WIRING STRUCTURE FOR WALKING TYPE ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a wiring structure for a walking type robot by which replacing work of a rotation transmission belt such as a timing belt can be facilitated with a simple structure. SOLUTION: A motor 130 for driving a lower arm part 7B is housed in a link body 70 constituting an outer shape of an upper arm part 7A. A reducer unit 80B for oscillating the lower arm part 7B is housed in an elbow joint shaft holder part 74 of an elbow joint part 12. The timing belt 132 is wound around a driving pulley 131 of the externally exposed motor 130 and a driven pulley 89b of the reducer unit 80B. When a harness 150 is passed through from a hollow part 79 of the link body 70 to a hollow part 109 of the reducer unit 80B, the harness 150 is pulled out to the outside from a through-hole 78 formed to the link body 70. The part 150a pulled out to the outside is inserted to the hollow part 109 of the reducer unit 80B while holding a state of being arranged to a space on the inner peripheral side of the timing belt 132. COPYRIGHT: (C)2005,JPO&NCIPI