| 摘要 |
<p>A wrist structure provided on its α axis, which is at the front end portion thereof and is one of the three wrist axes (α axis, β axis and η axis), with a pipe (52) extending through the center of an α reduction gear (19) and on a rotation center line A-A, and on a β axis with a hydraulic universal joint (61) extending on an operation center line B-B, a pipe (51) being extended from the universal joint (61) to a position on the line A-A and joined to the pipe (52), a hose (4) running on a U-arm communicating with the pipe (51) via the joint (61). This wrist structure is utilized in a fluid handling robot carrying out a sealing operation, a bonding agent application operation, etc.</p> |
