| 摘要 |
A robot wrist comprises a first wrist part (1) configured to be mounted to a robot arm, a second wrist part (2) rotatable in relation to the first wrist part (1) about a first axis of rotation (A 1 ), a third wrist part (3) rotatable in relation to the second wrist part (2) about a second axis of rotation (A 2 ), and a protection hose (4) extending through the robot wrist. The first axis of rotation (A 1 ) intersects with the second axis of rotation (A 2 ) within a boundary wall of the protection hose (4) in at least one position of the robot wrist. Intersection of the first and the second axes of rotation (A 1 , A 2 ) within the boundary wall of the protection hose (4) is achieved by making the second wrist part (2) compact in the longitudinal direction of the protection hose (4), and wide in the radial direction of the same. As a result the protection hose (4) is arranged in a single circular arc in a bent position of the robot wrist, which in its turn results in an improved service life of the protection hose (4). |
