US 11,745,362 B2
Robot, attachment method, and detachment method
Hidenori Hama, Shiojiri (JP); Yuta Ichimiya, Matsumoto (JP); and Shingo Hoshino, Hokuto (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Jan. 24, 2022, as Appl. No. 17/582,403.
Claims priority of application No. 2021-009739 (JP), filed on Jan. 25, 2021.
Prior Publication US 2022/0234220 A1, Jul. 28, 2022
Int. Cl. B25J 17/00 (2006.01); B25J 19/00 (2006.01); B25J 9/00 (2006.01)
CPC B25J 17/00 (2013.01) [B25J 9/0009 (2013.01); B25J 19/0066 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A robot comprising:
a first member having a first mounting surface;
a second member located at a first mounting surface side with represent to the first member, the second member having an opening facing the first member and a second mounting surface located at an opposite side to the first member;
a joint actuator coupling the first member and the second member and relatively pivoting the first member and the second member;
a first screw configured to fasten the joint actuator to the second member; and
a second screw configured to fasten the joint actuator to the first member,
the joint actuator having:
a motor housing defining a flange fixed to the second mounting surface,
a motor positioned in the motor housing, and placed at the opposite side to the first member with respect to the flange, and
a reducer placed at a first member side with respect to the flange, projecting from the opening to the first member side, and fixed to the first mounting surface,
wherein a width of the opening is less than a width of the flange and greater than a width of the reducer,
a width of the motor is less than the width of the flange, and
the first screw is configured to fasten the flange to the second member from the opposite side to the first member and the second screw is configured to fasten the reducer to the first member from an opposite side to the second member.