Robot arm, as well as, external force detection transmission device and shock absorber for the robot arm

摘要

The present invention for any of the two or more direction, and issues that the external force with more than a certain the direction of the force component can be exerted in a passive state buffering function to reduce the damage caused by the external force when applied to the arm to. And A outer ring member 42 connected to the arm portion 30 and the inner ring member 43 connected to the joint mechanism 20 side, the relative rotation direction of the fixed shaft 46 around, perpendicular to both the fixed shaft 46 and the arm longitudinal direction for any of the axis of relative rotation direction also, and is connected with the relative movement. For any of the two relative movement direction, when an external force with more than a certain the direction of the force component is applied to the arm, the detection transmitting member is operated in a passive state by utilizing the external force, and in conjunction therewith Te power transmission state that prohibits relative movement of the relative movement direction corresponding to the force component of the external force is released in a passive state. [Selection Figure] Figure 1