| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint body applicable to a robot for high cleanliness and smoothly driven, and an articulated robot using the joint body. SOLUTION: This joint structure has a fixed shaft body 20 nonrotatably provided at the other end of a first arm 3 and having a through hole extended along a center axis; a turning shaft body 21 fixed to one end of a second arm 4 to turnably enclose the fixed shaft body coaxially with the fixed shaft body and having a through hole into the second arm from an opening in the peripheral surface, and its driving means 24; a reel 22 turnably journaled to the first arm and provided with an opening in the peripheral surface; a turning transmission means 23 for turning the reel, interlocked with the turning of the turning shaft body; a first electric wire 25 disposed in the through hole of the fixed shaft body; and a second electric wire 26 extended from the opening of the reel through the inside of the reel, wound around the outer peripheral surface of the reel at least once and then wound around the peripheral surface of the turning shaft body at least once, and extended in the through hole from the opening of the turning shaft body. COPYRIGHT: (C)2006,JPO&NCIPI
|
