US 12,343,863 B2
Spherical joint and joint structure for robot having the same
Masayuki Kamon, Kobe (JP); So Yukizaki, Kobe (JP); and Junichi Karasuyama, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/638,256
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Sep. 1, 2020, PCT No. PCT/JP2020/033119
§ 371(c)(1), (2) Date Feb. 25, 2022,
PCT Pub. No. WO2021/045057, PCT Pub. Date Mar. 11, 2021.
Claims priority of application No. 2019-159743 (JP), filed on Sep. 2, 2019.
Prior Publication US 2022/0402148 A1, Dec. 22, 2022
Int. Cl. B25J 17/02 (2006.01); B25J 9/00 (2006.01); F16C 11/06 (2006.01); F16C 11/10 (2006.01)
CPC B25J 17/0283 (2013.01) [B25J 9/0006 (2013.01); F16C 11/06 (2013.01); F16C 11/106 (2013.01); F16C 2322/59 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A joint structure in a robot, the joint structure comprising a spherical joint comprising:
a ball member; and
a socket having an inner circumferential surface configured to spherically contact the ball member,
wherein the socket includes a cage part forming the inner circumferential surface and having an opening, protrusions between which the opening is formed, and a connecting part provided to the cage part,
wherein a fastening member is disposed at the cage part such that a gap is formed between the fastening member and the ball member, the fastening member being configured to reduce a space of the opening,
wherein the opening is formed in a part of the inner circumferential surface other than a part where a load is applied to the inner circumferential surface from the connecting part,
wherein the connecting part is formed in a bar shape,
wherein the part of the inner circumferential surface of the socket where the load is applied is aligned with an extending direction of the connecting part, and
wherein the opening of the socket is disposed facing outward of the robot so that the fastening member is accessible and an amount by which the protrusions extend is restricted so as not to interfere with operation of the robot.