Tool adapter for robot wrist and robot with tool adapter attached thereto

摘要

A tool adapter configured to mount a tool on a robot wrist including a first rotary member rotatable about a first axis and a second rotary member rotatable about a second axis orthogonal to the first axis. The tool adapter includes a first section configured to be attached to the second rotary member at a first attaching portion; and a second section extending from the first section and configured to be attached to the tool at a second attaching portion. The first attaching portion and the second attaching portion are respectively disposed at positions where a direction of a reaction force applied to the second section through the tool from an object, during an operation performed to the object with use of the tool, is defined to intersect with both of the first axis and the second axis.