Line laying structure for robot wrist

A line laying structure of laying lines of cables and/or pipes through an arm of a robot fixed to a mounting base to an end effector to be attached to a distal end of a wrist including a first wrist element supported at a distal end of said arm rotatably around a first axis, a second wrist element supported on said first wrist element rotatably around a second axis, and a third wrist element supported on said second wrist element rotatably around a third axis, said structure comprising:

• a first line retainer provided at the first wrist element for retaining said lines on the first wrist element;
• and
• a second line retainer provided at the second wrist element for retaining said lines on the second wrist element,
• wherein motion of said lines caused by rotation of said second wrist element relative to the first wrist element is absorbed in a section between said first line retainer and said second line retainer and not transmitted to other sections of said lines, and
• wherein a section of said lines which moves with rotation of said third wrist element around said third axis, and a section of said lines which moves with rotation of said second wrist element around said second axis intersect with a plane perpendicular to said third axis and including said second axis at different positions.

A laying structure for a robot comprising:

• an arm supported on a mounting base rotatably around a first axis of a longitudinal axis of the arm;
• a wrist including a first wrist element fixed to a distal end of said arm, a second wrist element supported on said first wrist element rotatably around a second axis, and a third wrist element supported on said second wrist element rotatably around a third axis;
• lines of cables and/or pipes laid through said arm to an end effector to be attached to a distal end of said wrist;
• wherein a section of said lines which moves with rotation of said third wrist element around said third axis, and a section of said lines which moves with rotation of said second wrist element around said second axis, intersect with a plane perpendicular to said third axis and including said second axis at different positions.

A line laying structure for a robot comprising:

• an arm fixed to a mounting base;
• a wrist including a first wrist element supported at a distal end of said arm rotatably around a first axis, a second wrist element supported on said first wrist element rotatably around a second axis, and a third wrist element supported on said second wrist element rotatably around a third axis;
• lines of cables and/or pipes laid through said arm to an end effector to be attached to a distal end of said wrist;
• wherein a section of said lines which moves with rotation of said third wrist element around said third axis, and a section of said lines which moves with rotation of said second wrist element around said second axis, intersect with a plane perpendicular to said third axis and including said second axis at different positions.