Robot joint structure

The robot joint structure addresses the limitation of movable range by incorporating a sliding mechanism, enabling deceleration in high-load postures and enhancing mobility through improved mass distribution and reduced mechanical complexity.

JP7893154B2Active Publication Date: 2026-07-22TOYOTA JIDOSHA KK
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Patent Information

Authority / Receiving Office
JP · JP
Patent Type
Patents
Current Assignee / Owner
TOYOTA JIDOSHA KK
Filing Date
2023-01-19
Publication Date
2026-07-22

AI Technical Summary

Technical Problem

Existing robot joint structures achieve deceleration effects only in postures with high loads but limit the movable range to around 90°.

Method used

A robot joint structure comprising a first link, a second link connected to a second member via a sliding portion, and a third link connected to the first link closer to a first pivot, with a sliding portion on the second link, allowing for a wide range of motion while maintaining deceleration effects in high-load postures.

Benefits of technology

The joint structure enables deceleration in high-load postures while expanding the movable range beyond 90°, optimizing mass distribution and reducing mechanical requirements.

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Patent Text Reader

Abstract

To provide a joint structure of a robot which has a wide movable area of a joint while obtaining deceleration effect in a high-load posture when the joint is driven.SOLUTION: A joint structure 10 of a robot according to the disclosure includes: a first link L1 whose one end is connected to a first member; a second link L2S in which one end side is connected to the first link L1 and the other end is connected to a second member; and a first pivot P1 which connects the other end of the first link L1 to the one end of the second link L2S. Further, the joint structure 10 includes: a third link L3 whose one end is connected to a position closer to the first pivot P1 on the first link L1; and a slide part PS which is slidably connected on the second link L2S. The other end of the third link L3 is connected to the slide part PS.SELECTED DRAWING: Figure 1
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