Patent ID: 11878414
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  F | IPC B

Claim 0:
1. A joint structure of a robot, comprising:
a first link member through which a first shaft member and a second shaft member are inserted;
a second link member through which a third shaft member and a fourth shaft member are inserted;
a first movable link and a second movable link, disposed so as to intersect with each other and configured to rotatably couple the first link member to the second link member through the first to fourth shaft members; and
a linear-movement actuator connected at a base-end part thereof to the first link member,
wherein the first movable link rotatably couples the first link member to the second link member through the first shaft member and the third shaft member,
wherein the second movable link rotatably couples the first link member to the second link member through the second shaft member and the fourth shaft member,
wherein a first part of the first movable link between the first shaft member and the third shaft member intersects with so as to cross a second part of the second movable link between the second shaft member and the fourth shaft member,
wherein a tip-end part of the linear-movement actuator is rotatably connected to the first movable link, and
wherein the second link member relatively pivots to the first link member by the linear-movement actuator advancing and retreating.