Patent ID: 9028197
Filing Date: 2015-05-12
Classification: B25J

Abstract:
1. A robot, comprising: an arm having a base end portion rotatably installed through a joint part and a tip end portion in which one or more hand pivot shafts configured to rotatably support a hand unit are installed; and one or more drive mechanisms, each being arranged within the arm and configured to drive the hand pivot shaft at a reduced speed, wherein each drive mechanism includes a motor having a motor shaft, a driving pulley attached to the motor shaft, a driven pulley attached to a hand pivot shaft, an intermediate pulley unit provided between the driving pulley and the driven pulley, and a plurality of belts for operatively interconnecting the driving pulley and the driven pulley through the intermediate pulley unit, wherein the intermediate pulley unit includes: wherein the third belt is larger in width than the first belt, the second belt being larger in width than the third belt.