Patent ID: 8997599
Filing Date: 2015-04-07
Classification: B25J,Y10S,Y10T

Abstract:
1. A joint connecting two elements, said joint comprising: two pivot connections, a first one of said pivot connections establishing a first pivot axis, and a second one of said pivot connections establishing a second pivot axis such that said first pivot axis is not parallel to said second pivot axis, a first motor having a first drive axis, said first motor including a first stator portion disposed in fixed relation to a first one of said elements and a first drive portion connected to an input of a first speed reducer having parallel input and output axes, and a second motor having a second drive axis that is always parallel to said first drive axis of said first motor, said second motor including a second stator portion connected to an output portion of said first speed reducer for common axial rotation therewith about said first pivot axis, and a second drive portion connected to another input of a second speed reducer, said second speed reducer including a bevel gear and having an output disposed in fixed relation to said second element, wherein said first one and said second one of said two elements rotate about said first pivot axis in response to an operation of said first motor, and in response to another operation of said second motor rotate with respect to one another about said second pivot axis.