WRIST STRUCTURE FOR VERTICALLY ARTICULATED ROBOT

摘要

PROBLEM TO BE SOLVED: To wire and pipe a cable, etc., from the wrist at the end of a robot arm to an end effector without exposing them to outside, as far as possible. SOLUTION: In the structure of mounting an end effector to the wrist of a vertically articulated robot, a wrist flange is provided on the wrist 26 rotatably mounted at the end of a robot arm 16 to be rotatable around an axial line a4 and the end effector 28 is mounted on the wrist flange via a sectionally U-shaped mounting member for which two members, separating and opposing each other in parallel to the mounting face of the wrist flange, are connected together via a member in parallel to the axial line a4 , in such a manner that at least part of a cable between the wrist 26 and the end effector 28 can be covered with the sectionally U-shaped mounting member.