To reduce the size and weight, by providing sufficient torsional strength, without increasing the thickness of a frame of a robot, an actuator and a casing of a speed reducer.
A joint part frame of a robot body and the casing of the speed reducer are integrally constituted, and are used in common as a part. Clearance is minimized, and the size and weight are reduced, and high rigidity is realized. For example, when using a planetary gear mechanism as the speed reducer, for example, an internal teeth sleeve on an aluminum pipe is pressed in the joint part frame on the magnesium alloy robot body side. For example, an internal teeth gear is formed by broach work, and the joint part frame of the robot and a speed reduction mechanism can be integrated.
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KISHIDA TAKEO
IGARASHI TAKESHI
YAMAGISHI KEN
Eiji Yamada
Toshio Sawada