Patent ID: 8863606
Filing Date: 2014-10-21
Classification: B25J,Y10S,Y10T

Abstract:
1. A robot wrist structure, comprising: a first wrist arm rotatable about a first axis; a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis; a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position offset from the second axis such that the third axis does not intersect the second axis; an intermediate member having a fixing portion and an end-effector attachment portion, wherein a first opening is defined as a through-hole through said fixing portion and wherein the fixing portion is fixed to the wrist flange with the first opening aligned with said second axis; and a cable bundle connected to an end effector fixed to the intermediate member, the cable bundle extending through the second wrist arm, the wrist flange and the first opening of the intermediate member and being drawn out from a second opening of intermediate member to reach the end effector.