| 摘要 |
PROBLEM TO BE SOLVED: To provide an inexpensive joint device of an industrial robot reduced in the number of parts. SOLUTION: In this joint for an industrial robot, a motor 330 relatively rotating a first joint member 310 and a second joint member 320 via a decelerator 100 is fixed to a second joint member 320, and the decelerator 100 has an internal gear member 110, a rotary member rotatably held by the internal gear member 110, external gears 141, 142 with outer teeth meshed with inner teeth, and a crankshaft 151 eccentrically swinging the external gears 141, 142 by rotation from the motor 330. The rotary member 120 has a first rotary member 120 having an end plate 120p engaged with the second joint member 320 and projections 120e inserted in idling holes of the external gears 141, 142, and a second rotary member 130 fixed to the projection 120e. The internal gear member 110 is integrally engaged with the first joint member 310. COPYRIGHT: (C)2008,JPO&INPIT
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