JOINT MECHANISM OF HUMANOID ROBOT

PROBLEM TO BE SOLVED: To provide a joint mechanism of a humanoid robot capable of increasing a transmission torque.SOLUTION: A joint mechanism Y1 includes: a first member 100; a second member 200 having a first portion 210 and a second portion 220; a gear device 300 which has a crank shaft 10 formed of a first eccentric part 10a, a first oscillation gear 14 having a first insertion hole 14b and a first outer teeth 14a, a carrier 4 which retains the crank shaft 10 and an outer cylinder 2 having an inner teeth pin 3, and is configured such that the carrier 4 and the outer cylinder 2 are concentrically displaced by oscillation of the first oscillation gear 14; a first fixation member 30 which fixes the outer cylinder 2 and the first member 100; and a second fixation member 40 which fixes the carrier 4 and the second member 200. Therein, the second fixation member 40 includes one side fixing part 40a which fixes the first portion 210 and the carrier 4 and the other side fixing part 40b which fixes the second portion 220 and the carrier 4. 【課題】伝達トルクを大きくできるヒューマノイドロボットの関節機構を提供する。【解決手段】関節機構Ｙ１は、第１の部材１００と、第１部位２１０および第２部位２２０を有する第２の部材２００と、第１偏心部１０ａが形成されたクランク軸１０と、第１挿入孔１４ｂおよび第１外歯１４ａを有する第１揺動歯車１４と、クランク軸１０を保持するキャリア４と、内歯ピン３を有する外筒２と、を有し、第１揺動歯車１４の揺動によってキャリア４と外筒２とが同心状に変位するよう構成される歯車装置３００と、外筒２と第１の部材１００とを固定する第１固定部材３０と、キャリア４と第２の部材２００とを固定する第２固定部材４０と、を備え、第２固定部材４０は、第１部位２１０とキャリア４とを固定する一方側固定部４０ａと、第２部位２２０とキャリア４とを固定する他方側固定部４０ｂと、を有する。【選択図】図２