Patent ID: 7942779
Filing Date: 2011-05-17
Classification: B25J,F16H,Y10T

Abstract:
1. A structure of a turning portion of an industrial robot comprising: a first member and a second member of an industrial robot; an eccentrically oscillating speed reducer arranged between the first member and the second member, having two pieces or more of crank pins, and reducing a speed of rotation provided to the crank pin to be transmitted to the second member to thereby rotate the second member by a speed lower than a speed of the first member; input gears respectively attached to input side end portions of all of the crank pins; a cylindrical gear coaxial with a center axis of the eccentrically oscillating speed reducer and brought in mesh with all of the input gears; an idle gear rotatably supported by the input side end portion of a specific one crank pin in the crank pins to be remote from the input gear in an axial direction and brought in mesh with the cylindrical gear; and an output gear brought in mesh with the idle gear at an output shaft, and including a drive motor arranged to be remote from the center axis of the eccentrically oscillating speed reducer by a predetermined distance in a radius direction.