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1. (WO2017169605) ROBOT

Pub. No.:    WO/2017/169605    International Application No.:    PCT/JP2017/009354
Publication Date: Fri Oct 06 01:59:59 CEST 2017 International Filing Date: Fri Mar 10 00:59:59 CET 2017
IPC: B25J 9/08
Inventors: AYUZAWA, Yuu
鮎澤 優
TSUNETA, Haruhiro
常田 晴弘
ODAGIRI, Hideyuki
小田切 秀行
WATANABE, Hirokazu
渡邊 洋和
Title: ROBOT
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 joint units 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 joint part 2B, 2C, 2E either directly or via a coupling member 63.