Patent ID: 9097322
Filing Date: 2015-08-04
Classification: F16H,Y10T

Abstract:
1. A robot, comprising a first member, a second member, a speed reducer having an externally toothed gear and internal teeth for use in an articulated joint between the first member and the second member to transmit driving force while changing a rotation speed at a given rotation speed ratio, in which the externally toothed gear is rotated inside of the internal teeth while being meshed with the internal teeth, and a rotational phase adjuster for adjusting rotational phase of the speed reducer so that the rotational phase of the speed reducer after being reassembled is prevented from changing from a rotational phase of the speed reducer before disassembling when the speed reducer is disassembled and then reassembled in a state where an orientation of the second member with respect to an orientation of the first member is set to a given orientation.