Robot with hollow wrist element
Abstract:
A robot which can prevent an excessive bending of an wire member. The robot includes a first wrist element coupled rotatably about a first axis, a second wrist element coupled rotatably about a second axis, a third wrist element coupled rotatably about a third axis and supporting an end effector configured to perform a work on a workpiece, a first wire member disposed in such a way as to pass through the inside of the first wrist element, the second wrist element, and the third wrist element and connected to the end effector, and a second wire member disposed in such a way as to pass through the inside of the first wrist element and run outside the second wrist element and the third wrist element and connected to the end effector.
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