| 摘要 |
PROBLEM TO BE SOLVED: To provide a fitting structure for a rotation transmission mechanism easily assembled and suitable for improving the strength. SOLUTION: A leg wheel type robot is provided with a base body, rotational joints 14, four leg parts connected to the base body via the rotational joints 14, drive wheels rotatably provided at tips of the leg parts, and joint motors for rotating the rotational joints 14. A joint drive part 300 is provided with a housing 302 having an opening part 304a on the axial center of a speed reducer 318 and storing a rotating shaft 316 and with an upper face cover 306 mounted with a bearing 314. The upper face cover 306 has a spigot part fitted to the inner periphery of the opening part 304a with the axial center of the bearing 314 and the axial center of the speed reducer 318 corresponding to each other. The upper face cover 306 is fixed to the housing 302 by fitting the spigot part to the inner periphery of the opening part 304a. COPYRIGHT: (C)2009,JPO&INPIT
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