Patent ID: 7013750
Filing Date: 2006-03-21
Classification: B25J,Y10T

Abstract:
1. A unit set for a robot including a joint unit for a robot, said unit set for a robot comprising: a joint casing having a surface profile; an output rotating shaft which passes through one of first opposed surfaces of said joint casing to extend to the exterior thereof, and which has a first center axis orthogonal, at arbitrary opposed positions, to said first surfaces of said surface profile as a center axis thereof; rotational driving means stored in said joint casing and fixed to said casing; reducing means connected to a driving rotating shaft of said rotational driving means, for reducing a speed of rotations of said driving rotating shaft and transmitting the rotations to said output rotating shaft; rotating joint means having a center axis in common with the center axis of said output rotating shaft, for rotating as one body together with said output rotating shaft; and fixed joint means fixed on one of second opposed surfaces of said joint casing, which fixed joint means has another center axis held in common with a second center axis intersecting, at arbitrary opposed positions, said second surfaces orthogonal to one of said first surfaces where said output rotating shaft extends to the exterior of said joint casing, further intersecting the first center axis held in common with said output rotating shaft, which fixed joint means has the same configuration as said rotating joint means; wherein a separation distance for each of the joint means, from an intersection of said first center axis with said second center axis along each of said first and second center axes to each of said joint means, is uniform.