Robot wrist structure and robot

专利名称：Robot wrist structure and robot发明人：Ichibangase, Atsushi,Sanada,

Takashi,Kamohara, Kei

申请号：EP11185505.2申请日：20111017公开号：EP2450158A1公开日：20120509

专利附图：

摘要：A robot wrist structure includes a first wrist arm (40a) rotatable about a firstaxis (J4), a second wrist arm (40b) provided in a tip end portion of the first wrist arm (40a)and configured to swing about a second axis (J5) substantially intersecting the first axis

(J4), a wrist flange (42) provided in a tip end portion of the second wrist arm (40b) andconfigured to rotate about a third axis (J6) in a skew position with respect to the secondaxis (J5), an intermediate member (44) fixed to the wrist flange (42), and a cable bundle(25b) connected to an end effector (22) fixed to the intermediate member (44). The cablebundle (25b) extends through the second wrist arm (40b), the wrist flange (42) and theintermediate member (44) and drawn out from the intermediate member (44) to reachthe end effector (22).

申请人：Kabushiki Kaisha Yaskawa Denki

地址：2-1, Kurosaki-Shiroishi, Yahatanishi-Ku Kitakyushu-Shi, Fukuoka 806-0004 JP

国籍：JP

代理机构：Gendron, Vincent Christian

更多信息请下载全文后查看