| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To decrease an interference range by improving a wiring or piping processing structure connected to a tool attached to an arm tip end of a robot. <P>SOLUTION: The wiring or piping is taken out from a take-out port of a hollow portion of a rotating shaft member at an arm tip end, and relayed by a relay portion provided near the take-out port to be connected to the tool attached on a tool attaching surface. Connectors and joints of the relay portion are stored in a wrist side from the tool attaching surface. Each connector 40 of the relay portion is disposed do as to make a connecting direction of the wiring or piping tilt at a specified angleθwith reference to a radial direction, on a surface generally parallel with the tool attaching surface. The interference range A1 is decreased according to non-tilting time. The connectors 40 may be disposed to make the connecting direction of the wiring or piping become a tangent direction, and arranged in a thickness direction of the tool attaching surface to increase the number of the connectors. A seal may preferably be provided at a part taking out wiring or piping from the hollow portion. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
