| 摘要 |
PROBLEM TO BE SOLVED: To provide a piping/wiring structure for a linear object, a robot work head and an articulated robot capable of effectively preventing breakage of the linear object inserted into a hollow operating shaft rotated normally and reversely, without requiring a special piping/wiring space.SOLUTION: In a piping/wiring structure for cables 18, the cables 18 which are at least one of tubes 17 and cables 16 are inserted into a hollow part of a hollow operating shaft 12 rotated normally and reversely around its axis by a prescribed angle, are relatively fixed so as not to rotate at one shaft end side of the hollow operating shaft 12, and are relatively movable so as to rotate synchronously with the hollow operating shaft 12 at the other shaft end side. The structure includes a cylindrical protector 61 which is torsionally freely deformable around the axis and is interposed between the inner wall of the hollow operating shaft 12 and the cables 18 to surround and hold the cables 18. |
