Joint mechanism and multi-joint device

Abstract

The movable range is limited, and the cost is not increased. The first joint mechanism (10) includes a base portion (110) and a rotating portion (120) that rotates relative to the base portion (110). The first joint mechanism (10) includes a restricted portion (B1) that rotates together with the rotating portion (120), a restricting portion (A1) that is provided on an expanded portion 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 second movable range which is mounted to the base part (110) or the rotating part (120) and sets the movable range of the restricted part (B1) to be smaller than the first movable range.

Description

[0001] This application is a divisional application of the invention patent application filed on March 17, 2022, with application number 202280013516.2 and entitled "Joint Mechanism and Multi-Joint Device". Technical Field

[0002] This disclosure relates to a joint mechanism and a multi-joint device. Background Technology

[0003] For example, PTL 1 discloses a robot with joints.

[0004] Reference List

[0005] Patent documents

[0006] PTL 1: Japanese Patent Publication No. 2003-117858 Summary of the Invention

[0007] Technical issues

[0008] To manufacture joint mechanisms with different ranges of motion, it is necessary to manufacture the mechanisms separately according to their respective ranges. Furthermore, the parts used to adjust the range of motion may wear and deteriorate due to prolonged use of the joint mechanism. If this is the case, it may be necessary to completely redesign the joint mechanism. Additionally, in the case of using multiple joint mechanisms in a device, multiple joint mechanisms with different ranges of motion suitable for each usage position or purpose need to be prepared. These factors will likely increase costs.

[0009] Solution to the problem

[0010] This disclosure discloses a joint mechanism including a base portion and a rotating portion that rotates relative to the base portion. The joint mechanism includes an adjustable portion that rotates together with the rotating portion, an adjusting portion disposed on an extension of the rotational trajectory of the adjustable portion and having the function of adjusting the rotation of the adjustable portion relative to the base portion within a first movable range, and a movable range defining member mounted on the base portion or the rotating portion and defining a second movable range, narrower than the first movable range, as the movable range of the adjustable portion. This joint mechanism can define the movable range without increasing cost.

[0011] This disclosure discloses a multi-joint device comprising 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 mounted on at least one of the first joint mechanism or the second joint mechanism. According to this multi-joint device, a multi-joint device comprising joint mechanisms with different movable ranges can be provided without increasing cost. Attached Figure Description

[0012] Figure 1 This is a perspective view of the upper rear side of the multi-joint device according to this embodiment.

[0013] Figure 2 This is a perspective view of the upper front side of the multi-joint device according to this embodiment.

[0014] Figure 3 This is a left-side view of the multi-joint device according to this embodiment.

[0015] Figure 4 This is a rear view of the multi-joint device according to this embodiment.

[0016] Figure 5 This is a perspective view of the upper rear side of the first joint mechanism according to this embodiment.

[0017] Figure 6 This is a perspective view of the upper front side of the first joint mechanism according to this embodiment.

[0018] Figure 7 This is a rear view of the first joint mechanism according to this embodiment.

[0019] Figure 8 This is a perspective view of the second bevel gear, the third bevel gear, and their surroundings in the first joint mechanism according to this embodiment.

[0020] Figure 9 This is a left-side view of the first bevel gear and its surrounding area according to this embodiment.

[0021] Figure 10 It is along Figure 9 A cross-sectional view taken from the XX line.

[0022] Figure 11 This is a perspective view of the first bevel gear according to this embodiment.

[0023] Figure 12 It is installed in Figure 11 A perspective view of the movable range limiting member on the adjustable part shown.

[0024] 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.

[0025] Figure 14 It is installed in Figure 13 The left-side view of the movable range limiting member on the adjustable part shown. Detailed Implementation

[0026] In the following explanation, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0027] Overall Structure Overview

[0028] First, refer to Figures 1 to 4 This section provides an overview of the overall structure of the multi-joint device 1 according to this embodiment. Figure 1 This is a perspective view of the upper rear side of the multi-joint device according to this embodiment. Figure 2 This is a perspective view of the upper front side of the multi-joint device according to this embodiment. Figure 3 This is a left-side view of the multi-joint device according to this embodiment. Figure 4 This is a rear view of the multi-joint device according to this embodiment.

[0029] In the following description, arrows X1, X2, Y1, Y2, Z1, and Z2 in the attached diagram represent the right side, left side, front side, rear side, top side, and bottom side, respectively. Figures 1 to 4 In the diagram, axes ax11 and ax22 extend in the front-to-back direction, axes ax12 and ax32 extend in the left-to-right direction, and axes ax21 and ax31 extend in the up-down direction. It should be noted that these axes in the diagram do not exist in reality, and they are the rotation centers of the corresponding components, which will be explained later. In the following description, [the following will be used to describe these axes]. Figures 1 to 4 The posture of the multi-joint device 1 shown is called the "basic posture".

[0030] In this embodiment, the multi-joint device 1 includes a first joint mechanism 10, a second joint mechanism 20, and a third joint mechanism 30.

[0031] The first joint mechanism 10 includes a connecting object portion 11 at one end and a connecting portion 12 at the other end. In the first joint mechanism 10, the connecting object portion 11 rotates relative to the connecting portion 12 about an axis ax11 and about an axis ax12 extending in a direction perpendicular to the axis ax11. Therefore, the first joint mechanism 10 is often referred to as a dual-axis integrated type.

[0032] Similarly, the second joint mechanism 20 includes a connecting portion 21 at one end and a connecting portion 22 at the other end. In the second joint mechanism 20, the connecting portion 21 rotates relative to the connecting portion 22 about an axis ax21 and about an axis ax22 extending in a direction perpendicular to the axis ax21. Therefore, the second joint mechanism 20 is generally referred to as a dual-axis integrated type. Similarly, the third joint mechanism 30 includes a connecting portion 31 at one end and a connecting portion 32 at the other end. In the third joint mechanism 30, the connecting portion 31 rotates relative to the connecting portion 32 about an axis ax31 and about an axis ax32 extending in a direction perpendicular to the axis ax31. Therefore, the third joint mechanism 30 is generally referred to as a dual-axis integrated type.

[0033] It should be noted that the term "rotation" in this specification refers to a circular motion about an axis in a clockwise or counterclockwise direction with a circular motion angle of less than 360 degrees.

[0034] exist Figures 1 to 4 In this structure, the connecting portion 12 of the first joint mechanism 10 is connected to the connecting object portion 21 of the second joint mechanism 20, and the connecting portion 22 of the second joint mechanism 20 is connected to the connecting object portion 31 of the third joint mechanism 30. In this configuration, rotation of the connecting object portion 21 relative to the connecting portion 22 causes rotation of the first joint mechanism 10 relative to the second joint mechanism 20. Furthermore, rotation of the connecting object 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.

[0035] Joint mechanism

[0036] Next, refer to Figures 5 to 10 The details of the first joint mechanism 10 are described below to illustrate the joint mechanism according to this 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 descriptions of these joint mechanisms are omitted. Figures 5 to 10 Each shows the multi-joint device 1 in a position Figure 1 The first joint mechanism 10 is shown in the basic posture state.

[0037] Figure 5 This is a perspective view of the upper rear side of the first joint mechanism according to this embodiment. Figure 6 This is a perspective view of the upper front side of the first joint mechanism according to this embodiment. Figure 7 This is a rear view of the first joint mechanism according to this embodiment. It should be noted that... Figures 1 to 4 The gear cover C shown is in Figures 5 to 7 The bevel gear is not shown in the diagram, but is presented to illustrate the bevel gear described later. It should be noted that the gear cover C is designed to prevent the bevel gear from being viewed from the outside and to protect it from dust and other contaminants.

[0038] Figure 8 This is a perspective view of the second bevel gear, the third bevel gear, and their surroundings in the first joint mechanism according to this embodiment. Figure 9 This is a left-side view of the first bevel gear and its surrounding area. Figure 10 It is along Figure 9 A cross-sectional view taken from the XX line.

[0039] The first joint mechanism 10 mainly includes a base portion 110 and a rotating portion 120. The rotating portion 120 rotates relative to the base portion 110. Specifically, in the first joint mechanism 10, the rotating portion 120 rotates when the base portion 110 is fixed to a member outside the first joint mechanism 10, and the base portion 110 rotates when the rotating portion 120 is fixed to a member outside the first joint mechanism 10. The following description illustrates an example of the rotating portion 120 rotating while the base portion 110 is fixed to a member outside the first joint mechanism 10.

[0040] The first joint mechanism 10 also includes a support portion 130. Incidentally, when the rotating portion 120 rotates about axis ax11, the support portion 130 becomes part of the base portion 110, and when the rotating portion 120 rotates about axis ax12, the support portion 130 becomes part of the rotating portion 120, as will be described in detail later. Specifically, when the rotating portion 120 rotates about axis ax11, the support portion 130 rotates relative to the rotating portion 120, and when the rotating portion 120 rotates about axis ax12, the support portion 130 rotates relative to the base portion 110.

[0041] Joint mechanism: Rotating part 120

[0042] like Figure 9 As shown, the rotating part 120 includes a connecting part 11 and a first bevel gear G1. The connecting part 11 and the first bevel gear G1 are integrally formed. Therefore, the connecting part 11 rotates together with the first bevel gear G1. It should be noted that in Figure 5 and Figure 6 The diagram of the connected object part 11 is omitted.

[0043] The rotation center of the first bevel gear G1 is axis ax11. A bearing hole h1 is formed in the central portion of the first bevel gear G1, into which the first support shaft 131 of the support portion 130 is inserted. The first support shaft 131 of the support portion 130 will be described later. The bearing hole h1 can be formed to reach the rear surface side of the first bevel gear G1 (see [link to documentation]). Figure 6 ).

[0044] Joint mechanism: Base part 110

[0045] The base portion 110 includes an outer housing H forming the exterior of the first joint mechanism 10, a second bevel gear G2, and a third bevel gear G3. The rotation center of the second bevel gear G2 and the third bevel gear G3 is the axis ax12.

[0046] The second bevel gear G2 is configured to mesh with the first bevel gear G1 and rotate about axis ax12, as follows: Figure 5 , Figure 10 As shown in the figure.

[0047] like Figure 8 and Figure 10 As shown, the second bevel gear G2 is integrally formed with the spur gear SG1. When it receives driving force from the first motor M1, which is the drive source, the spur gear SG1 rotates. 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 an outer housing H. It should be noted that a detailed description 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.

[0048] A bearing hole h2 is formed in the center portion of the second bevel gear G2, into which the second support shaft 132 of the support portion 130 is inserted. The second support shaft 132 of the support portion 130 will be described later. The bearing hole h2 is formed to reach the rear surface side of the spur gear SG1 (see [link]). Figure 8 ).

[0049] like Figure 7 , 10 As shown, the third bevel gear G3 meshes with the first bevel gear G1. Furthermore, the third bevel gear G3 is configured to face the second bevel gear G2 in the direction of axis ax12 and rotate about axis ax12.

[0050] like Figure 8 and Figure 10 As shown, the third bevel gear G3 is integrally formed with the spur gear SG2. When it receives a driving force from a second motor M2 (different from the first motor M1), which serves as the driving source, the spur gear SG2 rotates. 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.

[0051] A bearing hole h3 is formed in the center portion of the third bevel gear G3, into which the second support shaft 132 of the support portion 130 is inserted. The second support shaft 132 of the support portion 130 will be described later (see [link]). Figure 8 ).

[0052] It should be noted that, Figure 10 The diagram shows a second bevel gear G2 comprising two radially separating members. However, this is only an example. The second bevel gear G2 can be formed from a single member. The same applies to the third bevel gear G3.

[0053] Joint mechanism: Support part 130

[0054] The support portion 130 includes a first support shaft 131 extending along axis ax11 and a second support shaft 132 extending along axis ax12. The first support shaft 131 and the second support shaft 132 are each cylindrical or cylindrical in shape.

[0055] The support portion 130 supports the first bevel gear G1, 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 h1 formed in the first bevel gear G1 and supports the first bevel gear G1. Furthermore, 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 bearings, etc., are preferably disposed between the outer peripheral surface of the first support shaft 131 and the inner peripheral surface of the bearing hole h1 of the first bevel gear G1 (not shown). Similarly, bearings, etc., are preferably disposed between the outer peripheral surface of the second support shaft 132 and the inner peripheral surface of the bearing hole h2 of the second bevel gear G2, and between the outer peripheral surface of the second support shaft 132 and the inner peripheral surface of the bearing hole h3 of the third bevel gear G3.

[0056] The support portion 130 is separate from the first bevel gear G1, the second bevel gear G2, and the third bevel gear G3. Specifically, the first bevel gear G1 is supported by the first support shaft 131, such that the inner circumferential surface of the bearing hole h1 in the first bevel gear G1 can rotate about the axis ax11 relative to the outer circumferential surface of the first support shaft 131. Furthermore, the second bevel gear G2 is supported by the second support shaft 132, such that the inner circumferential surface of the bearing hole h2 in the second bevel gear G2 can rotate about the axis ax12 relative to the outer circumferential surface of the second support shaft 132. Additionally, the third bevel gear G3 is supported by the second support shaft 132, such that the inner circumferential surface of the bearing hole h3 in the third bevel gear G3 can rotate about the axis ax12 relative to the outer circumferential surface of the second support shaft 132.

[0057] The second support shaft 132 is supported by a bearing (not shown), which is disposed on the upper right portion HR and the upper left portion HL of the outer housing H, so as to connect the upper right portion HR and the upper left portion HL, as shown. Figure 5 As shown. It should be noted that the upper right portion HR includes the cover C2 that covers the spur gear SG2, as shown... Figure 5 and 6 As shown. The cover C2 is part of the outer housing H and has a bottomed tubular shape formed along the outer shape of the spur gear SG2. The upper left portion HL also includes a cover C1 covering the spur gear SG1. The cover C1 is part of the outer housing H and has a bottomed tubular shape formed along the outer shape of the spur gear SG1.

[0058] like Figure 8 As shown, the second support shaft 132 passes through the bearing hole h2 and protrudes from the rear surface side of the spur gear SG1. Furthermore, an adjustable portion B2, extending in a direction perpendicular to the axis ax12, is mounted on a protrusion of the portion of the second support shaft 132 that protrudes from the rear surface side of the spur gear SG1. The adjustable portion B2 is mounted on the second support shaft 132 so that it rotates about the axis ax12 together with the rotation of the second support shaft 132. It should be noted that the details of the adjustable portion B2 will be explained later.

[0059] In addition, such as Figure 5 , 8 As shown, the support portion 130 includes an intermediate portion 135, which is the portion where the first support shaft 131 and the second support shaft 132 intersect, and the intermediate portion 135 is located 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 by the intermediate portion 135 relative to the extending direction of the axis ax12. The intermediate portion 135 is integrally formed with the first support shaft 131 and the second support shaft 132.

[0060] In addition, such as Figure 8 As shown, the intermediate portion 135 includes a diameter-enlarged portion 135a with a diameter larger than that of the first support shaft 131 and integral with the first support shaft 131. An adjustment portion A1 extending in a direction perpendicular to the axis ax11 is formed on the outer peripheral surface of the diameter-enlarged portion 135a. It should be noted that the details of the adjustment portion A1 will be explained later.

[0061] It should be noted that on the side opposite to the diameter-increased portion 135a in the direction of extension of axis ax11, Figure 1 But shown in etc. Figures 5 to 10 The gear cover C, not shown, is preferably fixed to the middle portion 135.

[0062] Joint mechanism: rotation about axis ax11

[0063] As described above, the second bevel gear G2 rotates when it receives the driving force output from the first motor M1, while the third bevel gear G3 rotates when it receives the driving force output from the second motor M2.

[0064] If the second bevel gear G2 rotates clockwise relative to the X2 direction, then force F11 acts upward in the part 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 relative to the X2 direction, then force F22 acts downward in the part of the first bevel gear G1 that meshes with the third bevel gear G3 (see...). Figure 10 Under the action of forces F11 and F22, the first bevel gear G1 rotates around axis ax11. Figure 10Rotate in the R1 direction (clockwise) as shown. Based on the rotation of the first bevel gear G1 in the R1 direction, the rotating part 120 rotates clockwise relative to the Y2 direction.

[0065] If the second bevel gear G2 rotates counterclockwise relative to the X2 direction, then force F12 acts downward in the part 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 relative to the X2 direction, then 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 forces F12 and F21, the first bevel gear G1 rotates around axis ax11. Figure 10 The rotating part 120 rotates counterclockwise relative to the Y2 direction as shown in the R2 direction of the first bevel gear G1.

[0066] Therefore, if the second bevel gear G2 and the third bevel gear G3 rotate in opposite directions relative to the same direction, the first bevel gear G1 rotates about axis a11. Consequently, the rotating portion 120 rotates about axis ax11 relative to the base portion 110.

[0067] Joint mechanism: rotation about axis ax12

[0068] If the second bevel gear G2 rotates clockwise relative to the X2 direction, then force F11 acts upward in the part 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 relative to the X2 direction, then force F21 acts upward in the portion of the first bevel gear G1 that meshes with the third bevel gear G3 (see...). Figure 10 Using these upward forces F11 and F21, the first bevel gear G1 rotates about axis ax12 to follow the shape of the second bevel gear G2 and the third bevel gear G3. Therefore, the rotating part 120 rotates about axis ax12... Figure 9 Rotate in the R3 direction as shown.

[0069] If the second bevel gear G2 rotates counterclockwise relative to the X2 direction, then force F12 acts downward in the part 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 relative to the X2 direction, then force F22 acts downward in the part of the first bevel gear G1 that meshes with the third bevel gear G3 (see...). Figure 10 Using these downward forces F12 and F22, the first bevel gear G1 rotates about axis ax12 to follow the shape of the second bevel gear G2 and the third bevel gear G3. Therefore, the rotating part 120 rotates about axis ax12... Figure 9Rotate in the R4 direction as shown.

[0070] 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.

[0071] Range of motion of the joint mechanism

[0072] 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.

[0073] The range of motion of the joint mechanism: rotation about axis ax11

[0074] Figure 11 This is a perspective view of the first bevel gear according to this embodiment.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] If the first bevel gear G1 rotates around axis ax11... Figure 10When rotated in the R2 direction as shown, the adjusted part B1 rotates together with the first bevel gear G1 in the R2 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 R2 direction is adjusted.

[0079] The rotation of the adjusted portion B1 about the axis ax11 is adjusted in this way, thereby adjusting the rotation of the rotating portion 120 relative to the base portion 110 about the axis ax11.

[0080] In the first joint mechanism 10 according to this embodiment, the movable range limiting member RA1 is mounted on the adjusting portion B1 of the first bevel gear G1. Figure 12 It is installed in Figure 11 A perspective view of the movable range limiting member on the adjustable part shown.

[0081] The movable range limiting member RA1 is configured to set the movable range of the adjustable part B1 to be greater than that of the movable part B1. Figure 10 The first movable range Ra1 shown is narrow. The movable range defines the member RA1 as separate from the adjusted portion B1, and preferably it can be attached to / removed from the adjusted portion B1.

[0082] Figure 12 An example is shown in which the movable range defining member RA1 is formed to almost completely cover the adjustable portion B1 and has a length longer than the adjustable portion B1 in the circumferential direction of the axis ax11. However, the movable range defining member RA1 is not limited to this example. The movable range of the adjustable portion B1 becomes at least longer than... Figure 10 It is sufficient to provide the movable range limiting member RA1 in a narrow manner as shown in the diagram. For example, the movable range limiting member RA1 can be mounted to cover only one end side of the axis ax11 of the adjusted portion B1 in the circumferential direction. The movable range limiting member RA1 does not necessarily have to be formed to cover the adjusted portion B1; therefore, the movable range limiting member RA1 can be provided separately from the adjusted portion B1 in the circumferential direction of the axis ax11. In this case, it is preferable to fix the movable range limiting member RA1 to the inner circumferential surface of the center hole h11 of the first bevel gear G1.

[0083] In this embodiment, since the movable range limiting member RA1 is used, the movable range of the rotating part 120 about the axis ax11 can be controlled for the intended use of the first joint mechanism 10, etc. Therefore, since the first joint mechanism 10 according to this embodiment is used, it is not necessary to prepare joint mechanisms with different movable ranges according to their respective intended uses. Therefore, cost increases can be suppressed.

[0084] 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.

[0085] The range of motion of the joint mechanism: rotation about axis ax12

[0086] 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.

[0087] Adjustment part A2 is disposed in the upper left portion HL (cover C2) of the outer housing H of the first joint mechanism 10. Adjustment part A2 is disposed on an extension of the rotation trajectory of the supported portion B2. Adjustment part A2 has the function of adjusting the rotation of the adjusted portion 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 about the axis ax12, the movable range limiting member RA2 can be fixed to the outer housing H of the base part 110, for example.

[0094] In this embodiment, since the movable range limiting member RA2 is used, the movable range of the rotating part 120 about the axis ax12 can be controlled according to the intended use of the first joint mechanism 10, etc. Therefore, since the first joint mechanism 10 according to this embodiment is used, it is not necessary to prepare joint mechanisms with different movable ranges according to their respective intended uses. Therefore, cost increases can be suppressed.

[0095] Furthermore, since the adjusted portion B2 comes into contact with the adjusted portion A2 as the adjusted portion B2 rotates about axis ax12, the adjusted portion A2 may wear and deteriorate after long-term use. In this embodiment, since the movable range limiting member RA2 is installed to cover the portion of the adjusted portion A2 that contacts the adjusted portion B2, wear or deterioration of the adjusted portion A2 is suppressed. That is, the movable range limiting member RA2 additionally has the function of protecting the adjusted portion A2. If the movable range limiting member RA2 wears and deteriorates, it can be removed from the adjusted portion A2 and replaced with a new member. Since the movable range limiting member RA2 is replaceable, even when the movable range limiting member RA2 wears and deteriorates, it is not necessary to replace the first joint mechanism 10 itself. Therefore, cost increases can be suppressed.

[0096] other

[0097] 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 construction. 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. Furthermore, the presence / absence of the movable range defining members RA1 and RA2 is preferably determined according to the purpose of use or according to the location. Figures 1 to 4 In the multi-joint device 1 shown, a range-limiting member RA2 is installed on the adjusting portion A2 of each of the first joint mechanism 10 and the third joint mechanism 30, while no range-limiting member is installed on the adjusting portion A2 of the second joint mechanism 20. In this configuration, the rotational range of the first joint mechanism 10 about axis ax12 is equal to the rotational range of the third joint mechanism 30 about axis ax32. On the other hand, the rotational range of the second joint mechanism 20 about axis ax22 is wider than the rotational range of the first joint mechanism 10 about axis ax12. It should be noted that the presence / absence of the range-limiting member RA1 installed on the adjusting portion B1 of the first bevel gear G1 is preferably determined according to the purpose of use or according to the position, although this is not shown in the figures.

[0098] It should be noted that the multi-joint device 1 is preferably used for, for example, human or animal-shaped robots that can walk on two or four legs. In the case of a multi-joint device 1 including multiple joint mechanisms for the 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.

[0099] This embodiment has described a multi-joint device 1 including three joint mechanisms. However, the number of joint mechanisms is not limited, and therefore, the number can be one, two, four or more.

[0100] exist Figure 1 In the multi-joint device 1 shown, 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.

[0101] In the above embodiments, when viewed from the same direction, the second bevel gear G2 and the third bevel gear G3 rotate in the same or opposite directions. Alternatively, the second bevel gear G2 or the third bevel gear G3 can be driven to rotate while the other gear remains stationary. In this case, the rotating portion 120 rotates relative to the base portion 110 to twist relative to axes ax11 and ax12, but a detailed description of this will be omitted.

[0102] Furthermore, preferably, the adjusting portion A2 is formed to contact the surface of the adjusted portion B2. If so, in the state where the movable range limiting member RA2 is not installed, the adjusting portion A2 receives the impact caused by contact with the adjusted portion B2 through its surface, and suppresses localized forces acting on the adjusting portion A2. Therefore, the durability of the adjusting portion A2 is improved, and its lifespan is increased. Additionally, the movable range limiting member RA2 is also preferably formed to contact the surface of the adjusted portion B2. If so, the movable range limiting member RA2 receives the impact caused by contact with the adjusted portion B2 through its surface, and suppresses localized forces acting on the movable range limiting member RA2. Therefore, the durability of the movable range limiting member RA2 is improved, and its lifespan is increased.

[0103] In this embodiment, the movable range limiting member RA2 is mounted on the adjustment portion A2 located on the rear surface side of the second bevel gear G2 and the spur gear SG1, thereby allowing easy access to the movable range limiting member RA2 from the outside. That is, the movable range limiting member RA2 can be easily attached to / removed from the adjustment portion A2.

[0104] 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.

[0105] 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.

[0106] 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 part rotates together with the rotating part; An adjustment section is provided on an extension of the rotation trajectory of the adjusted section, and has the function of adjusting the rotation of the adjusted section relative to the base section within a first movable range; as well as A movable range defining member is mounted on the base portion or the rotating portion, and defines a second movable range that is narrower than the first movable range as the movable range of the adjustable portion.

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 or 2, wherein The rotating part includes a first bevel gear that rotates about a first axis. The base portion 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 relative to the extension direction of the second axis direction, and rotates about the second axis direction. 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.

4. The joint mechanism according to claim 3, 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.

5. The joint mechanism according to claim 4, 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.

6. The joint mechanism according to claim 5, 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.

7. The joint mechanism according to claim 6, 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.

8. The joint mechanism according to any one of claims 4 to 7, wherein The movable range limiting member is at least installed on the first adjustable portion.

9. The joint mechanism according to any one of claims 4 to 8, wherein The movable range limiting member is at least installed on the second adjustable part.

10. A multi-joint device, comprising: At least two joint mechanisms according to any one of claims 1 to 9, wherein 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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