JOINT MECHANISM AND JOINT DEVICE

摘要

A joint mechanism capable of achieving a desired attitude is realized by a simple structure. The joint mechanism has a first link (1), a second link (2), a third link (3), a shaft (11) rotatable about its axis and supported by the second link (2) so as to be movable in the axial direction, first and second worms (9, 10) provided on the shaft (11), a first worm wheel (7) meshing with the first worm (9) and rotating the first link (1) relative to the second link (2), and a second worm wheel (8) meshing with the second worm (10) and rotating the third link (3) relative to the second link (2). The first and third links (1, 3) are rotated in the opposite directions when the shaft (11) is rotated and are both rotated in the same direction when the shaft (11) is axially moved.