PURPOSE: To prevent the breakdown of cable while restricting deterioration of cable by installing a cramp member for cramping a cable connected to a hand freely to be turned around a shaft in an end of a shaft of a wrist mechanism, to which a hand is fitted at a tip thereof.
CONSTITUTION: An air tube 6 and a cable 7 connected to a hand 4 are being to be twisted at the time of rotating a shaft 5, but the air tube 6 and the cable 7 are fixed by a cramp 11' of a cramp member 11, of which rotation is hindered by a rotation hindering member 12. As a result, torsion between the hand 4 and the cramp member 11 is limited. On the other hand, at the time of moving a shaft 5 in the vertical direction, the air tube 6 and the cable 7 are bent between a position, in which they are fixed to a second arm by a fixture 8, and the cramp 11'. Since bend and torsion of the air tube 6 and the cable 7 are generated at different positions, deterioration of the air tube 6 and the cable 7 is restrained so as to prevent the generation of breakdown.
TORII NOBUTOSHI
NIHEI AKIRA
TERADA AKIHIRO
KIKUCHI JUN
