(EN) Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part 2 of a robot 1, a motor and a reduction gear are housed in a case 11, and an output-side member 27 having a flange 27a is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case 11. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot 1 is provided with a plurality of biaxial jointunits 6 comprising two joint parts 2. In the robot 1, the attachment face of the case 11 of one joint part 2A, 2D, 2F constituting a biaxial joint unit 6 is fixed to the flange 27a of the other jointpart 2B, 2C, 2E either directly or via a coupling member 63.
(ZH) 本案是一种具备在经连结的状态下安装于臂的端部的两个关节部的机器人，例如在机器人(1)的关节部(2)中，将马达及减速机收容于壳体(11)中，将具有凸缘部(27a)的输出侧构件(27)固定于减速机的输出轴。在壳体(11)上形成有沿与减速机的输出轴的轴向正交的方向开口的开口部，且在开口部形成有与开口部的开口方向正交的平面状的安装面。机器人(1)具备多个由两个关节部(2)所构成的双轴关节单元(6)。所述机器人(1)中，将构成双轴关节单元(6)的其中一个关节部(2A)、关节部(2D)、关节部(2E)的壳体(11)的安装面与另一关节部(2B)、关节部(2C)、关节部(2E)的凸缘部(27a)经由连结构件(63)而固定或直接固定。
