| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated robot which can suppress hitching, twisting, entangling or else of a wiring pipeline to be penetrated thereinto.SOLUTION: An articulated robot includes: a second rotation shaft 63 which is disposed coaxially on an inner part of a first rotation shaft 53, is supported freely rotatably by an arm element, at the same time, is connected to an upper hand and is integrally rotated; and a storage case 48 which is disposed integrally with the arm element on an outer circumference of the first rotation shaft 53 and forms a ring-shaped wiring pipeline space between the first rotation shaft 53 and the storage case 48. Therein, insertion holes 53b, 48b which insert wiring pipeline CT thereinto on the center side and outer circumferential side of the wiring pipeline space are respectively formed, the wiring pipeline CT is drawn into an inner part of the storage case 48 through one side insertion hole 53b from an inner part of a lower hand 5 and, at the same time, the wiring pipeline CT is arranged in a spiral shape on the inner part of the storage case 48 such that the wiring pipeline CT is drawn out to an inner part of the arm element from the other side insertion hole 48b. |
