CN-122008305-A - Joint mechanism and multi-joint device

Abstract

The present invention defines the movable range without increasing the cost. The first articulation mechanism (10) includes a base portion (110) and a rotating portion (120) that rotates relative to the base portion (110). The first joint mechanism (10) includes a restricted portion (B1) that rotates together with the rotating portion (120), a restricting portion (A1) that is provided on an expanded portion of a rotational path of the restricted portion (B1) and has a function of restricting rotation of the restricted portion (B1) relative to the base portion (110) to a first movable range, and a second movable range that is attached to the base portion (110) or the rotating portion (120) and sets the movable range of the restricted portion (B1) smaller than the first movable range.

Inventors

• FUKAMACHI TAKASHI
• TOGAWA KEIJI
• Dai Koyo

Assignees

• 索尼互动娱乐股份有限公司

Dates

Publication Date

20260512

Application Date

20220317

Priority Date

20210330

Claims (10)

1. 1. An articulating mechanism comprising a base portion and a rotating portion that rotates relative to the base portion, the articulating mechanism comprising: An adjusted portion that rotates together with the rotating portion; An adjusting portion provided on an expanding portion of a rotation locus of the adjusted portion and having a function of adjusting rotation of the adjusted portion relative to the base portion within a first movable range, and A movable range defining member that is mounted on the base portion or the rotating portion and that defines a second movable range that is narrower than the first movable range as a movable range of the regulated portion.
2. 2. The articulating mechanism of claim 1, wherein The movable range defining member is mounted on the regulated portion or the regulating portion.
3. 3. The joint mechanism according to claim 1 or 2, wherein The rotating part includes a first bevel gear rotating around a first axis direction, The base portion includes a second bevel gear meshed with the first bevel gear and rotated about a second axis direction intersecting the first axis direction, and a third bevel gear meshed with the first bevel gear, arranged to face the second bevel gear with respect to an extending direction of the second axis direction and rotated about the second axis direction, The regulated portion includes a first regulated portion rotating about the first axis direction relative to the base portion and a second regulated portion rotating about the second axis direction relative to the base portion, and The adjusting portion includes a first adjusting portion provided on an expanding portion of a rotation locus of the first adjusted portion and a second adjusting portion provided on an expanding portion of a rotation locus of the second adjusted portion.
4. 4. The articulating mechanism of claim 3, wherein The first regulated portion is disposed on an inner peripheral surface of a center hole formed coaxially with a first axis direction in the first bevel gear, and The first adjusting portion is provided on a first support shaft supporting the first bevel gear.
5. 5. The articulating mechanism of claim 4, wherein A connection object portion to which a member located outside the joint mechanism is connected is arranged on a rear surface side of the first bevel gear in the rotating portion.
6. 6. The articulating mechanism of claim 5, further comprising: A second support shaft supporting the second bevel gear and the third bevel gear, wherein The second adjusted part is arranged on the second supporting shaft, and The second adjustment portion is disposed on the base portion.
7. 7. The articulating mechanism of claim 6, wherein The second regulated portion is mounted on a projection as a part of a second support shaft, the projection protruding from a rear surface side of the second bevel gear.
8. 8. The joint mechanism according to any one of claims 4 to 7, wherein The movable range defining member is mounted on at least the first regulated portion.
9. 9. The joint mechanism according to any one of claims 4 to 8, wherein The movable range defining member is mounted on at least the second regulated portion.
10. 10. A multi-joint device, comprising: At least two joint mechanisms according to any one of claims 1 to 9, wherein The at least two joint mechanisms include a first joint mechanism and a second joint mechanism, and The movable range defining member is mounted on at least one of the first joint mechanism or the second joint mechanism.

Description

Joint mechanism and multi-joint device The application is a divisional application of an application patent application with the application date of 2022, 3, 17, the application number of 202280013516.2 and the application name of joint mechanism and multi-joint device Technical Field The present disclosure relates to a joint mechanism and a multi-joint device. Background For example, PTL 1 discloses a robot having joints. List of references Patent literature PTL 1 Japanese patent laid-open No.2003-117858 Disclosure of Invention Technical problem In order to prepare the joint mechanisms having different movable ranges, it is necessary to separately manufacture the mechanisms according to the respective movable ranges. Further, the portion for adjusting the movable range may be worn and deteriorated due to long-term use of the joint mechanism. If so, it is necessary to completely change the joint mechanism. In addition, in the case where a plurality of joint mechanisms are used in one apparatus, it is necessary to prepare a plurality of joint mechanisms having different movable ranges suitable for respective use positions or respective use purposes. These conditions should lead to increased costs. Solution to the problem The present disclosure proposes an articulation mechanism that includes a base portion and a rotating portion that rotates relative to the base portion. The joint mechanism includes an adjusted portion that rotates together with the rotating portion, an adjusting portion that is provided on an expanded portion of a rotation locus of the adjusted portion and has a function of adjusting rotation of the adjusted portion relative to the base portion within a first movable range, and a movable range defining member that is mounted on the base portion or the rotating portion and that defines a second movable range that is narrower than the first movable range as a movable range of the adjusted portion. The joint mechanism can define the movable range without increasing the cost. The present disclosure proposes a multi-joint device including at least two joint mechanisms, wherein the at least two joint mechanisms include a first joint mechanism and a second joint mechanism, and a movable range defining member is mounted on at least one of the first joint mechanism or the second joint mechanism. According to the multi-joint device, a multi-joint device including joint mechanisms having different movable ranges can be provided without involving an increase in cost. Drawings Fig. 1 is a perspective view of the upper rear side of the multi-joint apparatus according to the present embodiment. Fig. 2 is a perspective view of the upper anterior side of the multi-joint apparatus according to the present embodiment. Fig. 3 is a left side view of the multi-joint apparatus according to the present embodiment. Fig. 4 is a rear view of the multi-joint apparatus according to the present embodiment. Fig. 5 is a perspective view of the upper rear side of the first joint mechanism according to the present embodiment. Fig. 6 is a perspective view of the upper front side of the first joint mechanism according to the present embodiment. Fig. 7 is a rear view of the first joint mechanism according to the present embodiment. Fig. 8 is a perspective view of the second bevel gear, the third bevel gear, and the periphery thereof in the first joint mechanism according to the present embodiment. Fig. 9 is a left side view of the first bevel gear and its periphery according to this embodiment. Fig. 10 is a cross-sectional view taken along line X-X in fig. 9. Fig. 11 is a perspective view of a first bevel gear according to the present embodiment. Fig. 12 is a perspective view of the movable range defining member mounted on the regulated portion shown in fig. 11. Fig. 13 is a left side view of the regulated portion rotated about the axis ax12, the regulating portion regulating the rotation of the regulated portion, and the periphery thereof. Fig. 14 is a left side view of the movable range defining member mounted on the adjusting portion shown in fig. 13. Detailed Description Hereinafter, embodiments of the present disclosure will be explained with reference to the drawings. General overview of the overall Structure First, an outline of the overall structure of the multi-joint apparatus 1 according to the present embodiment is described with reference to fig. 1 to 4. Fig. 1 is a perspective view of the upper rear side of the multi-joint apparatus according to the present embodiment. Fig. 2 is a perspective view of the upper anterior side of the multi-joint apparatus according to the present embodiment. Fig. 3 is a left side view of the multi-joint apparatus according to the present embodiment. Fig. 4 is a rear view of the multi-joint apparatus according to the present embodiment. In the following description, arrows X1, X2, Y1, Y2, Z1, and Z2 in the drawings represent right, left, front, rear, upper, and lower sides, respective