Rotation mechanism and robot

A rotation mechanism, comprising:

• a case;
• an internal gear provided in the case and having internal teeth;
• an oscillating gear having external teeth meshing with the internal teeth, the oscillating gear being configured to rotate oscillatorily;
• a crankshaft having an eccentric portion that rotatably supports the oscillating gear and configured to transmit a rotational force of a drive source around an axis to the oscillating gear;
• a carrier configured to receive the rotational force from the oscillating gear and serve as an output portion for output to a mating member;
• a coupling member for coupling the mating member and the output portion by elastic deformation;
• and
• an anti-rotation portion for preventing relative rotation between the mating member and the output portion,
• wherein the coupling member and the output portion are integrally formed of resin,
• wherein the coupling member includes:
• an elastic deformation portion extending in an axial direction along the axis and capable of elastic deformation in a radial direction intersecting the axial direction;
• and
• a claw portion provided at a distal end of the elastic deformation portion and projecting in the radial direction, and
• wherein, in a state in which the coupling member couples the output portion and the mating member, the elastic deformation portion extends through a through portion formed in the mating member and extending along the axial direction, and the elastic deformation portion is in contact with an inner surface of the through portion.

A robot, comprising:

• a first member and a second member;
• and
• a rotation mechanism provided between the first member and the second member and configured to rotate the second member relative to the first member,
• wherein the rotation mechanism includes:
• a case is-configured to output rotation to the second member, from a drive source, which is producing a rotational force around an axis;
• a coupling member configured to couple the second member and the case by elastic deformation;
• and
• an anti-rotation portion configured to prevent relative rotation between the second member and the output portion case,
• wherein an outer flange portion projecting outward in a radial direction of the case is formed on the outer periphery of the case,
• wherein the case is fitted into a through hole formed to pass through the second member in an axial direction along the axis, with the outer flange portion in contact with a first surface of the second member,
• wherein the coupling member includes:
• a ring portion contacting with the outer flange portion;
• an elastic deformation portion extending in the axial direction from the ring portion across a second surface of the second member, and capable of elastic deformation in a radial direction intersecting the axial direction;
• and
• a claw portion provided at a distal end of the elastic deformation portion and projecting in the radial direction,
• wherein the coupling member couples the case fitted into the through hole in the axial direction by pressing the outer flange portion against the second member with the ring portion,
• wherein, in a state in which the coupling member couples the case and the second member, the elastic deformation portion extends through the through portion in the axial direction and the elastic deformation portion is in contact with an inner surface of the through portion, and the claw portion contacts against a periphery of the through hole, on the second surface of the second member, and
• wherein the case is prevented from rotating relative to through hole in a circumferential direction around the axis by the anti-rotation portion.