Patent ID: 8720296

Claim:
A vertical articulated robot comprising: a base; a turning base provided on the base to be rotatable with respect to the base about a first rotation axis; a first upper arm provided on the turning base to be rotatable with respect to the turning base about a second rotation axis provided along a plane perpendicular to the first rotation axis; a second upper arm connected to the first upper arm to be rotatable with respect to the first upper arm about a third rotation axis provided along a plane perpendicular to the second rotation axis; a front arm connected to the second upper arm to be rotatable with respect to the second upper arm about a fourth rotation axis provided along a plane perpendicular to the third rotation axis; a wrist assembly connected to the front arm; a first motor to rotate the turning base with respect to the first upper arm about the first rotation axis; a second motor to rotate the first upper arm with respect to the turning base about the second rotation axis; a third motor to rotate the second upper arm with respect to the first upper arm about the third rotation axis; a fourth motor to rotate the front arm with respect to the second upper arm about the fourth rotation axis; and a wire body comprising: a first wire portion extending from the turning base along the third rotation axis and connected to an outer surface of the first upper arm; a second wire portion extending from the first wire portion along a plane perpendicular to the third rotation axis and connected to an outer surface of the first upper arm; a third wire portion extending in a U-shape from the second wire portion; a fourth wire portion extending from the third wire portion along a plane perpendicular to the third rotation axis and connected to an outer surface of the second upper arm; a fifth wire portion extending from the fourth wire portion along the third rotation axis and connected to an outer surface of the second upper arm; and a sixth wire portion extending from the fifth wire portion and connected to the front arm.