MULTIJOINT INDUSTRIAL ROBOT

摘要

A wrist portion (3) of a robot (1) includes: a first movable portion (14) configured to rotate relative to an arm portion (2) around a first wrist axis (S); a second movable portion (15) configured to rotate relative to the first movable portion (14) around a second wrist axis (B); a third movable portion (16) configured to rotate relative to the second movable portion (15) around a third wrist axis (T); and a cable insertion portion (70) through which an effector cable (9) is inserted, the effector cable (9) being used to supply electric power and the like to an end effector (8) attached to the third movable portion (16). The cable insertion portion (70) is provided at the first movable portion (14) so as to be located on the first wrist axis (S). Two motors (25 and 26) among a plurality of motors (24 to 26) configured to drive the wrist portion (3) are attached to the first movable portion (14) so as to sandwich the cable insertion portion (70) in a direction perpendicular to the first wrist axis (S).