| 摘要 |
PROBLEM TO BE SOLVED: To attain a slim proportion like a human's leg, especially a female leg in a leg for a human type walking robot. SOLUTION: A motor 13a arranged on an upper part of a lower thigh 8 and a linear drive mechanism 13b are driving-bonded by a belt type transmission mechanism 13d, a motor 14a arranged on a lower part of the lower thigh 8 and a middle shaft 14b extending in a right/left direction of the lower thigh 8 are driving-bonded by a pair of bevel gears 14c, and a leg 9 is supported on a joint member 11c supported on the lower thigh 8 rockably around an axis P4 rockably around an axis R3. A coaxial type speed reducer 14d is arranged on the axis R3, its output element is bonded to the leg 9, and a portion removed from the portion on the axis P4 of the joint member 11c and the output element 13f of the linear drive mechanism 13b are connected by a link member 13h. The middle shaft 14e turnably supported at a position on the axis P4 of the joint member 11c and the middle shaft 14b are driving-bonded by a belt type transmission mechanism 14h, and an input element of the coaxial type speed reducer 14d and the middle shaft 14e are driving-bonded by a pair of bevel gears 14i. COPYRIGHT: (C)2011,JPO&INPIT
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