Patent ID: 11878412
Assignee: SUMITOMO HEAVY INDUSTRIES, LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B  F

Claim 3:
4. A robot joint structure comprising:
a first robot member;
a second robot member; and
a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other,
wherein the speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member,
wherein the fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member,
at least part of an axial range of the first fastening member does not overlap with respect to internal teeth of the internal gear when viewed in a radial direction,
wherein the fixing member is a member separate from the internal gear.