Patent ID: 11919158
Assignee: TOKYO ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  F  G | IPC B  G

Claim 17:
18. The joint unit according to claim 1, wherein
the decelerator is a wave gear decelerator including a wave generator, a flex spline, and a circular spline,
the input shaft is hollow, and one end portion of the input shaft is coupled to the wave generator and is supported by the input-side support member via a first bearing,
the deceleration output shaft is coupled to an output side of the flex spline and is supported by the input-side support member via a second bearing, and is inserted into the hollow input shaft and is supported by a third bearing with respect to the input shaft in a vicinity of an end portion opposite to the end portion of the input shaft, and
each of the first bearing, the second bearing, and the third bearing is a sealed bearing.