Patent ID: 7069808
Filing Date: 2006-07-04
Classification: B25J,Y10S,Y10T

Abstract:
1. A line laying structure of laying lines of cables and/or pipes through an arm of a robot supported on a mounting base rotatably around a first axis of a longitudinal axis of the arm to an end effector to be attached to a distal end of a wrist including a first wrist element fixed to a distal end of said arm, a second wrist element supported on said first wrist element rotatably around a second axis, and a third wrist element supported on said second wrist element rotatably around a third axis, said structure comprising: a first line retainer provided at said arm or said first wrist element for retaining said lines on said arm or said first wrist element; and a second line retainer provided at said second wrist element for retaining said lines on the second wrist element, wherein motion of said lines caused by rotation of said second wrist element relative to said first wrist element is absorbed in a section between said first line retainer and said second line retainer and not transmitted to other sections of said lines, and wherein a section of said lines which moves with rotation of said third wrist element around said third axis, and a section of said lines which moves with rotation of said second wrist element around said second axis intersect with a plane perpendicular to said third axis and including said second axis at different positions.