| 摘要 |
PROBLEM TO BE SOLVED: To carry out both twisting and swinging joint movements while avoiding a danger such as catching a finger, by minimizing a clearance for a recess of a movable part out of a robot joint. SOLUTION: A head part 1 of a spherical shape is supported to be rotatable on a body part 5 via a frame 4. The head part 1 as a main part of a head part joint is divided into three parts of a central face part 2, and ear parts 3 act as both ends joints at right and left ends of the head part 1. A DC motor 8 is provided to a rotating base 6 at a lower part of the frame 4, and a DC motor 9 is provided to one end or a shaft 7 bridged over an arm part 4a of the frame 4 extended up to the ear part 3. The twisting joint movement of the spherical head part 1 is carried out by an rotation of the DC motor 8, and the swinging joint movement of the face part 2 is carried out by the rotation of the DC motor 9. Two degrees of freedom of both twisting and swinging are performed by the rotations of both motors. Each clearance between divided three parts is considerably small, whereby the danger of catching the finger can be prevented.
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