| 摘要 |
PURPOSE: A joint module of a linear actuator type and a robot arm including the same are provided to install a driving part for operation of joints in the inside of a frame to minimize the size of the installation space of a joint part, thereby reducing the volume and facilitating the assembly. CONSTITUTION: A joint module of a linear actuator type (10) comprises a mainframe (100), a first linear actuator, a first gear (310), a first crank shaft (410), a second gear (320), a second linear actuator (250), a third gear (330), a second crank shaft (420), a fourth gear (340), and a supporting plate (500). The second crank shaft connects the second linear actuator with the rotary shaft of the third gear to deliver power depending on the driving of the second linear actuator to the rotary shaft of the third gear. The fourth gear is provided at an end of the other side of the main frame, engages with the third gear, and is rotated by the rotation of the first gear. The supporting plate has a through hole to which the fourth gear is inserted and fixed. The through hole is formed at an end of one side of the main frame in which the fourth gear is provided. |
