| 摘要 |
<p>A rotatable (A6) working head (4) adapted to carry a gripper, a tool or the like (not shown) requiring an energy supply, the holder (36) for said working head (4) being pivotable (A5) about a pivot bearing (34a) relative to an arm (34) of a robot (the proximal parts of which are not shown), is supplied with energy through an energy-transfer conduit (62), such as an electric cable or a pressure-fluid hose, from either a local energy source (61) or (in a manner not shown) from an external energy source. According to the invention the conduit (62) is held in permanent tension by a tensioning device (68) acting upon the conduit (62) through a pulley (63), the conduit (62) further being guided by guide pulleys (65, 65a) rotatably supported on the arm (34). With this arrangement, it is possible, without having to run the conduit (62) internally in the various parts of the robot, to prevent the conduit (62) from being caught by nearby objects, such as may be encoutered when operating in cramped spaces, e.g. in a deburring cell (not shown) in a foundry.</p> |
