Patent ID: 11865704
Assignee: OMRON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A joint structure for linking a first element and a second element of a manipulator of a robot to each other, the joint structure comprising:
a locking mechanism for switching between a free state, in which the second element is capable of moving independently from the first element, and a locked state, in which the second element is fixed to the first element,
wherein the locking mechanism includes:
a first member joined to the first element;
a second member joined to the second element;
a flexible wire-shaped member, one end of which is attached to the second member and another end of which is led out to an outside of the joint structure via a through hole provided in the first member; and
an elastic member connecting the first member and the second member to each other, and

the joint structure
enters the locked state by the wire-shaped member being pulled to bring the second member into contact with the first member, and
enters the free state by the wire-shaped member being fed to separate the second member from the first member, wherein, in the free state, the second member is suspended by the elastic member connecting the first member and the second member to each other.