| 摘要 |
PROBLEM TO BE SOLVED: To expand a relative rotation angle of upper and lower hands, relative to conventional one.SOLUTION: A wrist structure of a robot hand 1 comprises: a hollow outside wrist shaft 5 which is extended along a common rotation shaft line L, and an upper end of which is coupled to a lower hand 3; a hollow inside wrist shaft 4 which is extended by passing inside of the outside wrist shaft 5 along the common rotation shaft line L, an upper end of which is coupled to an upper hand 2, and which has an opening part 8 formed so as to be opened to inside of the lower hand 3; and a harness processing mechanism 9 for supporting movably a harness 7 extended to inside of the lower hand 3 via the opening part 8 from inside of the inside wrist shaft 4, in an independent state from the inside wrist shaft 4 and the lower hand 3. |
