Patent ID: 9180595
Filing Date: 2015-11-10
Classification: B25J,Y10S,Y10T

Abstract:
1. A multiple-joint industrial robot comprising: an arm portion; a wrist portion coupled to a tip end portion of the arm portion; and a plurality of motors configured to drive the wrist portion, wherein: the wrist portion includes a cable guide is disposed in the cable insertion portion, the cable guide being attached to an inner surface of the first movable portion so as to be extending along the first wrist axis and configured to rotate integrally with the first movable portion, the cable guide including a guide hole extending along the first wrist axis, the guide hole having an opening at an end portion at an arm tip side in a direction along the first wrist axis and an opening at an end portion at an arm base side in the direction along the first wrist axis, and the effector cable being inserted through the guide hole; two motors among the plurality of motors are attached to an outer surface of a middle portion, which is middle in the direction along the first wrist axis, of the cable guide so as to overlap each other in a direction which is perpendicular to the first wrist axis and is parallel with the second wrist axis, and sandwich the cable guide in the direction which is perpendicular to the first wrist axis and is parallel with the second wrist axis, and a portion of the guide hole which is sandwiched between the two motors is constricted such that a length of the portion of the guide hole in a direction perpendicular to both the first wrist axis and the second wrist axis is shorter than a length of the portion of the guide hole in a direction parallel with the second wrist axis, and the guide hole is spreading from the portion of the guide hole toward the arm tip side.