| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To prevent narrowing a relative rotation range, and improve reliability of a linear member, requiring small space, in placement of the linear member for wiring, piping, etc., in a relative rotation mechanism. <P>SOLUTION: A first wrist element 1 of a robot wrist as the relative rotation mechanism is relatively rotated around an axial line 4 to a second wrist element 2. The linear members connected to a device installed on a flange part 12 are fixed as a main bundle 10 to the second wrist element 2 by a clamp device 16. The main bundle 10 is introduced through hollow parts in the first and the second wrist elements to the first wrist element 1 along the axial line to be parted to partial bundles 11. The partial bundle 11 is introduced at a prescribed angle to a radial direction of relative rotation of the first wrist element 1 around the axial line 4, and it is extended from an opening part 8 outward to be fixed around the opening part 8. As the first wrist element 1 is rotated, the partial bundle 11 moves toward a center of a hollow part 18. Twisting force of the main bundle 10 and friction between the partial bundles 11 with each other are reduced. A rotation angle is enlarged in narrow space, whereby durability can be improved. <P>COPYRIGHT: (C)2004,JPO</p> |
