| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To miniaturize the structure of a wrist unit as the whole while managing an effector cable without interrupting smooth work. <P>SOLUTION: The wrist unit 3 of the robot 1 has: a first movable unit 14, which rotates about a first wrist axis line S with respect to an arm unit 2; a second movable unit 15, which rotates about a second wrist axis line B with respect to the first movable unit 14 by a second wrist motor 25; a third movable unit 16, which rotates about a third wrist axis line T with respect to the second movable unit 15 by a third wrist motor 26; and a cable insertion unit 70 having the effector cable 9 inserted therein, the cable supplying power or the like to an end effector 8 mounted on the third movable unit 16. The cable insertion unit 70 is provided in the first movable unit 14 so as to be positioned on the first wrist axis line S. The second and third wrist motors 25 and 26 are attached to the first movable unit 14 such that the cable insertion unit 70 is sandwiched in the direction perpendicular to the first wrist axis line S. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
