| 摘要 |
PROBLEM TO BE SOLVED: To provide a link mechanism suitable for enhancing rigidity of connection parts of respective links while securing sufficient movable ranges of the links, and a leg wheel type robot having leg parts comprising the link mechanism. SOLUTION: In the leg wheel type robot 100, a first link 17 has a configuration in which two link members are opposed to each other leaving a gap, both of upper end parts of the two link members are supported by a rotational joint 16, and an approximately box-shaped first housing 17c is integrally formed in a lower end part of the first link 17. During bending, a part of the rotational joint 16 can enter into the gap. An inclined face is provided on an upper end part of the first housing 17c. In a position on which the first link 17 abuts on a side face of a first hip joint drive part 120 when the first link 17 is rotated around a rotating shaft of the rotational joint 14 with the first link 17 bent to a rotation limit position with respect to the rotational joint 16, a notch part 120b to which the abutment part of the first link 17 can enter in the rotating direction is provided. COPYRIGHT: (C)2009,JPO&INPIT
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