| 摘要 |
PROBLEM TO BE SOLVED: To provide a wrist-arm structure requiring no many manhours for removing a cable and hose, a work tool, and a wrist every time when alternately changing orientation of the wrist, and requiring no adjustment for followed rotation of a second shaft and a third shaft by rotating a first shaft or the second shaft. SOLUTION: An upper arm 1 is provided with a hollow shaft 2 rotatably supported around the first shaft a, a hollow wrist base part 3 fixed to the hollow shaft tip, a first hollow casing 4 supported by the hollow wrist base part 3 so as to rockable around the second shaft b orthogonal to the first shaft a, a second hollow casing 5 supported by the first hollow casing 4 so as to be rotatable around the third shaft c orthogonal to the second shaft b, and a hollow wrist flange 6 fixed to this second hollow casing 5. A third shaft motor 9 and a second shaft motor 8 are installed on the hollow wrist flange 6 and the hollow wrist base part 3. The cable and hose 40 supplied to the work tool 38 and cables 10 and 12 for motors 8 and 9 are respectively fixed to an upper arm casing 32 and the hollow wrist flange 6 by clamps 43 and 44.
|
