| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide the wrist device of a robot capable of shortening the length of wiring or piping for driving the hand of the robot and preventing damaging of the wiring or the piping. <P>SOLUTION: The wrist device 1 of a robot includes a wrist part 20 formed on the tip side of a lower arm 10, and a hand 30 connected to the tip. The wrist part 20 includes a first driving source 21 rotary-driven around a first axis, a first frame 22 turning matched with rotary-driving of the first driving source 21, a force sensor 25 having a hollow part 25a, and a wiring/piping support member 26 disposed in the hollow part 25a and having a first opening 26a at one end and a second opening 26b at the other end, and a wiring/pipe WP disposed. The wiring or the piping WP is laid around the outer diameter around the first driving source 21, and locked to the first opening 26a and the second opening 26b of the wiring/piping support member 26 via a binding member 29. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
