Patent ID: 8020467
Filing Date: 2011-09-20
Classification: B25J,Y10T

Abstract:
1. An industrial robot comprising: a wrist portion provided at an end of an arm, the wrist portion including; a body, attached to the end of the arm and rotates around a first axis extending in a direction of length of the arm; a swinging element, attached to an end of the body and swings around a second axis perpendicular to the first axis; and a rotating element attached to an end of the swinging element that rotates around a third axis along the length of the swinging element, the body having a passage from which a cable for supplying power, a signal, or a material to an end effector attached to the rotating element is drawn out, the passage having an opening along the first axis, a motor provided in the arm by being off-centered from the first axis; and a reduction gear, connected to the motor, for driving the body provided in the arm concentrically with the first axis, wherein the reduction gear is a hollow shaft reduction gear, which has a hollow portion penetrating from anti-load side to load side and is adapted so that the cable is drawn in from the anti-load side of the hollow portion and drawn out to the load side of the hollow portion.