Wrist structure for a robot

摘要

A member (30) for piping and wiring to an end effector (45) of a robot is discharged from a first wrist element (41) into a void area in a position displaced from an axis c, being bent and loosened, and then guided to a hollow path (4a). Any variance in a length of the piping/wiring member (30) due to rotations of second and third wrist elements (42, 43) is absorbed in this void area, so that twining round or scratching by a wrist can be prevented.