The robot null forearm which has the filament body guide apparatus and the filament body guide apparatus

摘要

PROBLEM TO BE SOLVED: To provide a filament body guide device high in rigidity and capable of suppressing interference between the other constituent members or the outside and a filament body to a minimum, and a robot provided with the same.;SOLUTION: The filament body guide device, namely, an adaptor 20 has a first plate-like member 21 fixed to a third wrist element 18, a second plate-like member 22 arranged oppositely and nearly in parallel with the first plate-like member 21, and a coupling member 23 for coupling the first/second plate-like members 21, 22 each other. The first/second plate-like members 21, 22 and the coupling member 23 cooperatively demarcate a first opening part 25 for introducing the filament body 32 into the adaptor. A second opening part 26, to which the filament body 32 can be inserted, is provided on an extension part extending in a state of being offset to a certain degree from a fixing part fixed to an end effector 30 of the second plate-like member 22 (namely, extending to a position deviated from a third shaft 54 of a wrist).;COPYRIGHT: (C)2006,JPO&NCIPI