Rotation joint structure for robot, has switchable clutch element that is provided to connect stationary base portion with ring gear portion or tooth element which is driven by eccentric cam drive element

摘要

The rotation joint structure has a gear box (2) such as sliding key-type gear box or planetary gear box provided with a ring gear portion (11). An outer tooth portion (9) is connected with an inner tooth portion (13) of the ring gear portion. A tooth element (7) is driven by an eccentric cam drive element (5). An output element (21) is connected with the tooth element or the ring gear portion. The ring gear portion or the tooth element is connected with a stationary base portion (19) through a switchable clutch element (17).