DOUBLE JOINT MECHANISM

• Main Authors: TADAKUMA RIICHIRO, YAMANOBE KAZUSHI
• Format: Patent
• Language: English; Japanese
• Published: 27.05.2024
• Subjects: BLASTING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; ENGINEERING ELEMENTS AND UNITS; GEARING; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS; HAND TOOLS; HEATING; LIGHTING; MANIPULATORS; MECHANICAL ENGINEERING; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; THERMAL INSULATION IN GENERAL; TRANSPORTING; WEAPONS

To provide a joint mechanism with a multi-degree of freedom which is small-sized and can enlarge a movable range of the hand-top side while fixing a plurality of motors to the root side.SOLUTION: A double joint mechanism 10 includes a rotation inner axis 30 provided so as to be rotatable on a main body frame 20, a fixed gear 31, a driving pinion gear 90, a sun gear 40, a planetary carrier 50, an intermediate planetary pinion 55, a first planetary gear 60, a second planetary gear 62 and a movable frame 62. The movable frame 62 performs two rotary outputs of double pitch shaft rotations via roll shaft rotation and planetary carrier 50 of the same shaft with the rotation inner axis 30 for two rotation inputs of the rotation inner shafts 30 and the driving pinion gear 90.SELECTED DRAWING: Figure 1 【課題】複数のモータを根本側に固定しながら、小型かつ手先側の可動範囲を大きくすることができる多自由度の関節機構を提供すること。【解決手段】二重関節機構１０は、本体フレーム２０に回転可能に設けられた回転内軸３０と、固定歯車３１と、駆動ピニオンギア９０と、太陽歯車４０と、遊星キャリア５０と、中間遊星ピニオン５５と、第１遊星歯車６０と、第２遊星歯車６２と、可動フレーム６２と、を備えている。回転内軸３０及び駆動ピニオンギア９０の２つの回転入力に対して、可動フレーム６２が回転内軸３０と同軸のロール軸回転及び遊星キャリア５０を介して二重のピッチ軸回転の２つの回転出力を行う。【選択図】図１