Robot joint structure and robot

Abstract

A joint structure (10) of a robot (100) is provided with: a first link mechanism (50a) that is disposed so as to be rotatable about a first axis (A1) and is rotatably connected to the other end of a first frame (20) and the other end of a first linear actuator (61); and a second link mechanism (50b) that is disposed so as to be rotatable about the first axis (A1) and that is rotatably connected to the first frame (20) and the other end of the second linear actuator (62).

Description

Technical Field

[0001] The present disclosure relates to a joint structure of a robot and a robot. Background Art

[0002] Conventionally, a joint structure of a robot has been disclosed. In Japanese Patent Application Laid-Open No. 2013-91145, a joint structure of a robot is disclosed in which a second member rotates relative to a first member about a first axis and a second axis that are orthogonal to each other. The joint structure includes a support member that supports the first member so as to be rotatable about the first axis. In addition, the second member rotates relative to the support member about the second axis. In addition, the joint structure includes a pair of linear actuators that are disposed between the first member and the second member and are connected to the first member and the second member. The pair of linear actuators are respectively disposed so as to extend from the first member to the second member. Moreover, by both of the pair of linear actuators expanding and contracting by the same amount, the second member rotates relative to the first member about the first axis. In addition, by both of the pair of linear actuators expanding and contracting in different directions by the same amount, the second member rotates relative to the first member about the second axis.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2013-91145

[0004] In the joint structure of the robot described in Japanese Patent Application Laid-Open No. 2013-91145, the linear actuators are disposed so as to extend from the first member to the second member. Therefore, the lengths of the respective linear actuators are relatively large, and the linear actuators are enlarged. As a result, there is a problem that the joint structure is enlarged. Summary of the Invention

[0005] The present disclosure has been made to solve the above-described problems, and an object of the present disclosure is to provide a joint structure of a robot and a robot that can suppress enlargement.

[0006] The joint structure of the robot according to the first aspect of the present disclosure includes: a first frame and a second frame; a support portion that supports the second frame so as to be rotatable about a first axis and is rotatably supported by the first frame about a second axis orthogonal to the first axis; a first linear actuator and a second linear actuator, one ends of which are respectively connected to both sides of the second frame and the other ends of which perform expansion and contraction operations; a first link mechanism that is disposed so as to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the first linear actuator; and a second link mechanism that is disposed so as to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the second linear actuator.

[0007] As described above, the joint structure of the robot according to the first aspect of the present disclosure includes: a first link mechanism configured to be rotatable about a first axis and rotatably connected to a first frame and the other end of a first linear actuator; and a second link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of a second linear actuator. Thus, since the first linear actuator and the second linear actuator are respectively connected to the first frame via the first link mechanism and the second link mechanism, the first linear actuator and the second linear actuator can be respectively connected to the first frame via the first link mechanism and the second link mechanism without extending from the first frame to the second frame. Therefore, the first linear actuator and the second linear actuator can be miniaturized. As a result, the enlargement of the joint structure of the robot can be suppressed.

[0008] The robot according to the second aspect of the present disclosure includes a joint structure constituting at least one of a waist joint, a neck joint, and a wrist joint. The joint structure includes: a first frame and a second frame; a support portion that supports the second frame so as to be rotatable about a first axis and rotatably supports the second frame about a second axis orthogonal to the first axis on the first frame; a first linear actuator and a second linear actuator, one ends of which are respectively connected to both sides of the second frame and the other ends of which perform telescopic movements; a first link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of the first linear actuator; and a second link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of the second linear actuator.

[0009] As described above, the robot according to the second aspect of the present disclosure includes: a first link mechanism configured to be rotatable about a first axis and rotatably connected to the first frame and the other end of the first linear actuator; and a second link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of the second linear actuator. Thus, since the first linear actuator and the second linear actuator are respectively connected to the first frame via the first link mechanism and the second link mechanism, the first linear actuator and the second linear actuator can be respectively connected to the first frame via the first link mechanism and the second link mechanism without extending from the first frame to the second frame. Therefore, the first linear actuator and the second linear actuator can be miniaturized. As a result, a robot capable of suppressing the enlargement of the joint structure of the robot can be provided.

[0010] According to the present disclosure, the enlargement of the joint structure of the robot can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a perspective view of a humanoid robot according to an embodiment.

[0012] Figure 2 This is a diagram showing the upright state of the lumbar joint of an embodiment.

[0013] Figure 3 This is a schematic diagram of the lumbar joint of an embodiment as viewed from the side.

[0014] Figure 4 This is a diagram showing the first link mechanism of an embodiment.

[0015] Figure 5 This is a diagram showing the state in which the lumbar joint of an embodiment is tilted forward.

[0016] Figure 6 This is a diagram showing the state in which the lumbar joint of an embodiment has rotated counterclockwise.

[0017] Figure 7 This is a diagram showing the state in which the lumbar joint of an embodiment has rotated clockwise.

[0018] Figure 8 This is a diagram showing the state in which the lumbar joint of an embodiment is tilted forward and has rotated clockwise. Detailed Embodiment

[0019] Hereinafter, an embodiment of the present disclosure that embodies the present disclosure will be described based on the drawings. In addition, in the specification of the present application, the vertical direction is set as the Z direction. The upper direction is set as the Z1 direction, and the lower direction is set as the Z2 direction. The direction orthogonal to the Z direction is set as the X direction. One side of the X direction is set as the X1 side, and the other side is set as the X2 side. The direction orthogonal to the Z direction and the X direction is set as the Y direction. One side of the Y direction is set as the Y1 side, and the other side is set as the Y2 side. In addition, the Y1 side corresponds to the front side of the humanoid robot 100.

[0020] Refer to Figure 1 , and the structure of the humanoid robot 100 of the present embodiment will be described. In addition, the humanoid robot 100 is also referred to as a humanoid. In addition, the humanoid robot 100 is an example of a robot.

[0021] As Figure 1 shown, the humanoid robot 100 includes a head 1, an upper body part 2, a lower body part 3, arm parts 4, hand parts 5, leg parts 6, and foot parts 7. In addition, the humanoid robot 100 includes a neck joint 8, a shoulder joint 9, a lumbar joint 10, a hip joint 11, a knee joint 12, an ankle joint 13, an elbow joint 14, a wrist joint 15, and a finger joint 16. The lumbar joint 10 is an example of a joint structure.

[0022] The head 1 and the upper body part 2 are bendably connected via the neck joint 8. Thus, the head 1 can perform forward flexion, backward flexion, and left and right rotation movements relative to the upper body part 2. In addition, the head 1 can also be laterally flexed relative to the upper body part 2.

[0023] The upper body part 2 and the lower body part 3 are bendably connected via the waist joint 10. Thus, the upper body part 2 can perform forward flexion, backward flexion, and left and right rotation movements relative to the lower body part 3. The lower body part 3 corresponds to a human pelvis. In addition, the upper body part 2 can also be laterally flexed relative to the lower body part 3.

[0024] The arm part 4 has an elbow joint 14. By bending the elbow joint 14, the arm part 4 performs a bending movement.

[0025] The hand part 5 is arranged at the front end of the arm part 4. The hand part 5 and the arm part 4 are connected via a wrist joint 15. The hand part 5 has finger joints 16.

[0026] The leg part 6 has a knee joint 12. Moreover, by bending the knee joint 12, the leg part 6 performs a bending movement.

[0027] The upper body part 2 and the arm part 4 are connected via a shoulder joint 9. In addition, the lower body part 3 and the leg part 6 are connected via a hip joint 11. The leg part 6 and the foot part 7 are connected via an ankle joint 13.

[0028] Motors for driving each of the above joints are respectively provided at each of the joints. By driving each joint using the motors, the humanoid robot 100 performs bending movements and rotation movements.

[0029] (Waist joint)

[0030] The specific structure of the waist joint 10 will be described. As Figure 2 shown, the waist joint 10 includes a first frame 20, a second frame 30, a support part 40, a first link mechanism 50a, a second link mechanism 50b, a first linear actuator 61, and a second linear actuator 62. The waist joint 10 rotates the second frame 30 relative to the first frame 20 about a pitch axis A1 and rotates about a yaw axis A2. In addition, in the following description, the structure of the waist joint 10 in a state where the second frame 30 does not tilt relative to the first frame 20 and is along the X-Z plane will be described.

[0031] The first frame 20 has a first part 21 and a second part 22. The first part 21 has a substantially circular ring shape. A pair of the second parts 22 are arranged. The pair of second parts 22 are arranged parallel to the pitch axis A1. In addition, the pair of second parts 22 are arranged on both sides with respect to the yaw axis A2. The pair of second parts 22 respectively project from the first part 21 toward the Z1 side. On the side surfaces of the pair of second parts 22, shaft parts 23 respectively extending in the X1 direction or the X2 direction are arranged. In addition, instead of providing the second part 22, a pair of shaft parts 23 respectively extending in the X1 direction or the X2 direction may be arranged on the side surface in the outer circumferential direction of the first part 21. In addition, the pair of second parts 22 may not be arranged on both sides with respect to the yaw axis A2. For example, the pair of second parts 22 may be arranged on the Y2 side with respect to the yaw axis A2. In addition, the pair of second parts 22 may be arranged on the Y1 side with respect to the yaw axis A2.

[0032] The second frame 30 has a first part 31 and a second part 32. The first part 31 has a substantially flat plate shape. The second part 32 is arranged on the Z2 side of the first part 31 and has a substantially cylindrical shape. A pair of the second parts 32 are arranged. On the Z1 side of the side surface of the first part 31, shaft parts 33 respectively extending in the X1 direction and the X2 direction are arranged. In addition, the support part 40 includes a shaft part 44 extending along the X direction so as to penetrate the second part 42. The pair of second parts 32 are connected to the shaft part 44 via bearings. The shaft part 44 projects from one side surface of the pair of second parts 32 toward the X1 direction and projects from the other side surface of the pair of second parts 32 toward the X2 direction. In addition, the shaft part 44 may be arranged in a separated state on the X1 side and the X2 side of the second part 42. In addition, in the above description, an example in which the shaft part 44 is included in the support part 40 is shown, but the shaft part 44 may also be included in the second frame 30.

[0033] The support part 40 supports the second frame 30 so as to be rotatable about the pitch axis A1 along the X direction. In addition, the support part 40 is rotatably supported by the first frame 20 about the yaw axis A2 along the Z direction orthogonal to the X direction. In addition, the pitch axis A1 and the yaw axis A2 are respectively examples of the first axis and the second axis. Specifically, the support part 40 includes a first part 41 and a second part 42. The first part 41 has a substantially cylindrical shape and is arranged along the Z direction. The second part 42 has a substantially cylindrical shape and is arranged along the X direction. The second part 42 is arranged between the pair of second parts 32 of the second frame 30. A hole part 43 along the X direction is formed in the second part 42. The shaft part 44 is inserted into the hole part 43 of the second part 42. Thereby, the second frame 30 rotates about the pitch axis A1 with respect to the support part 40.

[0034] In addition, the shapes of the first frame 20, the second frame 30, and the support part 40 are not limited to the above shapes.

[0035] Here, in the present embodiment, the first link mechanism 50a and the second link mechanism 50b are respectively disposed on both sides of the second frame 30 in the X direction. The first link mechanism 50a is configured to be rotatable about the pitch axis A1 and is connected to the first frame 20 and the other end of the first linear actuator 61 in a rotatable manner. The second link mechanism 50b is configured to be rotatable about the pitch axis A1 and is connected to the first frame 20 and the other end of the second linear actuator 62 in a rotatable manner. Specifically, the first link mechanism 50a is disposed on the X1 direction side of the second frame 30, and the second link mechanism 50b is disposed on the X2 direction side of the second frame 30. The first link mechanism 50a and the second link mechanism 50b are respectively rotatably connected to the shaft portion 23 of the first frame 20 and are rotatably connected to the shaft portion 44.

[0036] In addition, in the present embodiment, one ends of the first linear actuator 61 and the second linear actuator 62 are respectively connected to both sides of the second frame 30, and the other ends thereof perform telescopic movements. Specifically, the first linear actuator 61 is on the X1 side of the second frame 30. One end is rotatably connected to the second frame 30, and the other end is connected to the first frame 20 via the first link mechanism 50a. The first linear actuator 61 is on the X1 side of the second frame 30. One end is rotatably connected to the shaft portion 33 of the second frame 30, and the other end is rotatably connected to the first link mechanism 50a.

[0037] In addition, the second linear actuator 62 is on the X2 side of the second frame 30. One end is rotatably connected to the second frame 30, and the other end is connected to the first frame 20 via the second link mechanism 50b. The second linear actuator 62 is on the X2 side of the second frame 30. One end is rotatably connected to the shaft portion 33 of the second frame 30, and the other end is rotatably connected to the second link mechanism 50b.

[0038] The first linear actuator 61 includes a motor 63 and a rod 64. A ball screw and a gear head (not shown) are disposed on the base end side of the rod 64. By rotating the gear head by the motor 63, the rod 64 moves in the A1 direction or the A2 direction. Thereby, the first linear actuator 61 expands and contracts. In addition, the first linear actuator 61 and the second linear actuator 62 have the same structure. In addition, the structures of the first linear actuator 61 and the second linear actuator 62 are not limited to the above structures.

[0039] In the present embodiment, as Figure 3As shown, the first link mechanism 50a includes a first link portion 51 and a second link portion 52. One end of the first link portion 51 is rotatably connected to the shaft portion 44. One end of the second link portion 52 is rotatably connected to the first link portion 51, and the other end is rotatably connected to the first frame 20. One end of the first linear actuator 61 is rotatably connected to the second frame 30, and the other end is rotatably connected to the other end of the first link portion 51. Specifically, one end of the first link portion 51 is rotatably connected to the shaft portion 44. One end of the second link portion 52 is rotatably connected to the first link portion 51, and the other end is rotatably connected to the shaft portion 23 of the first frame 20. In addition, the first link portion 51 has a substantially triangular prism shape. Furthermore, the shape of the first link portion 51 is not limited to the substantially triangular prism shape. For example, the first link portion 51 may also be a substantially V-shaped. In addition, the second link portion 52 has a substantially rod shape. Furthermore, the shape of the second link portion 52 is not limited to the substantially rod shape. In addition, the structure of the second link mechanism 50b is the same as the structure of the first link mechanism 50a.

[0040] In addition, in the present embodiment, the first linear actuator 61 and the second linear actuator 62 are respectively connected to a portion of the other end of the first link portion 51 that is far from the first frame 20. The second link portion 52 is connected to a portion of the other end of the first link portion 51 that is close to the first frame 20. Specifically, as described above, the first link portion 51 has a substantially triangular prism shape. The first link portion 51 is rotatably connected to the shaft portion 44 near the vertex on the Y1 side of the first link portion 51. In addition, the first link portion 51 is rotatably connected to the other end of the first linear actuator 61 near the vertex on the Z1 side of the first link portion 51. In addition, the first link portion 51 is rotatably connected to one end of the second link portion 52 near the vertex on the Z2 side of the first link portion 51. Furthermore, the second link mechanism 50b also has the same structure as the link mechanism 50.

[0041] In addition, a bearing is disposed between the support portion 40 and the first frame 20. The bearing rotatably supports the support portion 40 relative to the first frame 20.

[0042] (Structure of the link mechanism)

[0043] Next, the specific structure of the first link mechanism 50a will be described. In addition, since the structure of the second link mechanism 50b is the same as that of the first link mechanism 50a, the description thereof will be omitted.

[0044] As Figure 4 shown, the first linear actuator 61 and the first link portion 51 are connected via a rolling bearing 51a. As Figure 4As shown, a pair of rolling bearings 51a are arranged on the first link portion 51. The pair of rolling bearings 51a are connected by a shaft portion 51b. A hole portion 61a is formed at the other end of the first linear actuator 61, and the shaft portion 51b is inserted into the hole portion 61a. In addition, the rolling bearings 51a may also be arranged on the first linear actuator 61.

[0045] As Figure 4 shown, the first frame 20 and the first link portion 51 are connected via a rolling bearing 51c. A pair of rolling bearings 51c are arranged on the first link portion 51. The shaft portion 44 of the first frame 20 is inserted into the pair of rolling bearings 51c. As Figure 3 shown, when the second frame 30 is erected along the Z direction, the height position of the rolling bearing 51a is higher than that of the rolling bearing 51c. In addition, the relationship between the height position of the rolling bearing 51a and the height position of the rolling bearing 51c is not limited to the above relationship.

[0046] As Figure 4 shown, the first link portion 51 and the second link portion 52 are connected via a rolling bearing 51d. A pair of rolling bearings 51d are arranged on the first link portion 51. The pair of rolling bearings 51d are connected by a shaft portion 51e. One end of the second link portion 52 is formed by a spherical joint. A socket having an inner peripheral surface that is in spherical contact with the spherical member provided on the shaft portion 51e is arranged at one end of the second link portion 52. The shaft portion 51e is press-fitted into the spherical member. As Figure 3 shown, when the second frame 30 is erected along the Z direction, the height position of the shaft portion 51e is lower than that of the rolling bearing 51c. In addition, the relationship between the height position of the shaft portion 51e and the height position of the rolling bearing 51c is not limited to the above relationship.

[0047] The other end of the second link portion 52 is also formed by a spherical joint. A socket having an inner peripheral surface that is in spherical contact with the spherical member provided on the shaft portion 23 of the first frame 20 is arranged at one end of the second link portion 52. The shaft portion 23 of the first frame 20 is press-fitted into the spherical member.

[0048] (Movement of the waist joint)

[0049] Next, the movement of the waist joint 10 will be described. In the present embodiment, as Figure 5 shown, by extending the first linear actuator 61 and the second linear actuator 62 by the same length, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1. Specifically, starting from the state where the second frame 30 is arranged along the X-Z plane as Figure 2 shown, the first linear actuator 61 and the second linear actuator 62 are extended by the same length, whereby the second frame 30 rotates about the pitch axis A1 toward the C1 side. As a result, the upper body portion 2 of the humanoid robot 100 tilts forward. In addition, fromFigure 2 Starting from the state where the second frame 30 shown is arranged along the X-Z plane, the first linear actuator 61 and the second linear actuator 62 contract by the same length, whereby the second frame 30 rotates toward the C2 side about the pitch axis A1. As a result, the upper body part 2 of the humanoid robot 100 tilts backward.

[0050] In the present embodiment, as Figure 6 shown, when one of the first linear actuator 61 and the second linear actuator 62 extends and the other of the first linear actuator 61 and the second linear actuator 62 contracts by an amount equal to the extension amount of the one of the first linear actuator 61 and the second linear actuator 62, the second frame 30 rotates relative to the first frame 20 about the yaw axis A2. For example, as Figure 6 shown, when the first linear actuator 61 extends and the second linear actuator 62 contracts, the second frame 30 rotates counterclockwise about the yaw axis A2. Further, as Figure 7 shown, when the first linear actuator 61 contracts and the second linear actuator 62 extends, the second frame 30 rotates clockwise about the yaw axis A2.

[0051] In the present embodiment, as Figure 8 shown, when one of the first linear actuator 61 and the second linear actuator 62 does not extend or contract and the other of the first linear actuator 61 and the second linear actuator 62 extends, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1 and also rotates about the yaw axis A2. For example, when the first linear actuator 61 does not extend or contract, the second linear actuator 62 extends, whereby the second frame 30 rotates toward the C1 side about the pitch axis A1 and rotates clockwise about the yaw axis A2. Further, by making the expansion and contraction directions of the first linear actuator 61 and the second linear actuator 62 the same and making the expansion and contraction amounts different from each other, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1 and also rotates about the yaw axis A2. Further, by making the expansion and contraction directions of the first linear actuator 61 and the second linear actuator 62 opposite and making the expansion and contraction amounts different from each other, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1 and also rotates about the yaw axis A2.

[0052] [Effects of the Present Embodiment]

[0053] The waist joint 10 includes: a first link mechanism 50a configured to be rotatable about a pitch axis A1 and rotatably connected to the first frame 20 and the other end of the first linear actuator 61; and a second link mechanism 50b configured to be rotatable about the pitch axis A1 and rotatably connected to the first frame 20 and the other end of the second linear actuator 62. Thus, since the first linear actuator 61 and the second linear actuator 62 are respectively connected to the first frame 20 via the first link mechanism 50a and the second link mechanism 50b, it is possible to connect the first linear actuator 61 and the second linear actuator 62 to the first frame 20 via the first link mechanism 50a and the second link mechanism 50b respectively without extending from the first frame 20 to the second frame 30. Therefore, the first linear actuator 61 and the second linear actuator 62 can be miniaturized. As a result, the enlargement of the waist joint 10 of the humanoid robot 100 can be suppressed.

[0054] The first link mechanism 50a and the second link mechanism 50b each include: a first link portion 51 having one end rotatably connected to the second frame 30; and a second link portion 52 having one end rotatably connected to the first link portion 51 and the other end rotatably connected to the first frame 20. One end of the first linear actuator 61 is rotatably connected to the second frame 30, and the other end is rotatably connected to the other end of the first link portion 51. One end of the second linear actuator 62 is rotatably connected to the second frame 30, and the other end is rotatably connected to the other end of the first link portion 51. Thus, when the first linear actuator 61 expands and contracts, one end of the first link portion 51 rotatably connected to the second frame 30 becomes a fulcrum, and the first frame 20 can be rotated about a yaw axis A2 by the second link portion 52. The same applies when the second linear actuator 62 expands and contracts.

[0055] The first linear actuator 61 and the second linear actuator 62 are respectively connected to a portion of the other end of the first link portion 51 that is far from the first frame 20, and the second link portion 52 is connected to a portion of the other end of the first link portion 51 that is close to the first frame 20. Thus, the portions of the first linear actuator 61 and the second linear actuator 62 connected to the first link portion 51 are separated from the portion of the second link portion 52 connected to the first link portion 51, so that interference between the first linear actuator 61 and the second linear actuator 62 and the second link portion 52 can be suppressed.

[0056] By the first linear actuator 61 and the second linear actuator 62 extending the same length, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1. Thus, the upper body portion 2 of the humanoid robot 100 can be tilted forward or backward.

[0057] When one of the first linear actuator 61 and the second linear actuator 62 extends, the other of the first linear actuator 61 and the second linear actuator 62 contracts by an amount equal to the amount of extension of one of the first linear actuator 61 and the second linear actuator 62. Thereby, the second frame 30 rotates relative to the first frame 20 about the yaw axis A2. Thereby, the upper body portion 2 of the humanoid robot 100 can be rotated about the yaw axis A2.

[0058] In a state where one of the first linear actuator 61 and the second linear actuator 62 does not extend and contract, the other of the first linear actuator 61 and the second linear actuator 62 extends. Thereby, the second frame 30 rotates relative to the first frame 20 about the pitch axis A1 and also rotates about the yaw axis A2. Thereby, the upper body portion 2 of the humanoid robot 100 can be tilted forward or backward and also rotated about the yaw axis A2.

[0059] The waist joint 10 is the waist joint 10 of the humanoid robot 100. Thereby, the enlargement of the humanoid robot 100 can be suppressed.

[0060] [Modification Example]

[0061] In addition, it should be considered that the embodiments disclosed this time are illustrative in all aspects and are not restrictive of the present invention. The scope of the present disclosure is represented by the claims rather than the description of the above embodiments, and also includes the meaning equivalent to the claims and all changes (modification examples) within the scope.

[0062] In the above embodiment, an example in which the first link mechanism 50a and the second link mechanism 50b each include the first link portion 51 and the second link portion 52 is shown, but the present disclosure is not limited thereto. For example, the first link mechanism 50a and the second link mechanism 50b may each include three or more link portions.

[0063] In addition, in the above embodiment, an example in which the first linear actuator 61 and the second linear actuator 62 are respectively connected to the other end of the first link portion 51 and the portion far from the first frame 20, and the second link portion 52 is connected to the other end of the first link portion 51 and the portion close to the first frame 20 is shown, but the present disclosure is not limited thereto. For example, each of the first linear actuator 61 and the second linear actuator 62 and the second link portion 52 may be rotatably connected to the same portion of the first link portion 51.

[0064] In addition, in the above embodiment, an example in which the bearing portion 70 is disposed between the support portion 40 and the first frame 20 is shown, but the present disclosure is not limited thereto. For example, the support portion 40 may be in contact with the first frame 20 in such a manner that the support portion 40 slides with the first frame 20.

[0065] In addition, in the above-described embodiment, an example in which the present disclosure is applied to the waist joint 10 of the humanoid robot 100 is shown, but the present disclosure is not limited thereto. For example, the present disclosure can also be applied to the neck joint 8 and the wrist joint 15 of the humanoid robot 100. In addition, the neck joint 8 and the wrist joint 15 are examples of joint structures. Further, the present disclosure can also be applied to the ankle joint 13 of the humanoid robot 100. Additionally, the present disclosure can be applied to joints of robots other than the humanoid robot 100.

[0066] [Mode]

[0067] Those skilled in the art can understand that the above-described exemplary embodiments are specific examples of the following modes.

[0068] (Mode 1)

[0069] A joint structure of a robot, comprising:

[0070] A first frame and a second frame;

[0071] A support portion that supports the second frame so as to be rotatable about a first axis and is supported by the first frame so as to be rotatable about a second axis orthogonal to the first axis;

[0072] A first linear actuator and a second linear actuator, one ends of which are respectively connected to both sides of the second frame, and the other ends of which perform telescopic movements;

[0073] A first link mechanism that is arranged to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the first linear actuator; and

[0074] A second link mechanism that is arranged to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the second linear actuator.

[0075] (Mode 2)

[0076] According to the joint structure of the robot described in Mode 1,

[0077] The first link mechanism and the second link mechanism each include: a first link portion, one end of which is rotatably connected to the second frame; and a second link portion, one end of which is rotatably connected to the first link portion and the other end of which is rotatably connected to the first frame,

[0078] One end of the first linear actuator is rotatably connected to the second frame, and the other end is rotatably connected to the other end of the first link portion,

[0079] One end of the second linear actuator is rotatably connected to the second frame, and the other end is rotatably connected to the other end of the first link portion.

[0080] (Mode 3)

[0081] The joint structure of the robot according to Mode 2,

[0082] The first linear actuator and the second linear actuator are respectively connected to a portion of the other end of the first link portion that is away from the first frame.

[0083] The second link portion is connected to a portion of the other end of the first link portion that is close to the first frame.

[0084] (Mode 4)

[0085] The joint structure of the robot according to any one of Modes 1 to 3,

[0086] The first linear actuator and the second linear actuator extend by the same length, whereby the second frame rotates relative to the first frame about the first axis.

[0087] (Mode 5)

[0088] The joint structure of the robot according to any one of Modes 1 to 4,

[0089] One of the first linear actuator and the second linear actuator extends, and the other of the first linear actuator and the second linear actuator contracts by the same amount as the extension amount of the one of the first linear actuator and the second linear actuator, whereby the second frame rotates relative to the first frame about the second axis.

[0090] (Mode 6)

[0091] The joint structure of the robot according to any one of Modes 1 to 5,

[0092] In a state where one of the first linear actuator and the second linear actuator does not extend and contract, the other of the first linear actuator and the second linear actuator extends, whereby the second frame rotates relative to the first frame about the first axis and rotates about the second axis.

[0093] (Mode 7)

[0094] The joint structure of the robot according to any one of Modes 1 to 6,

[0095] The joint structure includes at least one of a waist joint, a neck joint, and a wrist joint of the robot.

[0096] (Mode 8)

[0097] A robot includes a joint structure body that constitutes at least one of a waist joint, a neck joint, and a wrist joint.

[0098] The joint structure body includes:

[0099] A first frame and a second frame;

[0100] A support portion that supports the second frame so as to be rotatable about a first axis and is supported by the first frame so as to be rotatable about a second axis orthogonal to the first axis;

[0101] A first linear actuator and a second linear actuator, one ends of which are respectively connected to both sides of the second frame, and the other ends of which perform telescopic movements;

[0102] A first link mechanism that is arranged to be rotatable about the first axis and is connected to the first frame and the other end of the first linear actuator in a rotatable manner; and

[0103] A second link mechanism that is arranged to be rotatable about the first axis and is connected to the first frame and the other end of the second linear actuator in a rotatable manner.

Claims

1. A joint structure of a robot, characterized in that, Comprising: A first frame and a second frame; A support portion that supports the second frame so as to be rotatable about a first axis and is supported by the first frame so as to be rotatable about a second axis orthogonal to the first axis; A first linear actuator and a second linear actuator, one end of which is respectively connected to both sides of the second frame and has the other end that performs a telescopic motion; A first link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of the first linear actuator; And A second link mechanism configured to be rotatable about the first axis and rotatably connected to the first frame and the other end of the second linear actuator.

2. The joint structure of a robot according to claim 1, characterized in that The first link mechanism and the second link mechanism each include: a first link portion, one end of which is rotatably connected to the second frame; and a second link portion, one end of which is rotatably connected to the first link portion and the other end of which is rotatably connected to the first frame, One end of the first linear actuator is rotatably connected to the second frame, and the other end is rotatably connected to the other end of the first link portion, One end of the second linear actuator is rotatably connected to the second frame, and the other end is rotatably connected to the other end of the first link portion.

3. The joint structure of a robot according to claim 2, characterized in that The first linear actuator and the second linear actuator are respectively connected to a portion of the other end of the first link portion that is far from the first frame, The second link portion is connected to a portion of the other end of the first link portion that is close to the first frame.

4. The joint structure of a robot according to claim 1, characterized in that The first linear actuator and the second linear actuator extend by the same length, whereby the second frame rotates about the first axis relative to the first frame.

5. The joint structure of a robot according to claim 1, characterized in that One of the first linear actuator and the second linear actuator extends, and the other of the first linear actuator and the second linear actuator contracts by an amount equal to the extension amount of the one of the first linear actuator and the second linear actuator, whereby the second frame rotates about the second axis relative to the first frame.

6. The joint structure of a robot according to claim 1, characterized in that In a state where one of the first linear actuator and the second linear actuator does not extend or contract, the other of the first linear actuator and the second linear actuator extends, whereby the second frame rotates about the first axis and the second axis relative to the first frame.

7. The joint structure of a robot according to claim 1, characterized in that The joint structure includes at least one of a waist joint, a neck joint, and a wrist joint of a robot.

8. A robot, characterized in that The robot includes a joint structure body that constitutes at least one of a waist joint, a neck joint, and a wrist joint. The joint structure body includes: a first frame and a second frame; a support portion that supports the second frame so as to be rotatable about a first axis and is supported by the first frame so as to be rotatable about a second axis orthogonal to the first axis; a first linear actuator and a second linear actuator, one ends of which are respectively connected to both sides of the second frame and have the other ends that perform telescopic movements; a first link mechanism that is configured to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the first linear actuator; and a second link mechanism that is configured to be rotatable about the first axis and is rotatably connected to the first frame and the other end of the second linear actuator.

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