| 摘要 |
A robot arm comprises a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier 64, 104 attached to a first one of the limbs by a first revolute joint having a first rotation axis 62, 102 and to a second one of the limbs by a second revolute joint having a second rotation axis 63, 103; a first drive gear 74, 107 disposed about the first rotation axis 62, 102, the first drive gear 74, 107 being fast with the carrier 64, 104: a second drive gear 75, 108 disposed about the second rotation axis 63, 103, the second drive gear 75, 108 being fast with the second one of the limbs; a first drive shaft 76 for driving the first drive gear 74, 107 to rotate about the first rotation axis 62, 102, the first drive shaft 76, 111 extending along the first one of the limbs and having a first shaft gear 78, 118 thereon, the first shaft gear 78, 118 being arranged to engage the first drive gear 74, 107; a second drive shaft 77 for driving the second drive gear 75, 108 to rotate about the second rotation axis 63, 103, the second drive shaft 77, 112 extending along the first one of the limbs and having a second shaft gear 79, 113 thereon. The joint mechanism may comprise an intermediate gear train 80, 81 borne by the carrier 64 and coupling the second shaft gear 79 to the second drive gear 75. The joint mechanism may comprise an intermediate mechanism (82 fig. 5) that meshes with the second drive shaft 77. The joint mechanism may comprise a prismatic joint 116 allowing the length of the second drive shaft 112 to vary. |
