| 摘要 |
PROBLEM TO BE SOLVED: To provide a wire treating structure capable of stabilizing the behavior of the wire etc. for a working tool when a robot is in the wrist axis motion and of managing well with a change of the system. SOLUTION: An opening 26 is formed in the back face of a front arm base part 14, and therefrom the wire 60 is led in. The wire 60 is passed through a hollow 31 in a reduction gear 30 of hollow structure and drawn out from an opening (first opening) 25 formed in the side face of a first wrist element 15. Among constituent elements of the wire 60, a cable 62 for the welding current and a tube 63 for supplying a shield gas are connected directly to a welding torch 19 installed rotatably round the third axis C. A welding wire 61 is fed under guidance by a feed roller 51 of a welding wire feeding machine 50 and connected with the welding torch 19 together with the cable 62 and the tube 63. Driving the feed roller 51 is performed by a wire feeding motor 52 accommodated in the first wrist element 15. COPYRIGHT: (C)2006,JPO&NCIPI |
