| 摘要 |
PROBLEM TO BE SOLVED: To prevent twisting and dangling of a cable and the like by providing a connector for connecting the cable and the like for driving/controlling an end effector, on an outer wall of a housing chamber integrally rotating with a flange. SOLUTION: A wrist base 64 fixes a motor 641 and a reduction gear 642 coaxially with a shaft T of the rotational center to fix a flange 61 to the output part of the reduction gear 642. A casing 62 is fixed to the flange 61 to be integrally revolvingly driven with the flange 61 by the motor 641. An annular ring- shaped housing chamber 65 is formed by surrounding the outer periphery of the wrist base 64. A cable 10 and the like for driving/controlling an end effector extending to the wrist part 6 by passing through an upper arm 5, is divided into a cable 105 and a tube 106 on this side of the wrist part 6 to enter the inside of the housing chamber 65 so as to be respectively connected to a connector 103 and a piping coupling 104 arranged in the overhang part 621. The flange 61 and the casing 62 can be respectively rotated by almost 180 deg. in the clockwise and anticlockwise directions from an original position.
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