of the first rocking gear (14); a first fixing member (30) that fixes the outer casing (2) and the first member (100) to each other; and a second fixing member (40) that fixes the carrier (4) and the second member (200) to each other. The second fixing member (40) includes a one-side fixing portion (40a) that fixes the first part (210) and the carrier (4) to each other and an other-side fixing portion (40b) that fixes the second part (220) and the carrier (4) to each other.

Description

technical field [0001] The invention relates to a joint mechanism of a humanoid robot. Background technique [0002] Conventionally, there is known a joint mechanism of a humanoid robot in which a first member and a second member are relatively rotatable via a reducer. Patent Document 1 describes a joint mechanism in which a main body upper half and a main body lower half are connected via a harmonic drive (Harmonic Drive: registered trademark) as a speed reducer. In this joint mechanism, the harmonic gear unit has a ring-shaped internal gear as a fixed-side gear, and an elastic external gear as an output-side gear that meshes with and rotates with the ring-shaped internal gear. In this joint mechanism, the upper shaft portion of the lower half of the main body is fixed to the ring-shaped internal gear, and the main body shell of the upper half of the main body is fixed to the elastic outer gear, so that the upper half of the main body and the lower half of the main body ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00F16H1/32
CPCB25J9/102F16H2001/325F16H1/32B25J17/0241Y10S901/25Y10S901/28
Inventor 王宏猷牧添義昭岛田英史
Owner NABLESCO CORP