| 摘要 |
<p>The wrist structure provided on its alpha axis, which is at the front end portion and is one of the three wrist axes alpha axis, beta axis and gamma axis, with a pipe (52) extending through the center of an alpha reduction gear (19) and on a rotation center line A-A, and on a beta axis with a hydraulic universal joint (61) extending on an operation center B-B, a pipe (51) being extended from the universal joint to a position on the line A-A and joined to the pipe, a hose (4) running on a U-arm communicating with the pipe (51) joint (61). This wrist structure is utilized in a fluid handling robot carrying out a sealing operation, a bonding agent application operation, etc. @(9pp Dwg.No.1/2)@.</p> |
