| 摘要 |
PROBLEM TO BE SOLVED: To obtain joint structure mechanism of a robot which facilitates the connection of a motor shaft and an input shaft of an eccentric rocking type planetary gear reducer, enables high torque transmission, and can be compactly formed with a small number of parts. SOLUTION: A cylindrical housing 14 of the eccentric rocking type planetary gear reducer 10 is fixed to a first member 3 constituting a link of the robot, and an output shaft 16 of the reducer is fixed to a second member 4 constituting the link of the robot. An eccentric shaft 11 constituting the input shaft of the reducer 10 is coupled to a motor shaft 2 of a servo motor mounted on the first member 3. Splines are formed directly on the outer peripheral surface of the motor shaft 2 to form a spline shaft 5. The spline shaft is fitted into a spline hole formed in a recessed part (or through-hole) of the eccentric shaft 11. Since the motor shaft 2 itself becomes the spline shaft 5 and spline-coupled to the eccentric shaft 11, the joint structure can be compactly formed with a small number of parts, high torque can be transmitted, and the reducer 10 and the servo motor 1 can be easily joiningly assembled and disassembled. COPYRIGHT: (C)2005,JPO&NCIPI
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