| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot of the type, in which a filament is inserted into the inside of an arm part, and by which a drawback that occurs in the prior art in accordance with the fluctuations of a wrist part is resolved.SOLUTION: A robot comprises: an arm part 4 having a longitudinal axis J4; a wrist part 5 disposed at a leading end of the arm part 4 and made rockable on a fluctuation axis J5 perpendicular to the longitudinal axis J4; a filament 9 inserted into the arm part 4 and connected to an end effector 7 mounted on the wrist part 5; and energization means 17 for energizing the filament 9 along the longitudinal axis J4 of the arm part 4 in a direction of separating from the wrist part 5.SELECTED DRAWING: Figure 3 |
