| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint driving device capable of ensuring the smooth action by realizing a structure for receiving the lateral load applied on an acting rod, and being miniaturized. SOLUTION: The joint driving device 10 includes an arm member 40 turnably connected to first and second frames 31, 32 forming a pair, and an actuator 70 for oscillating the arm member. The actuator comprises a driving unit D having a cylinder tube 71 fitted to the arm member, a cylinder block 73 moving along the axial direction of the cylinder tube with the driving unit, a link member 80 with its base end being turnably connected to the first frame and extending in an inclined manner with respect to the cylinder rod, and a guide member 90 connected to the cylinder rod with the fore end of the link member being turnably connected thereto. The driving unit moves a piston 72 by the fluid pressure to move the cylinder rod fitted to the piston. COPYRIGHT: (C)2010,JPO&INPIT |
