| 摘要 |
PROBLEM TO BE SOLVED: To drive respective arms by torque obtained from a single motive power generator by connecting rotary shafts in large numbers so as to freely vary a binding angle by a variable shaft connecting joint, taking out the torque from these rotary shafts with respective joining, and changing the bond angle between the robot arms. SOLUTION: A rotary shaft 10 is installed on a robot arm 100 by a rotary bearing 110. Torque of a motor 500 is transmitted to a rotary shaft 10 of a robot arm 100' joined to the next stage via a universal joint 20. A normally rotating worm gear 32 and a reversely rotating worm gear 34 are installed on the rotaty shaft 10 via an electromagnetic clutch mechanism 50 to select either state of taking out normal rotation or taking out reverse rotation or taking out no rotation according to a switching state of a switch circuit 200. Thus, an optional binding angle can be set by the torque from the motor 500 arranged by only one in a base part.
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