| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To make the constitution of a wrist part compact on the whole while routing a cable without obstruction to smooth operation. <P>SOLUTION: A wrist part 3 of a robot 1 has a cable guide 92 having a guide hole 93 into which a cable 9 for effector for supplying at least one of electric power, motive power, a signal, and a material to an end effector 8 is inserted. Two motors 25, 26 among a plurality of motors 24-26 driving the wrist part 3 are fitted to a first movable part 14 of the wrist part 3, and arranged with the cable guide 92 interposed in a direction orthogonal to a first wrist axis S. The cable guide 92 is provided to the first movable part 14 to be positioned on the first wrist axis S. The cross-sectional shape of the guide hole 93 is constricted at a center part 93b in an axial direction of the first wrist axis S and expanded at both ends 93a, 93b. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
