| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot which has a multi-joint arm having seven joint axes, in which a mechanical load on interconnection lines arranged in the arm is suppressed. <P>SOLUTION: A robot body 11 has the multi-joint arm 30 having the seven joint axes, and a pipe arrangement member 38 in which the interconnection lines for electrically connecting motors driving respective arms and a controller 12 are incorporated are arranged so as to pass through the insides of the respective arms. The multi-joint arm 30 has a first arm 31 which twists with respect to a base portion 14, a second arm 32 which twists with respect to the first arm 31, a third arm 33 which bends with respect to the second arm 32, a fourth arm 34 which bends with respect to the third arm 33, a fifth arm 35 which twists with respect to the fourth arm 34, a sixth arm 36 which bends with respect to the fifth arm 35, and a hand portion 37 which twists with respect to the sixth arm 36. <P>COPYRIGHT: (C)2013,JPO&INPIT |
