POWER TRANSMISSION APPARATUS FOR DRIVING THE WRIST OF ROBOT AND POWER TRANSMISSION APPARATUS

摘要

The power transmission device includes an internal gear and an external gear that is inscribed in the internal gear and engages with the internal gear, and can transmit an input power to an attachment. The power transmission device further includes: an inner pin for bringing out a relative rotation component between the internal gear and the external gear; and an output flange connected to the inner pin. In this configuration, the inner pin and the output flange are integrally formed as one member, and a mounting hole for connecting the output flange to the attachment is formed in a surface of the output flange that is opposite to the inner pin.