Thomas Bates Jackson,Luke David Ronald Hares,Keith Marshall,Steven James Randle
申请号：
US15217035
公开号：
US20170020614A1
申请日:
2016.07.22
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis； a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier； a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs； a first drive shaft for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear； a second drive shaft for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon； and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear.
