JOINT STRUCTURE FOR ROBOT

Abstract: a joint structure for a robot includes a hollow first member, a second member, and an actuator that relatively rotates the first member and the second member about a first axis. the actuator includes a motor that is housed in the first member and that rotates a shaft about a second axis intersecting the first axis. a reducer decelerates a rotation of the shaft to transmit the rotation to the second member, and a power transmission mechanism transmits power from the motor to the reducer. the power transmission mechanism includes a first gear fixed to the shaft, a second gear coaxially mounted on the reducer meshes with the first gear, and a holder mounts the first gear so as to be positionally adjustable in a direction along the second axis and mounts the second gear so as to be positionally adjustable in a direction along the first axis.

Inventor(s): Wataru AMEMIYA

CPC Classification: B25J9/102 ({Gears specially adapted therefor, e.g. reduction gears (gearings in general )})

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