To provide an articulated body of a robot that is capable of reducing the heat load to a motor while achieving the miniaturization, and to provide a robot.
A driving unit 10 installed in a first articulated body 3 of a robot 1 includes: a motor 20; a braking shaft 25 provided parallel to a motor shaft 29 of the motor 20; a pulley mechanism 40 connecting an output shaft 29 and one end 25a of the braking shaft 25 to each other so as to transmit the rotation of the motor 20 to the braking shaft 25; and an electromagnetic brake 21 and a reduction gear 22 that are provided concentrically with the braking shaft 25. The central part 25b and the other end 25c of the braking shaft 25 are respectively penetratingly mounted in each of the reduction gear 22 and the electromagnetic brake 21. The operation end of a second articulated body 4 is connected to the outer periphery of an output part 31 of the reduction gear 22.
YAMASHITA TOMOTERU
KUMAZAWA SHIRO
SAKAMOTO NAOKI
| JP2001113488A | 2001-04-24 | |||
| JPH06285785A | 1994-10-11 | |||
| JPH0671584A | 1994-03-15 |