| 摘要 |
A new joint structure, more specifically a joint with two degrees of freedom in movement for connecting link members (1, 2) of a robot arm is disclosed. The purpose of the present invention is to provide a compact, light-weight joint architecture which is especially useful for a robot to perfom precise work within restricted working space. A first one of said link members (1) is rotatably connected to a connecting frame structure (3) via a shaft (6) that may span the entire inner width of said connecting frame structure (3), whereas these second one of said link members (2) is rotatably connected to said connecting frame structure (3) at the opposite side thereof by means of two shaft stubs, e.g. a shaft (7) and an axle (8) having a common centerline that crosses or meets the centerline of the other shaft (6) in a common point. Both shafts (6, 7) are independently driven by drive motors (16, 17) allowing completely free articulation between the link members (1, 2), said drive being achieved by meshing gear-wheels (11, 12, 13, 14, 15). Both drive motors (16, 17) may be arranged at the same side of the joint structure, in case of a robot arm on the proximal side thereof and drive a gear-wheel (11) keyed on undivided shaft (6) on the one hand, and a gear-wheel (13) idling on undivided shaft (6) and also meshing with a gear-wheel (15) on divided shaft (7). |
