Robot joint structure

Abstract

A robot joint structure includes a first element, a second element, and an actuator. The actuator causes the first element and the second element to rotate relative to each other about a first axis. The actuator includes a motor, a reducer, and a power transmission mechanism. The motor is fixed to the first element and causes a shaft to rotate about a second axis extending in a direction intersecting the first axis. The reducer reduces the rotational speed of the shaft and transmits it to the second element. The power transmission mechanism transmits the rotation of the shaft to the reducer. The power transmission mechanism includes a first gear, a relay, and a second gear. The first gear is fixed to the shaft. The relay extends coaxially with the first axis, with one end connected to the input of the reducer and the other end extending across the second axis on the opposite side from the reducer. The second gear is coaxially and detachably fixed to the other end of the relay and meshes with the first gear.

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