WRIST OF INDUSTRIAL ROBOT

摘要

The robot wrist(30) is attached to a robot arm(120) and includes first(36) and second(38) rotary output shafts. Each shaft has an end face(36a, 39a) for attaching robot hands, the end faces being orthogonal and positioned on two orthogonal end faces of a wrist housing(34). Both the output shafts are rotated by a single electric servomotor(40). Air under pressure is introduced into the wrist housing(34) from the robot arm by an air supply pipe(44). The pipe is brought into the housing through a covering plate(42). The air supply pipe(44) is connected to a fluid conveying pipe(62) that leads to air passages in the output shaft(36,38).