Articulated mechanism and multi-joint device

Abstract

The present invention defines a movable range without increasing cost. A first joint mechanism (10) includes a base portion (110) and a rotating portion (120) that rotates with respect to the base portion (110). The first joint mechanism (10) includes a restricted portion (B1) that rotates with the rotating portion (120), a restriction portion (A1) that is provided on an extension of a rotation path of the restricted portion (B1) and has a function of restricting rotation of the restricted portion (B1) with respect to the base portion (110) to a first movable range, and a setting portion (C1) that is attached to the base portion (110) or the rotating portion (120) and sets a movable range of the restricted portion (B1) to a second movable range that is smaller than the first movable range.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a joint mechanism and a multi-joint device. BACKGROUND

[0002] For example, PTL 1 discloses a robot having a joint.

[0003] LIST OF CITATIONS

[0004] PATENT LITERATURE

[0005] PTL 1: Japanese Patent Publication No. 2003-117858 SUMMARY

[0006] TECHNICAL PROBLEM

[0007] In order to prepare a joint mechanism having different movable ranges, it is necessary to manufacture mechanisms respectively according to the respective movable ranges. In addition, a portion for adjusting the movable range can be worn and deteriorated due to long-time use of the joint mechanism. If so, it is necessary to completely change the joint mechanism. In addition, in a case where a plurality of joint mechanisms are used in one device, it is necessary to prepare a plurality of joint mechanisms having different movable ranges suitable for respective use positions or respective use purposes. These cases should result in an increase in cost.

[0008] SOLUTION TO PROBLEM

[0009] The present disclosure proposes a joint mechanism including a base portion and a rotating portion that rotates with respect to the base portion. The joint mechanism includes an adjusted portion that rotates with the rotating portion, an adjustment portion provided on an extension portion of a rotation locus of the adjusted portion and having a function of adjusting rotation of the adjusted portion with respect to the base portion in a first movable range, and a movable range defining member that is installed on the base portion or the rotating portion and defines a second movable range narrower than the first movable range as a movable range of the adjusted portion. The joint mechanism can define the movable range without an increase in cost.

[0010] The present disclosure proposes a multi-joint device including at least two joint mechanisms, wherein the at least two joint mechanisms include a first joint mechanism and a second joint mechanism, and a movable range defining member is installed on at least one of the first joint mechanism or the second joint mechanism. According to the multi-joint device, it is possible to provide a multi-joint device including joint mechanisms having different movable ranges without involving an increase in cost. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a perspective view of an upper rear side of a multi-joint device according to the present embodiment.

[0012] Figure 2is a perspective view of the upper front side of the multi-joint device according to the present embodiment.

[0013] Figure 3 is a left side view of the multi-joint device according to the present embodiment.

[0014] Figure 4 is a rear view of the multi-joint device according to the present embodiment.

[0015] Figure 5 is a perspective view of the upper rear side of the first joint mechanism according to the present embodiment.

[0016] Figure 6 is a perspective view of the upper front side of the first joint mechanism according to the present embodiment.

[0017] Figure 7 is a rear view of the first joint mechanism according to the present embodiment.

[0018] Figure 8 is a perspective view of the second bevel gear, the third bevel gear, and the periphery thereof in the first joint mechanism according to the present embodiment.

[0019] Figure 9 is a left side view of the first bevel gear and the periphery thereof according to the present embodiment.

[0020] Figure 10 is a cross-sectional view taken along the X-X line in Figure 9 .

[0021] Figure 11 is a perspective view of the first bevel gear according to the present embodiment.

[0022] Figure 12 is a perspective view of the movable range limiting member installed on the adjusted portion shown in Figure 11 .

[0023] Figure 13 is a left side view of the adjusted portion that rotates around the axis ax12, the adjustment portion that adjusts the rotation of the adjusted portion, and the periphery thereof.

[0024] Figure 14 is a left side view of the movable range limiting member installed on the adjustment portion shown in Figure 13 . DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present disclosure will be explained with reference to the accompanying drawings.

[0026] Overall Structure Overview

[0027] First, with reference to Figures 1 to 4 , an overall structure overview of the multi-joint device 1 according to the present embodiment will be described. Figure 1is a perspective view of the upper rear side of the multi-joint device according to the present embodiment. Figure 2 is a perspective view of the upper front side of the multi-joint device according to the present embodiment. Figure 3 is a left side view of the multi-joint device according to the present embodiment. Figure 4 is a rear view of the multi-joint device according to the present embodiment.

[0028] In the following description, the arrow X1, the arrow X2, the arrow Y1, the arrow Y2, the arrow Z1, and the arrow Z2 in the drawings respectively indicate the right side, the left side, the front side, the rear side, the upper side, and the lower side. In the following description, the posture of the multi-joint device 1 shown in Figures 1 to 4 In the following description, the axis ax11 and the axis ax22 extend in the front-rear direction, the axis ax12 and the axis ax32 extend in the left-right direction, and the axis ax21 and the axis ax31 extend in the upper-lower direction. It should be noted that these axes in the drawings do not exist in reality, and these axes are the centers of rotation of the respective components, which will be explained later. In the following description, the posture of the multi-joint device 1 shown in Figures 1 to 4 In the following description, the posture of the multi-joint device 1 shown in

[0029] In the present embodiment, the multi-joint device 1 includes a first joint mechanism 10, a second joint mechanism 20, and a third joint mechanism 30.

[0030] The first joint mechanism 10 includes a connection object portion 11 at one end thereof and a connection portion 12 at the other end thereof. In the first joint mechanism 10, the connection object portion 11 rotates relative to the connection portion 12 about the axis ax11 and about the axis ax12 extending in a direction perpendicular to the axis ax11. Thus, the first joint mechanism 10 is generally referred to as a two-axis integrated type.

[0031] Similarly, the second joint mechanism 20 includes a connection object portion 21 at one end thereof and a connection portion 22 at the other end thereof. In the second joint mechanism 20, the connection object portion 21 rotates relative to the connection portion 22 about the axis ax21 and about the axis ax22 extending in a direction perpendicular to the axis ax21. Thus, the second joint mechanism 20 is generally referred to as a two-axis integrated type. Similarly, the third joint mechanism 30 includes a connection object portion 31 at one end thereof and a connection portion 32 at the other end thereof. In the third joint mechanism 30, the connection object portion 31 rotates relative to the connection portion 32 about the axis ax31 and about the axis ax32 extending in a direction perpendicular to the axis ax31. Thus, the third joint mechanism 30 is generally referred to as a two-axis integrated type.

[0032] It should be noted that the term "rotation" in the present specification refers to an action of circumferential movement in a clockwise direction or a counterclockwise direction about an axis with a circumferential movement angle of less than 360 degrees.

[0033] In the present embodiment, the multi-joint device 1 includes a first joint mechanism 10, a second joint mechanism 20, and a third joint mechanism 30. Figures 1 to 4In this configuration, the connecting portion 12 of the first joint mechanism 10 is connected to the connecting target portion 21 of the second joint mechanism 20, and the connecting portion 22 of the second joint mechanism 20 is connected to the connecting target portion 31 of the third joint mechanism 30. In this configuration, rotation of the connecting target portion 21 relative to the connecting portion 22 causes rotation of the first joint mechanism 10 relative to the second joint mechanism 20. In addition, rotation of the connecting target portion 31 relative to the connecting portion 32 causes rotation of the first joint mechanism 10 and the second joint mechanism 20 relative to the third joint mechanism.

[0034] Joint mechanism

[0035] Next, details of the first joint mechanism 10 will be described with reference to Figures 5 to 10 , to exemplify the joint mechanism according to the present embodiment. It should be noted that since the second joint mechanism 20 and the third joint mechanism 30 have the same structure as the first joint mechanism 10 and operate in the same manner, detailed description of these joint mechanisms will be omitted. It should be noted that, Figures 5 to 10 Each shows the first joint mechanism 10 in a state in which the multi-joint device 1 is in a basic posture shown in FIG. 1. Figure 1

[0036] Figure 5 is a perspective view of the upper rear side of the first joint mechanism according to the present embodiment. Figure 6 is a perspective view of the upper front side of the first joint mechanism according to the present embodiment. Figure 7 is a rear view of the first joint mechanism according to the present embodiment. It should be noted that, Figures 1 to 4 the gear cover C shown in FIG. 2 is not shown in Figures 5 to 7 to present the bevel gears described later. It should be noted that the gear cover C is intended to prevent the bevel gears from being observed from the outside, and to protect the bevel gears from dust and the like.

[0037] Figure 8 is a perspective view of the second bevel gear, the third bevel gear, and the periphery thereof in the first joint mechanism according to the present embodiment. Figure 9 is a left side view of the first bevel gear and the periphery thereof. Figure 10 is a cross-sectional view taken along the X-X line in Figure 9

[0038] ​​The first joint mechanism 10 mainly includes a base portion 110 and a rotating portion 120. The rotating portion 120 rotates with respect to the base portion 110. Specifically, in the first joint mechanism 10, when the base portion 110 is fixed to a member outside the first joint mechanism 10, the rotating portion 120 rotates, and when the rotating portion 120 is fixed to a member outside the first joint mechanism 10, the base portion 110 rotates. The following description describes an example in which the rotating portion 120 rotates while the base portion 110 is fixed to a member outside the first joint mechanism 10.

[0039] The first joint mechanism 10 further includes a support portion 130. Incidentally, the support portion 130 becomes a part of the base portion 110 when the rotating portion 120 rotates around the axis ax11, and becomes a part of the rotating portion 120 when the rotating portion 120 rotates around the axis ax12, which will be described later in detail. Specifically, the support portion 130 rotates with respect to the rotating portion 120 when the rotating portion 120 rotates around the axis ax11, and rotates with respect to the base portion 110 when the rotating portion 120 rotates around the axis ax12.

[0040] Joint mechanism: rotating portion 120

[0041] As shown in Figure 9 , the rotating portion 120 includes a connection target portion 11 and a first bevel gear G1. The connection target portion 11 and the first bevel gear G1 are integrally formed. Therefore, the connection target portion 11 rotates together with the first bevel gear G1. It should be noted that the illustration of the connection target portion 11 is omitted in Figure 5 and Figure 6 .

[0042] The center of rotation of the first bevel gear G1 is the axis ax11. A bearing hole h1 is formed in a central portion of the first bevel gear G1, into which a first support shaft 131 of the support portion 130 is inserted, which will be described later. The bearing hole h1 can be formed to reach the rear surface side of the first bevel gear G1 (see Figure 6 ).

[0043] Joint mechanism: base portion 110

[0044] The base portion 110 includes an external housing H that forms the outside of the first joint mechanism 10, a second bevel gear G2, and a third bevel gear G3. The centers of rotation of the second bevel gear G2 and the third bevel gear G3 are the axis ax12.

[0045] The second bevel gear G2 is provided so as to mesh with the first bevel gear G1 and rotate around the axis ax12, as shown in Figure 5 , Figure 10 , etc.

[0046] As shown in Figure 8 and Figure 10 , the second bevel gear G2 is formed integrally with the spur gear SG1. The spur gear SG1 rotates when receiving a driving force from the first motor M1 as a driving source. The second bevel gear G2 rotates together with the spur gear SG1. The driving force from the first motor M1 can be input to the spur gear SG1 via a reduction gear or the like. The first motor M1 can be housed in the outer housing H. It should be noted that detailed explanation of the structure and arrangement of the first motor M1 will be omitted. The same applies to the second motor M2, which will be explained later.

[0047] A bearing hole h2 is formed in a central portion of the second bevel gear G2, into which a second support shaft 132 of the support portion 130 is inserted, which will be explained later. The bearing hole h2 is formed to reach the rear surface side of the spur gear SG1 (see Figure 8 ).

[0048] As shown in Figure 7 , 10 , etc., the third bevel gear G3 is engaged with the first bevel gear G1. In addition, the third bevel gear G3 is disposed to face the second bevel gear G2 in the direction of the axis ax12 and to rotate around the axis ax12.

[0049] As shown in Figure 8 and Figure 10 , the third bevel gear G3 is formed integrally with the spur gear SG2. The spur gear SG2 rotates when receiving a driving force from the second motor M2 different from the first motor M1 as a driving source. The third bevel gear G3 rotates together with the spur gear SG2. It should be noted that the driving force from the second motor M2 can be input to the spur gear SG2 via a reduction gear or the like.

[0050] A bearing hole h3 is formed in a central portion of the third bevel gear G3, into which a second support shaft 132 of the support portion 130 is inserted, which will be explained later (see Figure 8 ).

[0051] It should be noted that Figure 10 , etc. show the second bevel gear G2 including two radially separated members. However, this is only an example. The second bevel gear G2 can be formed by one member. The same applies to the third bevel gear G3.

[0052] Articulation mechanism: support portion 130

[0053] The support portion 130 includes a first support shaft 131 extending along an axis axl 1 and a second support shaft 132 extending along an axis axl 2. The first support shaft 131 and the second support shaft 132 each have a cylindrical or columnar shape.

[0054] The support portion 130 supports the first bevel gear Gl, the second bevel gear G2, and the third bevel gear G3. More specifically, the first support shaft 131 of the support portion 130 is inserted through a bearing hole hi formed in the first bevel gear Gl, and supports the first bevel gear Gl. Also, the second support shaft 132 of the support portion 130 is inserted through a bearing hole h2 formed in the second bevel gear G2 and a bearing hole h3 formed in the third bevel gear G3, and supports the second bevel gear G2 and the third bevel gear G3. It should be noted that a bearing or the like is preferably provided between an outer peripheral surface of the first support shaft 131 and an inner peripheral surface of the bearing hole hi of the first bevel gear Gl (not shown). Likewise, a bearing or the like is preferably provided between an outer peripheral surface of the second support shaft 132 and an inner peripheral surface of the bearing hole h2 of the second bevel gear G2 and between an outer peripheral surface of the second support shaft 132 and an inner peripheral surface of the bearing hole h3 of the third bevel gear G3.

[0055] The support portion 130 is separate from the first bevel gear Gl, the second bevel gear G2, and the third bevel gear G3. Specifically, the first bevel gear Gl is supported by the first support shaft 131 such that the inner peripheral surface of the bearing hole hi in the first bevel gear Gl is rotatable about the axis axl 1 relative to the outer peripheral surface of the first support shaft 131. Further, the second bevel gear G2 is supported by the second support shaft 132 such that the inner peripheral surface of the bearing hole h2 in the second bevel gear G2 is rotatable about the axis axl 2 relative to the outer peripheral surface of the second support shaft 132. In addition, the third bevel gear G3 is supported by the second support shaft 132 such that the inner peripheral surface of the bearing hole h3 in the third bevel gear G3 is rotatable about the axis axl 2 relative to the outer peripheral surface of the second support shaft 132.

[0056] The second support shaft 132 is supported by a bearing (not shown) provided on the right upper portion HR of the outer housing H and the left upper portion HL of the outer housing H so as to connect the right upper portion HR and the left upper portion HL, as shown in Figs. 1 and 2. It should be noted that the right upper portion HR includes a cover portion C2 covering the spur gear SG2, as shown in Figs. 1 and 2. The cover portion C2 is a part of the outer housing H and has a bottomed tubular shape formed along an outer shape of the spur gear SG2. The left upper portion HL also includes a cover portion Cl covering the spur gear SGl. The cover portion Cl is a part of the outer housing H and has a bottomed tubular shape formed along an outer shape of the spur gear SGl. Figure 5 Figure 5 and 6 It should be noted that the left upper portion HL includes a cover portion C3 covering the third bevel gear G3, as shown in Figs. 1 and 2. The cover portion C3 is a part of the outer housing H and has a bottomed tubular shape formed along an outer shape of the third bevel gear G3. The right upper portion HR also includes a cover portion C4 covering the second bevel gear G2, as shown in Figs. 1 and 2. The cover portion C4 is a part of the outer housing H and has a bottomed tubular shape formed along an outer shape of the second bevel gear G2.

[0057] As​Figure 8 As shown in FIGS. 1, 2, and 3, the second support shaft 132 passes through the bearing hole h2 and protrudes from the rear surface side of the spur gear SG1. In addition, the adjusted portion B2 extending in a direction perpendicular to the axis ax12 is attached to the protrusion that is the portion of the second support shaft 132 protruding from the rear surface side of the spur gear SG1. The adjusted portion B2 is attached to the second support shaft 132 so as to rotate together with the second support shaft 132 about the axis ax12. It should be noted that the details of the adjusted portion B2 will be explained later.

[0058] In addition, as shown in FIGS. 1, 2, and 3, Figure 5 , 8 The support portion 130 includes the intermediate portion 135 that is the portion where the first support shaft 131 and the second support shaft 132 intersect, and the intermediate portion 135 is positioned between the second bevel gear G2 and the third bevel gear G3. The second bevel gear G2 and the third bevel gear G3 are positioned with respect to the extension direction of the axis ax12 by the intermediate portion 135. The intermediate portion 135 is formed integrally with the first support shaft 131 and the second support shaft 132.

[0059] In addition, as shown in FIGS. 1, 2, and 3, Figure 8 The intermediate portion 135 includes the diameter-increased portion 135a that is larger in diameter than the first support shaft 131 and is integral with the first support shaft 131. The adjusted portion Al extending in a direction perpendicular to the axis ax11 is formed on the outer peripheral surface of the diameter-increased portion 135a. It should be noted that the details of the adjusted portion Al will be explained later.

[0060] It should be noted that on the side opposite to the diameter-increased portion 135a in the extension direction of the axis ax11, Figure 1 is shown in FIGS. 1, 2, and 3 but Figures 5 to 10 The gear cover C, which is not shown in FIGS. 1, 2, and 3, is preferably fixed to the intermediate portion 135.

[0061] Joint mechanism: rotation about the axis ax11

[0062] As described above, the second bevel gear G2 rotates upon receiving the driving force output from the first motor M1, and the third bevel gear G3 rotates upon receiving the driving force output from the second motor M2.

[0063] If the second bevel gear G2 rotates clockwise with respect to the X2 direction, the force F11 acts upward in the portion of the first bevel gear G1 engaged with the second bevel gear G2 (see Figure 10 ). If the third bevel gear G3 rotates counterclockwise with respect to the X2 direction, the force F22 acts downward in the portion of the first bevel gear G1 engaged with the third bevel gear G3 (see Figure 10 ). The first bevel gear G1 rotates about the axis ax11 toward Figure 10R1 direction (clockwise direction) as shown. According to the R1 direction rotation of the first bevel gear G1, the rotation section 120 rotates clockwise with respect to the Y2 direction.

[0064] If the second bevel gear G2 rotates counterclockwise with respect to the X2 direction, then a force F12 acts downward in the portion of the first bevel gear G1 that meshes with the second bevel gear G2 (see Figure 10 ). If the third bevel gear G3 rotates clockwise with respect to the X2 direction, then a force F21 acts upward in the portion of the first bevel gear G1 that meshes with the third bevel gear G3 (see Figure 10 ). Under the action of the forces F12 and F21, the first bevel gear G1 rotates about the axis ax11 in the Figure 10 R2 direction (counterclockwise direction) as shown. According to the R2 direction rotation of the first bevel gear G1, the rotation section 120 rotates counterclockwise with respect to the Y2 direction.

[0065] Therefore, if the second bevel gear G2 and the third bevel gear G3 rotate in opposite directions with respect to the same direction, then the first bevel gear G1 rotates about the axis a11. Therefore, the rotation section 120 rotates about the axis ax11 with respect to the base section 110.

[0066] Articulation mechanism: rotation about the axis ax12

[0067] If the second bevel gear G2 rotates clockwise with respect to the X2 direction, then a force F11 acts upward in the portion of the first bevel gear G1 that meshes with the second bevel gear G2 (see Figure 10 ). If the third bevel gear G3 rotates clockwise with respect to the X2 direction, then a force F21 acts upward in the portion of the first bevel gear G1 that meshes with the third bevel gear G3 (see Figure 10 ). With these upward forces F11 and F21, the first bevel gear G1 rotates about the axis ax12 to follow the shape of the second bevel gear G2 and the shape of the third bevel gear G3. Therefore, the rotation section 120 rotates about the axis ax12 in the Figure 9 R3 direction as shown.

[0068] If the second bevel gear G2 rotates counterclockwise with respect to the X2 direction, then a force F12 acts downward in the portion of the first bevel gear G1 that meshes with the second bevel gear G2 (see Figure 10 ). If the third bevel gear G3 rotates counterclockwise with respect to the X2 direction, then a force F22 acts downward in the portion of the first bevel gear G1 that meshes with the third bevel gear G3 (see Figure 10 ). With these downward forces F12 and F22, the first bevel gear G1 rotates about the axis ax12 to follow the shape of the second bevel gear G2 and the shape of the third bevel gear G3. Therefore, the rotation section 120 rotates about the axis ax12 in the Figure 9Rotate in the R4 direction as shown.

[0069] Additionally, when the rotating portion 120, including the first bevel gear G1, rotates around axis ax12... Figure 9 When rotating in the direction of R3 or R4, the outer peripheral surface of the first support shaft 131 of the support portion 130 is pushed against the inner peripheral surface of the bearing hole h1 in the first bevel gear G1. Therefore, the support portion 130 rotates about the axis ax12.

[0070] Range of motion of the joint mechanism

[0071] This embodiment employs a configuration that physically adjusts the rotational range of the first joint mechanism 10 around axes ax11 and ax12. More specifically, the rotational range around axis ax11 is adjusted by adjustment part A1, and the rotational range around axis ax12 is adjusted by adjustment part A2. A more detailed explanation will be given below.

[0072] The range of motion of the joint mechanism: rotation about axis ax11

[0073] Figure 11 This is a perspective view of the first bevel gear according to this embodiment.

[0074] In the first bevel gear G1, a central hole h11 is formed coaxially with the bearing hole h1, and its diameter is larger than that of the bearing hole h1 into which the first support shaft 131 is inserted. The adjustable part B1 is disposed on the inner circumferential surface of the central hole h11. The adjustable part B1 rotates about the axis ax11 together with the rotation of the first bevel gear G1 about the axis ax11.

[0075] like Figure 8 As shown, the adjusting part A1 is disposed on the first support shaft 131 of the support part 130. The adjusting part A1 is disposed on the extension portion of the rotation trajectory of the adjusted part B1. The adjusting part A1 has a... Figure 10 The function of adjusting the rotation of the adjustable part B1 within the first movable range Ra1 shown.

[0076] For example, if the first bevel gear G1 is oriented around axis ax11... Figure 10 When rotated in the direction of R1, the adjusted part B1 rotates together with the first bevel gear G1 in the R1 direction. After rotating a predetermined angle around axis ax11, the adjusted part B1 comes into contact with the adjusting part A1. When the adjusted part B1 is engaged with the adjusting part A1 in this way, the rotation of the adjusted part B1 in the R1 direction is adjusted.

[0077] If the first bevel gear G1 rotates around axis ax11... Figure 10The R2 direction rotation of the adjusted portion B1 is regulated in conjunction with the rotation of the first bevel gear G1. After rotating by a prescribed angle about the axis ax11, the adjusted portion B1 comes into contact with the adjusting portion A1. When the adjusted portion B1 is caught on the adjusting portion A1 in this way, the R2 direction rotation of the adjusted portion B1 is regulated.

[0078] The rotation of the adjusted portion B1 about the axis ax11 is regulated in this way, thereby regulating the rotation of the rotating portion 120 about the axis ax11 relative to the base portion 110.

[0079] In the first joint mechanism 10 according to the present embodiment, a movable range regulating member RA1 is installed on the adjusted portion B1 of the first bevel gear G1. Figure 12 is installed on the adjusted portion B1 of the first bevel gear G1. Figure 11 A perspective view of the movable range regulating member on the adjusted portion.

[0080] The movable range regulating member RA1 is configured to set the movable range of the adjusted portion B1 to be narrower than Figure 10 the first movable range Ra1 shown. The movable range regulating member RA1 is separate from the adjusted portion B1, and is preferably attachable to / detachable from the adjusted portion B1.

[0081] Figure 12 An example is shown in which the movable range regulating member RA1 is formed to almost completely cover the adjusted portion B1, and has a length in the circumferential direction of the axis ax11 that is longer than the adjusted portion B1. However, the movable range regulating member RA1 is not limited to this example. It is sufficient to set the movable range regulating member RA1 in a manner in which the movable range of the adjusted portion B1 becomes at least narrower than Figure 10 the first movable range Ra1 shown. For example, the movable range regulating member RA1 can be installed so as to cover only one end portion side of the adjusted portion B1 in the circumferential direction of the axis ax11. The movable range regulating member RA1 does not necessarily have to be formed to cover the adjusted portion B1, and therefore the movable range regulating member RA1 can be provided separate from the adjusted portion B1 in the circumferential direction of the axis ax11. In this case, the movable range regulating member RA1 is preferably fixedly installed on the inner peripheral surface of the central hole h11 of the first bevel gear G1.

[0082] In the present embodiment, since the movable range regulating member RA1 is used, for the purpose of use of the first joint mechanism 10 and the like, it is possible to control the movable range of the rotating portion 120 rotating about the axis ax11. Therefore, since the first joint mechanism 10 according to the present embodiment is used, it is not necessary to prepare joint mechanisms having different movable ranges according to respective use purposes. Therefore, it is possible to suppress an increase in cost.

[0083] Furthermore, since the adjustable portion B1 is configured to contact the adjusting portion A1 according to rotation about axis ax11, the adjustable portion B1 may wear and deteriorate after long-term use. In this embodiment, the movable range limiting member RA1 is installed to cover the adjustable portion B1, thereby suppressing wear or deterioration of the adjustable portion B1. That is, the movable range limiting member RA1 additionally has the function of protecting the adjustable portion B1. If the movable range limiting member RA1 wears and deteriorates, it can be removed from the adjustable portion B1 and replaced with a new member. Since the movable range limiting member RA1 is replaceable, it is not necessary to replace the first joint mechanism 10 itself even when the movable range limiting member RA1 wears and deteriorates. Therefore, cost increases can be suppressed. It should be noted that it is sufficient for the movable range limiting member RA1 to be at least separated from the adjustable portion B1. The movable range limiting member RA1 may contain the same material as the adjusted portion B1, or may contain a material different from the material of the adjusted portion B1.

[0084] The range of motion of the joint mechanism: rotation about axis ax12

[0085] Figure 13 It is a left-side view of the adjustable part that rotates around axis ax12, the adjusting part that adjusts the rotation of the adjustable part, and its surroundings.

[0086] An adjusting part A2 is disposed in the upper left portion HL (cover C2) of the outer housing H of the first joint mechanism 10. The adjusting part A2 is disposed on an extension of the rotation trajectory of the supported part B2. The adjusting part A2 has the function of adjusting the rotation of the adjusted part B2 within a predetermined range of motion. Preferably, as follows... Figure 5 As shown, the adjusting part A2 has an arc shape that follows the shape of the upper left part HL (cover C2). The adjusting part A2 adjusts the movable range of the adjusted part B2 according to its length in the circumferential direction along the axis ax12. Specifically, when the adjusting part A2 is longer in the circumferential direction along the axis ax12, the movable range of the adjusted part B2 becomes narrower. When the adjusting part A2 is shorter in the circumferential direction along the axis ax12, the movable range of the adjusted part B2 becomes wider.

[0087] For example, if the first bevel gear G1 is oriented around axis ax12... Figure 9When rotated in the R3 direction as shown, the adjusted part B2 rotates together with the first bevel gear G1 in the R3 direction. Then, after rotating a predetermined angle about axis ax12, the adjusted part B2 comes into contact with the adjusting part A2. When the adjusted part B2 is engaged with the adjusting part A2 in this way, the rotation of the adjusted part B2 in the R3 direction is adjusted.

[0088] If the first bevel gear G1 rotates around axis ax12... Figure 9 When rotated in the R4 direction as shown, the adjusted part B2 rotates together with the first bevel gear G1 in the R4 direction. After rotating a predetermined angle around axis ax12, the adjusted part B2 comes into contact with the adjusting part A2. When the adjusted part B2 is engaged with the adjusting part A2 in this way, the rotation of the adjusted part B2 in the R4 direction is adjusted.

[0089] As explained above, the rotation of the adjusted portion B2 about axis ax12 is adjusted, thereby adjusting the rotation of the rotating portion 120 relative to the base portion 110 about axis ax12.

[0090] In the first joint mechanism 10 according to this embodiment, the movable range limiting member RA2 is mounted on the adjusting portion A2. Figure 14 It is installed in Figure 13 The left-side view of the movable range limiting member on the adjustable part shown.

[0091] The movable range limiting component RA2 will have its movable range set to be greater than that of the adjustable part B2. Figure 13 The first movable range Ra3 is narrower than the second movable range Ra4. The movable range defining member RA2 is separate from the adjusting part A2, and is preferably attachable to / detachable from the adjusting part A2.

[0092] Figure 14 An example is shown in which the movable range defining member RA2 is mounted on one end side of the adjusting part A2 in the circumferential direction along the axis ax12. However, the movable range defining member RA2 is not limited to this example. The movable range of the adjusted part B2 becomes at least greater than... Figure 13 It is sufficient to provide the movable range limiting member RA2 in a narrow manner for the first movable range Ra3 shown. For example, the movable range limiting member RA2 can be mounted at both ends of the adjusting part A2 in the circumferential direction along the axis ax12. Alternatively, the movable range limiting member RA2 can be provided separately from the adjusting part A2 in the circumferential direction along the axis ax12. In this case, when the rotation trajectory of the adjusting part B2 extends around the axis ax12, the movable range limiting member RA2 can be fixed to the outer housing H of the base part 110, for example.

[0093] In the present embodiment, since the movable range limiting member RA2 is used, it is possible to control the movable range of the rotation of the rotation section 120 about the axis ax12 in accordance with the use purpose of the first joint mechanism 10 or the like. Therefore, since the first joint mechanism 10 according to the present embodiment is used, it is not necessary to prepare joint mechanisms having different movable ranges in accordance with respective use purposes. Therefore, it is possible to suppress an increase in cost.

[0094] Further, since the adjusted section B2 comes into contact with the adjustment section A2 with the rotation of the adjustment section B2 about the axis ax12, the adjustment section A2 can be worn and deteriorated after long-term use. In the present embodiment, since the movable range limiting member RA2 is installed so as to cover the portion of the adjustment section A2 which comes into contact with the adjusted section B2, the wear or deterioration of the adjustment section A2 is suppressed. That is, the movable range limiting member RA2 additionally has a function of protecting the adjustment section A2. If the movable range limiting member RA2 is worn and deteriorated, the movable range limiting member RA2 can be removed from the adjustment section A2 and replaced with a new member. Since the movable range limiting member RA2 is replaceable, it is not necessary to replace the first joint mechanism 10 itself even when the movable range limiting member RA2 is worn and deteriorated. Therefore, it is possible to suppress an increase in cost.

[0095] Other

[0096] Reference Figures 5 to 14 The first joint mechanism 10 has been described. Preferably, the second joint mechanism 20 and the third joint mechanism 30 also have the same configuration. That is, it is preferable that the first joint mechanism 10, the second joint mechanism 20, and the third joint mechanism 30 are identical to each other. Further, the presence / absence of the movable range limiting members RA1 and RA2 is preferably decided in accordance with the use purpose or in accordance with the position. In Figures 1 to 4 In the multi-joint device 1 shown, the movable range limiting member RA2 is installed on the adjustment section A2 of each of the first joint mechanism 10 and the third joint mechanism 30, whereas no movable range limiting member is installed on the adjustment section A2 of the second joint mechanism 20. In this configuration, the rotation movable range of the first joint mechanism 10 about the axis ax12 is equal to the rotation movable range of the third joint mechanism 30 about the axis ax32. On the other hand, the rotation movable range of the second joint mechanism 20 about the axis ax22 is wider than the rotation movable range of the first joint mechanism 10 about the axis ax12. It should be noted that the presence / absence of the movable range limiting member RA1 installed on the adjusted section B1 of the first bevel gear G1 is also preferably decided in accordance with the use purpose or in accordance with the position. Although this is not shown in the drawings.

[0097] It should be noted that the multi-joint device 1 is preferably used for a robot in the form of a human or an animal that can walk, for example, on two legs or four legs. In the case where the multi-joint device 1 including a plurality of joint mechanisms is used for an arm of a humanoid robot, for example, one of the joint mechanisms is used as a shoulder joint, and another joint mechanism is used as an elbow joint.

[0098] In the present embodiment, the multi-joint device 1 including three joint mechanisms has been described. However, the number of joint mechanisms is not limited, and thus, the number can be one, two, four, or more.

[0099] In the multi-joint device 1 shown in FIG. 1, any other joint mechanism can be additionally connected to the connection object portion 11 of the first joint mechanism 10 or the connection portion 32 of the third joint mechanism 30. Furthermore, any type of end effector can be additionally connected to the connection object portion 11 or the connection portion 32. Figure 1

[0100] In the above-described embodiment, the second bevel gear G2 and the third bevel gear G3 rotate in the same direction or in opposite directions when viewed from the same direction. Alternatively, the second bevel gear G2 or the third bevel gear G3 can be driven to rotate, and the other gear stops. In this case, the rotating portion 120 rotates with respect to the base portion 110 so as to be twisted with respect to the axis ax11 and the axis ax12, but detailed description thereof will be omitted.

[0101] In addition, preferably, the adjustment portion A2 is formed in surface contact with the adjusted portion B2. If so, in a state where the movable range limiting member RA2 is not installed, the adjustment portion A2 receives an impact caused by contact with the adjusted portion B2 by a surface thereof, and a local force is suppressed from acting on the adjustment portion A2. Thus, durability of the adjustment portion A2 is improved, and a life of the adjustment portion A2 is increased. In addition, the movable range limiting member RA2 is preferably also formed in surface contact with the adjusted portion B2. If so, the movable range limiting member RA2 receives an impact caused by contact with the adjusted portion B2 by a surface thereof, and a local force is suppressed from acting on the movable range limiting member RA2. Thus, durability of the movable range limiting member RA2 is improved, and a life of the movable range limiting member RA2 is increased.

[0102] In the present embodiment, the movable range limiting member RA2 is installed on the adjustment portion A2 provided on the rear surface side of the second bevel gear G2 and the spur gear SG1, whereby the movable range limiting member RA2 can be easily accessed from the outside. That is, the movable range limiting member RA2 is easily attached to / detached from the adjustment portion A2.

[0103] ​In the above embodiment, the adjustable portion B1 is disposed on the inner circumferential surface of the center hole h11 of the first bevel gear G1. Alternatively, the adjustable portion B1 may be disposed on the rear surface side of the first bevel gear G1. If so, preferably, the adjusting portion A1 is disposed on a protrusion that is part of the first support shaft 131 protruding from the rear surface side of the first bevel gear G1. However, in this case, it is difficult to connect another component to the connection object portion 11 of the rotating portion 120. That is, when the configuration of this embodiment, in which the adjusting portion B1 is disposed on the inner circumferential surface of the center hole h11 of the first bevel gear G1, is adopted, a structure is achieved in which another component can be easily connected to the rotating portion 120 of the first joint mechanism 10.

[0104] In this embodiment, the movable range limiting member RA1 is mounted on the adjustable portion B1. Alternatively, the movable range limiting member RA1 may be mounted on the adjustable portion A1. Furthermore, in this embodiment, the movable range limiting member RA2 is mounted on the adjustable portion A2. Alternatively, the movable range limiting member RA2 may be mounted on the adjustable portion B2.

[0105] Incidentally, in this embodiment, the base portion 110 is fixed while the rotating portion 120 rotates. However, it is sufficient for the rotating portion 120 to rotate relative to the base portion 110. That is, if the rotating portion 120 is fixed, the base portion 110 can rotate. In this case, the adjustable portion B1 is used as a member for adjusting the rotation of the adjusting portion A1, and the adjustable portion B2 is used as a member for adjusting the rotation of the adjusting portion A2.

Claims

1. A joint mechanism comprising a base portion and a rotating portion rotatable relative to the base portion, the joint mechanism comprising: The adjustable portion rotates together with the rotating portion, the rotating portion including a first bevel gear that rotates about a first axis. An adjustment section is disposed on an extension of the rotation trajectory of the adjustable section and has the function of adjusting the rotation of the adjustable section relative to the base section within a first movable range. The base section includes a second bevel gear and a third bevel gear. The second bevel gear meshes with the first bevel gear and rotates about a second axis direction intersecting the first axis direction. The third bevel gear meshes with the first bevel gear, is arranged to face the second gear in an extension direction relative to the second axis direction, and rotates about the second axis direction. as well as A movable range defining member is mounted on the base portion or the rotating portion, and defines a second movable range narrower than the first movable range as the movable range of the adjustable portion, wherein the adjustable portion includes a first adjustable portion that rotates relative to the base portion about the first axis and a second adjustable portion that rotates relative to the base portion about the second axis. The adjustment part includes a first adjustment part and a second adjustment part. The first adjustment part is disposed on the extended portion of the rotation trajectory of the first adjusted part, and the second adjustment part is disposed on the extended portion of the rotation trajectory of the second adjusted part.

2. The joint mechanism according to claim 1, wherein... The movable range limiting member is mounted on the adjustable part or the adjusting part.

3. The joint mechanism according to claim 1, wherein... The first adjustable portion is disposed on the inner circumferential surface of the central hole, which is coaxially formed with respect to the first axial direction of the first bevel gear. The first adjustment part is disposed on the first support shaft that supports the first bevel gear.

4. The joint mechanism according to claim 3, wherein The connecting object portion is arranged on the rear surface side of the first bevel gear in the rotating part, and the component located outside the joint mechanism is connected to the connecting object portion.

5. The joint mechanism according to claim 4, further comprising: The second support shaft supports the second bevel gear and the third bevel gear, wherein... The second adjustable portion is disposed on the second support shaft, and The second adjustment portion is disposed on the base portion.

6. The joint mechanism according to claim 5, wherein... The second adjustable portion is mounted on a protrusion that is part of a second support shaft, the protrusion protruding from the rear surface side of the second bevel gear.

7. The joint mechanism according to claim 3, wherein The movable range limiting member is at least installed on the first adjustable portion.

8. The joint mechanism according to claim 3, wherein The movable range limiting member is at least mounted on the second adjustable portion.

9. A multi-joint device, comprising: At least two joint mechanisms, each including a base portion and a rotating portion that rotates relative to the base portion, the joint mechanisms comprising: The adjustable portion rotates together with the rotating portion, the rotating portion including a first bevel gear that rotates about a first axis. An adjustment section is disposed on an extension of the rotation trajectory of the adjustable section and has the function of adjusting the rotation of the adjustable section relative to the base section within a first movable range. The base section includes a second bevel gear and a third bevel gear. The second bevel gear meshes with the first bevel gear and rotates about a second axis direction intersecting the first axis direction. The third bevel gear meshes with the first bevel gear, is arranged to face the second gear in an extension direction relative to the second axis direction, and rotates about the second axis direction. A movable range defining member is mounted on the base portion or the rotating portion, and defines a second movable range narrower than the first movable range as the movable range of the adjustable portion, wherein the adjustable portion includes a first adjustable portion that rotates relative to the base portion about the first axis and a second adjustable portion that rotates relative to the base portion about the second axis. The adjustment section includes a first adjustment section and a second adjustment section. The first adjustment section is disposed on an extension portion of the rotation trajectory of the first adjusted section, and the second adjustment section is disposed on an extension portion of the rotation trajectory of the second adjusted section. At least two joint mechanisms include a first joint mechanism and a second joint mechanism, and The movable range limiting member is mounted on at least one of the first joint mechanism or the second joint mechanism.

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