| 摘要 |
PROBLEM TO BE SOLVED: To achieve the operation of the jaw part of a robot in the natural fashion while being built with a simple structure. SOLUTION: The robot's jaw device has a roughly U-shaped lower jaw part, a pair of right and left lower jaw part turning support joints which get the right and left upper end parts of the lower jaw part pivoted thereon respectively to support the lower jaw part turnably and a pair of right and left lower jaw part turning drive means which rotate the lower jaw relative to the right and left lower jaw part turning support joints. With the driving of the lower jaw part turning drive means, the lower jaw part is turned to open or close the mouth part. The jaw device is provided with a pair of right and left link parts which links the right and left lower jaw part turning support joints to a pair of bases fastened on the head part frame respectively and a pair of right and left link part turning drive means for rotating the right and left link parts relative to the right and left bases respectively. With the driving of the link part rotation drive means, the link parts are turned to move the lower jaw part almost longitudinally and horizontally as well. COPYRIGHT: (C)2005,JPO&NCIPI
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