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DESCRIPTION JPS58132490

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DESCRIPTION JPS58132490
[0001]
The present invention relates to a mechanism capable of transmitting an angle in any direction,
and more particularly to an angle transmitting mechanism suitable as a wrist mechanism of an
industrial robot or the like. In a wrist mechanism of an industrial robot or the like, it is a major
object to realize a function of determining the posture of a working tool grasped or fixed to the
wrist. However, especially when working by inserting the wrist in a narrowing place or the like, a
mechanism having flexibility as a wrist mechanism is often required. As a so-called flexible
mechanism, one using an elastic body or the like as a mechanism member can be considered, but
in this type of mechanism, the portable weight of the hand portion should not be large and the
posture determination accuracy of the wrist itself should be sufficient. I was shouldering a
shortcoming such as not having. Therefore, as a flexible mechanism having practicality, it is
configured such that a plurality of rigid members are connected and the members are deformed
relative to each other so as to form a curved shape as a whole. Can be said to be generic. In the
following, each one of the above-mentioned relatively displaced mechanical members is referred
to as a phalange or link, and a connection between the phalanges is referred to as an articulation
or a joint. It goes without saying that the flexible mechanism having the above-mentioned
structure and '@' structure can be realized by providing a dedicated drive device for driving each
phalange. Specifically, each articulate portion has a built-in rocking motor or the like, or a wire or
the like is connected to each finger bone, and each finger bone is driven by a driving device such
as a cylinder disposed at the end of the mechanism. Those to be driven are known. However, in
such a flexible mechanism, it is not always necessary to control the relative angular
displacements of the individual phalanges independently of one another, but rather, all relative
angular displacements between the phalanges are equally taken, and the mechanism as a whole
is onboard. There are many ways to realize the function by simply displacing in an arc shape. In
such a case, it is not advantageous to provide a drive unit * f independently for generating
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displacement between the phalanges, and the number of drive units should be as small as
possible. It is desirable that the number of degrees of freedom provided in one joint portion be
the same as that of the number of degrees of freedom, and that the angular displacement be
transmitted purely mechanically between the phalanges. With respect to the inventions made in
view of such a point, some of the already known inventions have been disclosed, and
representative examples thereof include, for example, JP-A-52-111158 and Japanese Utility
Model Application Laid-Open No. 53-. No. 104768 is mentioned. In the former, links are
connected in a chain by universal joint or the like, and angular displacement is transmitted by
pivoting every other link.
The latter is a book in which links are connected by spherical junctions, wires and the like are
connected to the links at the end, and the angle is sequentially transmitted between the links by
driving this n. However, in these examples, it is difficult to accurately transmit the angular
displacements between links, and it has the disadvantage that it is necessary to manufacture a
complicated mechanism or a special mechanism. . In these examples, angular displacement
components about two axes orthogonal to each other are transmitted as relative angular
displacement between the phalanges, but a spur gear or the like is applied to this, A flexible
mechanism that can be displaced in any direction in a pseudo image by constructing a
mechanism for giving an angular displacement around one axis between the phalanges and
rotating the entire mechanical portion around the main axis of the end phalange An example
realized is also shown in the table. However, in such a mechanism, the degree of freedom is
limited as compared with a mechanism that transmits an angle ff in an essentially arbitrary
direction, and in particular, the posture in which the principal axes of the phalanges are on the
same plane, When performing operations such as passing straight lines connecting centerlines or
at very near an attitude on an @ cotton line, there is a disadvantage that the speed required for
the rotational movement around the end main shaft becomes excessive. The present invention is
made based on the above-mentioned matters, and an object of the present invention is to provide
an angle transmission mechanism capable of giving angular displacement between phalanges as
angular components about two axes orthogonal to each other. In order to achieve the above
object, the present invention seeks to transmit angular displacement in any direction by focusing
on the movement of the joint members connecting the phalanges of the rigid links constituting
the angle transmission mechanism. It is a thing. As a concrete form of this joint part, a joint such
as a so-called universal joint is considered, but in this type of joint, each of the phalange and the
joint is one for each of the two phalanges connected to each other. They are connected so as to
be able to rotate about their axes, and so that their rotational axes are not parallel to one another,
generally orthogonal to one another, so that they can be angled in any direction. It is configured
to handle displacement. That is, one phalange and the joint are coupled so as to be rotatable
about one axis, and the other phalange and the joint are similarly coupled so as to be rotationally
movable about an axis different from the above-mentioned axis ing. Furthermore, the relative
angle between the phalanges is given as an angular displacement component around two axes by
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the angle transmitting means provided at the joint portion. In short, the rotational angular
displacement of the joint shaft between the joint and the finger bone connected to the joint is
taken out to transmit the angle between the finger bones.
Hereinafter, embodiments of the present invention will be described with reference to the
drawings. FIG. 1 shows one embodiment of the angle transmission mechanism of the present
invention. In this figure, the angle transmission mechanism is a finger bone 1. Finger bones 2.
Finger bone 3. Finger bone 4 and joints 5. Joint 6. It is composed of joints 7. The joint 5 connects
the finger bone 1 and the finger bone 2, the joint 6 connects the finger bone 2 and the finger
bone 3, and the joint 7 connects the finger bone 3 and the finger bone 4. The mechanism
according to the present invention is, for example, fixed to the thumb 1 'at the tip of the arm of
an industrial robot, and Finger bone 3. The finger bone 4 can be used as the robot's wrist, and
the work tool can be fixed to or held by the finger bone 4 so that it can be used as an arm of a
robot that performs work in a narrow portion or the like. Here, the posture of the mechanism
when the principal axis 100. 200, 300, 400 of each of the finger bones 1, 2, 3 and 4 exists on the
straight line 80 is referred to as a reference posture, and the straight line 80 'is taken as a
reference axis. I shall call. In the mechanism of the present invention, each joint adopts
substantially the same structure, and as the form thereof, a universal joint represented by a
gimbal or hook cross joint can be used as a general one. It is a thing. FIG. 2 shows the details of
the joint 5 in the mechanism of the present invention, and in this figure, a zincal structure is used
as a joint. The gimbal 10 is connected to the finger bone l and the finger bone 2 via the shafts 11,
12, 13.14. Shirts 11 and shafts 13 are connected so that their main axes 110 and 130 are on
[email protected] cotton line, and shafts 12 and 14 are connected so that their main axes 120 and 140 are
on a straight line. The major axes 120 and 140 and the major axes 110 and 130 are orthogonal
to one another at one point 50. Furthermore, the main axes 110 and 130 are orthogonal to the
reference axis 80 at the point 50. Here, the point 50 is called the center point of the joint 5.
Furthermore, the shaft 11 and the shaft 13 are connected to the finger bone 2, and the shaft 12
and the shaft 14 are connected to the finger bone 1, respectively. The shaft 11 is fixed to the
finger bone 2, and the shaft 12 is fixed to the finger bone 1. The shaft 13 and the shaft 14 are
connected to the finger bone 2 and the finger bone 1 by bearings 13a and 14a so as to be able to
rotate. The gimbal 10 and the shafts 11, 12, 13 and 14 are all connected in the same manner so
as to be able to rotate and move. According to the configuration described above, the phalange 1
and the phalange 2 have the freedom to generate rotational angular displacement around two of
the main axis 110 and the main axis $ 130.
Further, the m-structure for realizing the function according to the present invention will be
described next. On the outer periphery of the gimbal lO, flat teeth 111 with the main axis @ 110
of the shaft 11 as the central axis. And a spur gear 121 centered on the king @ IH 120 of the
shaft 12 is n fixed. In addition, a spur gear 131 with one central axis fixed to its main axis 1.30
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′ is fixed to the shirt) 13, and a spur gear 141 with its main axis @ 140 as its center line is fixed
to the shaft 14. There is. Furthermore, bevel gears 112, 122, 132, 142 having their respective
main axes 110, 120, 130, 140 as central axes are fixed to the end in the gimbal lO at the shafts
11, 12, 13 ° 14 respectively. There is. Further, the bevel gear 112 and the bevel gear 142 are in
mesh with each other n, and the bevel gear 122 and the bevel gear 132 are in mesh with each
other n. FIG. 3 shows the structure of the connecting joint 6 of the fingers +2 and 3 constituting
the mechanism of the present invention, the contents of which are completely the same as the
joint 5 shown in FIG. 22 and 23. Connected to the finger bones 2 and 3 via 22 and 23.24. The
shirt 21) 23 is connected to the finger bone 2, and the shirt 22. 24 is connected to the finger
bone 3. The shafts 21, 22 and 23.24 correspond to the shafts 11, 12 and 13.14 in FIG. The spur
gears 211 ° 221. 231, 241 and the bevel gears 212 ° 222. 232, 242 are in one-to-one
correspondence with the spur gears 111. 121, 131, 141 and the bevel gears 112 ° 122. 132,
142 shown in FIG. It corresponds. FIG. 4 shows a part of a side view of the finger bone 2
constituting the mechanism of the present invention, in which the spur gear 131 of the joint 5
and the spur gear 231 of the joint 6 are engaged with each other. Further, although not shown in
the same drawing, the spur gear 111 and the spur gear 211 are similarly meshed with each
other on the opposite side surface. Next, the operation of one embodiment of the mechanism of
the present invention shown in FIGS. 2 to 4 will be described. First, the finger bone 1 and the
finger bone 2 can have an angular displacement 9 in any direction by the action of the gimbal 10
of the joint 5. That is, angular displacement components other than around the axes of the main
axes 100 and 200 can be generated. This angularly variable displacement can be resolved into
angular displacement components about the axes of the main axes 110 and 120, as is clear
geometrically. Therefore, it is separately described here that the angular displacement around the
axes of the main axes 11.0 and 120 described above can be transmitted to the joint 6 between
the phalanges 2 and 3.
1fC, for convenience of explanation, let us consider relative displacement of the finger bone 2
from an acne system fixed on the finger bone l. First, the operation around the main axis 110 in
FIG. 2 will be described by adding FIG. Assuming that the finger bone 2 is rotated by an angle β
around the principal axis 110 with respect to the finger bone 1 as shown in FIG. 5, the royal
ridge line 210 of the joint 6 is a circle centered on the main axis 110 as shown in FIG. Move in an
arc. At this time, the gimbal 10 is not displaced with respect to the finger bone l. Accordingly, the
spur gear 111 fixed to the gimbal lO shown in FIG. On the other hand, since the spur gear 211 of
the joint 6 shown in FIG. 3 is configured so that the center thereof coincides with the main axis
210, it rotates while meshing with the spur gear 111 to revolve around the spur gear 111. While
doing the rotation. That is, the spur gear 211 is displaced relative to the finger bone 2 by an
angle β. Since the spur gear 211 is fixed to the gimbal 20 and the phalanx 3 is connected via the
shirt 22. 24 connected to the gimbal 20, the phalange 3 is relative to the phalanx 2 Will be
displaced by an angle β. That is, when the finger bone 1 and the finger bone 2 are relatively
rotated around the main axis 110, the finger bone 2 and the finger bone 3 relatively rotate
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around the main axis 210 parallel to the main @ line 110 by the same angle. Thus, a mechanism
capable of transmitting an angle can be configured. Next, the operation around the main axis 120
in FIG. 2 will be described by additionally considering FIG. Assuming that the finger bone 2 is
rotated relative to the finger bone 1 by an angle α, the gimbal 10 also rotates about the
principal axis 120 with respect to the finger bone 1 by an angle α. At this time, since the bevel
gear 122 and the bevel gear 132 mesh with each other, and the bevel gear 122 is fixed to the
finger bone 1, the bevel gear 132 rotates while moving the meshing position with the bevel gear
122. That is, the bevel gear 132 rotates about the main axis 130 by an angle α. At this time,
since the spur gear 131 is fixed to the bevel gear 132 via the shaft 13, the spur gear 131 rotates
by an angle α with respect to one of the main axes 130. Further, as shown in FIG. 4, the spur
gear 131 is a spur gear 1.2. Since the gear 1 is meshed with 1, the spur gear 231 rotates around
the main shaft @ 230 by a horny α. The spur gear 231 is fixed to the bevel gear 232 via the
shaft 23 as shown in FIG. 3, whereby the bevel gear 232 rotates by an angle α.
Further, since the bevel gear 232 is in mesh with the bevel gear 222, the bevel gear 232 rotates
about the main axis 230 by an angle α. Further, since the bevel gear 232 is fixed via the finger
bone 3 and the shaft 23, the finger bone 3 is displaced relative to the finger bone 2 by an angle
α around the principal axis 220. That is, when the finger bone 1 and the finger bone 2 are
relatively rotated around the main axis 120, the finger bone 2 and the finger bone 3 are
relatively displaced by the same angle around the main axis 220 parallel to the main axis 120. ,
Angle transmission is possible. As described above, according to the mechanism of the present
invention, it is apparent that rotational angular displacements about mutually intersecting axes in
the joint can be transmitted. Here, in the following description, the above-mentioned angle α is
fitted, and the angle β is called an angular displacement of bending. In the above description, it
is stated that the angular displacements of photographing and bending can each be transmitted
independently, but here, when both angular displacement components are simultaneously given,
interference occurs between the respective displacements again. Explain what is not. Assuming
that the finger bone 2 takes an angle α with respect to the finger bone 1 and has displacement
components in both directions of bending at an angle β, the angular displacement in the
bending direction, ie, the rotational angular displacement of the principal axis 1101 It is clear
from the construction of the mechanism of the invention that the angle can be transmitted
without being affected. On the other hand, considering the angular displacement in the swing
direction, that is, the rotational angular displacement around the main axis 120, the bevel gear
132 shown in FIG. , And rotates about the main axis 130 by an angle α when viewed from the
coordinate system fixed on the finger bone 1. At this time, finger 4! 2 generates an angular
displacement about the principal axis 130 with respect to the finger bone 1 by an angle β.
Accordingly, the spur gear 131 rotates by an angle α, and while the spur gear 231 meshes with
the spur gear 131, the spur gear 131 is displaced by an angle β so that the center line 230 is on
an arc centered on the main shaft 130'i. This operation situation is retroactive as shown in FIG.
Since the spur gear 131 and the spur gear 231 are engaged with each other as shown in FIG. 4,
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the spur gear 231 rotates relative to the finger bone 2 by an angle α + β around the main axis
230. Accordingly, the bevel gear 232 also rotates by the angle α + β. At this time, as described
above, since the finger bone 2 and the finger bone 3 generate rotational angular displacement by
an angle β around the main axis 230, the bevel gear 222 revolves around the bevel gear 232 by
an angle β It rotates around the principal axis 220 by an angle β as a rotational movement
event due to friction.
Therefore, the bevel gear 222 rotates around the main axis 220 relatively to the finger bone 2 by
an angle α obtained by subtracting the rotational angle β around the main shaft @ 220 from
the rotation angle α + β around the main axis 230 of the bevel gear 232 Will be displaced. That
is, the finger bone 3 generates a rotational angular displacement by an angle α in the swing
direction relative to the finger bone 2. As described above, even if angle 1f and f components in
both directions of swinging and bending occur simultaneously between the finger 1 and the
finger 2, they can be transmitted as angular displacement between the finger 2 and the finger 3
without mutual interference. It is possible to The above description has shown the case where the
angular displacement of the joint 5 in front of it is transmitted to the joint 6 on the front side of
the link by using the finger bone 2 as a link of the middle part. The possibility of transmitting the
angular displacement to the joint 7 of FIG. FIG. 8 shows a part of a plan view of the finger 3
constituting the mechanism of the present invention, and the structure of the joint 7 is
constructed with the same structure as the joint 5 shown in FIG. Although the detailed
description is omitted, it is configured as shown in FIG. The reference numeral 310 shown in FIG.
8 corresponds to the main axis 110 of FIG. 2, the reference numeral 320 corresponds to the
main axis 120 of FIG. 2, and the reference numerals 31.32.33 correspond to the shafts 11, 12
and 13 of FIG. Correspondingly, reference numeral 30 corresponds to the gimbal 10 of FIG. 2,
and reference numerals 311 and 331 correspond to the spur gears 111 and 131 of FIG. First, it
will be described that the angular displacement of each of the swing and bending between the
finger bones 3 ° 4 can be transmitted in the same manner as described above. The transmission
of the swing angle α from the joint 5 to the joint 6 has been described above. At this time, the
gimbals 20 of the joints 6 are relatively stopped with respect to the finger bone 2, and the finger
bone 3 is rotated by an angle α around the principal axis @ 220 shown in FIG. Accordingly, the
main axis 320 on the finger 3 moves on an arc centered on the main axis 220, and the spur gear
321 rotates while revolving around the spur gear 221. As a result, the gingal 30 fixed to the spur
gear 321 rotates, and the finger 4 is displaced relative to the finger 3 by an angle α. Further, the
situation in which the bending angle β is transmitted from the joint 5 to the joint 6 is as
described above. At this time, the bevel gear 242 is engaged with the bevel gear 212 fixed to the
finger bone 3 at the joint 6. Therefore, the bevel gear 242 rotates about the main axis @ 240 by
the angle β with the rotational movement of the finger 3 at the angle β.
Accordingly, the spur gear 241 rotates about the main axis 240 by the angle β, and the spur
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gear 341 of the joint 7 meshed with this rotates about the main axis 340 by the same angle β.
The rotation of the spur gear 3410 is transmitted to the bevel gear 312 via the bevel gear 342
fixed thereto, and the finger bone 4 fixed to the bevel gear 312 consequently rotates at an angle
β in the bending direction with respect to the finger bone 3 . That is, the angle transfer
mechanism of the swing direction and the bending direction in the angle transfer mechanism
from the joint 5 to the joint 6 uses the same mechanism as the angle transfer mechanism of the
bending direction and the swing direction from the joint 6 to the joint 7 respectively. It is a
mechanism that can be transmitted by Therefore, in the angle transmission from the joint 6 to
the joint 7, the fact that the angle components of the photographing direction and the bending
direction can be transmitted without mutual interference is one of the means for realizing the
angle transmission from the joint 5 to the joint 6 in the above description. It is also apparent
from the fact that the angular components of the direction and the bending direction do not
cause mutual interference. In the above-described embodiment of the present invention, although
the case where the number of phalanges is four has been described, the number of phalanges can
be increased by connecting the same structure as necessary. It is obvious that it is possible to
realize a mechanism capable of sequentially transmitting angular displacement in any direction.
In this case, in the structure of the joint that connects the forefront phalanges, the structure of
the joint can be simplified because there is no subsequent joint. An example is shown in FIG. FIG.
10 shows a simplified structure of the joint 7 in one embodiment of the present invention. When
viewed in correspondence with the joint 5 shown in FIG. 2, the bevel gears 122 and 132 and the
spur gears 111 and 131 are used. The corresponding members can be removed. In addition,
since the finger bone 1 is the endmost finger bone also in FIG. 2, depending on the driving
method of this mechanism, it is possible to have the same configuration as FIG. Furthermore,
according to the p embodiment of the present invention, since there is a space in the central axis
part of the finger bone structure, the power wiring and the like of the working tools connected to
the tip finger bone in the case of using as a robot wrist etc. It is possible to arrange through the
center of the phalangeal structure. FIG. 11 shows another embodiment of the angle transmission
mechanism according to the present invention, and shows a portion corresponding to the joint
structure of FIG. 2 in the above-mentioned embodiment. Although the configuration of the angle
transmission mechanism is substantially the same, the phalanges 2 and 4 are shaft-shaped
differently from the above embodiment.
According to this embodiment, since the interference due to the collision between the members
due to the angular displacement of the phalanges is small, the movable angle range can be made
large. FIG. 12 shows another embodiment of the present invention, which is different in the
structure of the joint from the two embodiments described above. However, the fact that each of
joints 5 and 6.7 takes the same structure is the same as the above embodiment, so FIG. 12 is
shown corresponding to joint 5 here. The basic member of this joint portion is a cross shaft 500,
which constitutes a so-called hook joint. Cross shaft 500 has main axes 510 and 520 orthogonal
to each other. Here, the intersection point 550 of these main axes 11i1 j 510 and 520 is called
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the center of the present joint. Spur gears 511, 521 ° 531.541 and bevel gears 512, 522, 532
° 542 are attached to the cross shaft 500. The spur gear 511 is fixed to the cross shaft 500
around the main axis 510, and the spur gear 521 is fixed to the cross shaft 500 around the main
axis 520. In addition, the spur gears 531 and 541 are rotatably mounted around the main axes
510 and 520 as central axes. The bevel gears 532 and 542 are each fixed so that their central
axes coincide with the spur gears 531.541. Furthermore, the bevel gear 512 is fixed to the finger
bone 2 with the main axis 510 as a central axis, and can rotate about the main axis 510. In
addition, the bevel gear 522 is fixed to the finger bone 1 and can rotate about the main axis 520
as a central axis. In addition, the bevel gear 512 and the bevel gear 542, and the bevel gear 522
and the bevel gear 532 are configured to mesh with each other. FIG. 13 shows the structure of
the joint 6 constituting the mechanism of the present invention, and the cross joint 600 is the
cross joint 500 of FIG. 12, and the spur gears 611 ° 621.631 and 641 are the spur gears 511
and 521. The bevel gears 612 and 622 correspond to the bevel gears 512, 522 and 532 ° 542,
respectively, and the bevel gear 612 corresponds to the finger 3 and the bevel gear 622 to the
finger 2. It is fixed n. FIG. 14 shows a part of a side view of the finger 2 constituting the
mechanism of the present invention, which is constituted by a spur gear train. That is, although
spur gear 511 is not illustrated in spur gear 611 via spur gear 513.613, and spur gear 531 is
similarly illustrated in spur gear 631 via spur gears 5.33 and 633. It is connected.
Here, the spur gears 513.613, 533 and 633 are used as intermediate gears. Although the
transmission principle of the finger bone opening angle displacement in this embodiment is the
same as that of the above embodiment and thus will not be described in detail, it is possible to
transmit the rotation angle displacement component around the main axis 510 and the main axis
520, and There is no mutual interference between the angle of the swinging direction and the
bending direction, the possibility of transmission to the next joint, the ability to cope with the
increase in the number of finger bones, and the simplified structure corresponding to FIG. Etc is
clear. According to this embodiment, it is possible to miniaturize the joint portion and to increase
the length of the phalanges and to facilitate the manufacture of the mechanism. In the
embodiment described above, an example using bevel gears and spur gears as the angle
transmission means has been shown, among which the bevel gears transmit the direction change
of the rotating shaft, and the spur gears rotate the following joint. It is possible to realize the
angle transmission mechanism according to the present invention by means of another
mechanical element having the same function as that used for the purpose. As a specific
modification, the spur gear using portion in each of the above embodiments can be realized using
a parallel link mechanism or a chain, and the angle direction conversion mechanism by the bevel
gear in the above embodiment is It is readily understood that it is also possible to realize using a
spatial linkage or a worm, a gear, or even a universal joint or the like. As a means for transmitting
a driving force for bending or swinging motion to the finger bone 2 to the finger bone 1 with the
finger bone 1 shown in FIG. 1 as a fixed part, a rotation shaft is provided in the finger bone 1,
The rotation of the rotary shaft may be transmitted to the spur gear 121.degree. 141 shown in
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FIG. 2 through the bevel gear and the spur gear, or as another measure, between the finger bone
1 and the finger bone 2 An actuator with a hydraulic cylinder may be provided, and the phalange
2 may be inclined with respect to the phalange 1 by this actuator. Furthermore, when
transmitting angles between the phalanges 1 to 4 when the angle of transmission between the
phalanges 1 to 4 is small, the joints shown in FIG. 2, FIG. 3 and FIG. "The bevel gear can be
configured as a partial bevel gear. With this configuration, the joint and the overall structure can
be made smaller. As described above in detail, according to the present invention, relative
angular displacement in any direction of the phalanges or members can be transmitted in the
form of angular displacement components about two axes, so that a three-dimensional angle can
be obtained. A mechanism capable of transmission can be realized.
In addition, as a result, it is inexpensive, can be miniaturized, is easy to manufacture, has high
reliability, and can accurately transmit an angle.
[0002]
Brief description of the drawings
[0003]
FIG. 1 is a perspective view showing the entire structure of an embodiment of the angle
transmission mechanism of the present invention, FIG. 2 is a cross sectional view showing the
details of the joint of the embodiment of the present invention shown in FIG. The drawing is a
cross-sectional view showing the details of the joint shown in FIG. 2 and the joint adjacent to it,
FIG. 4 is a side view of the phalanx according to one embodiment of the present invention shown
in FIG. Fig. 6 is an explanatory view showing a displacement operation of the bending direction
'of the embodiment of the present invention shown in the figure, Fig. 6 is an explanatory view
showing a displacement operation of the swing direction in the same 8 is a plan view of the
phalangeal portion 9 adjacent to the joint shown in FIG. 4, FIG. 9 is a cross sectional view
showing details of the joint shown in FIG. 3, and FIG. 10 is FIG. FIG. 11 is a cross-sectional view
showing another example of the joint at the tip of the embodiment of the present invention
shown in FIG. 11, and FIG. 11 shows another embodiment of the joint used in the present
invention, FIG. 12 is a cross-sectional view showing the details of the joint corresponding to the
joint of the figure, and FIG. 12 shows another embodiment of the joint according to the present
invention, and the joint shown in FIG. 2 and FIG. 13 is a cross sectional view showing the details
of the joint shown in FIG. 12 and the joint adjacent to it, and FIG. 14 is a cross sectional view
showing the present invention shown in FIG. It is a side view which shows the other example of
the phalanx part of an Example.
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1.2, 3.4 ... phalanges, 5, 6.7 ... joints, 1 o. 20.30 · · · Gimbal, 500 · · · cross shaft, 11.12, 13.14 · · ·
shaft, 21, 22 ° 23. 24 · · · shaft, 31, 32, 33. 34 · · · shaft , 111. . 12 gears, 131, 141 ... spur gears,
211, 221, 231, 241 ... spur gears, 311 ', 331 ... spur gears, 511, 521 ° 531.541 ... spur gears,
611, 621 63 631.641 · · · Spur gear 112, 122, 132 142 142 · · · bevel gear, 212, 222, 232, 242 ·
· · bevel gear, 322, 332 · · · bevel gear, 512 ° 522. 532, 542 · · · bevel gear, 612, 622 ° 63
2.642 · · bevel gear. Agent Patent attorney Toshiyuki Utada 'f, 3 F 2) 240 Y 4 Figure S J J 70 δ
δ 9 1 A 9 図 10 ′' fII + fullness 12 Y Y l 13) 14 (2)
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