WRIST STRUCTURE OF ARTICULATED ROBOT ARM

PROBLEM TO BE SOLVED: To provide a wrist structure of an articulated robot arm.SOLUTION: A wrist structure of an articulated robot arm of the invention includes: a wrist body which includes a front end part, a rear end part, a storage part provided between the front end part and the rear end part, and a hole part provided in the rear end part to make the storage part communicate with the outside world; a wrist rotation body which is controlled to be pivotally disposed on the front end part of the wrist body; a signal processing circuit board which is attachably/detachably installed on the rear part of the wrist body, is located in the storage part, and has a notch part corresponding to the hole part; connector which is provided on the wrist body and is signal-connected to the signal processing circuit board; a control unit which is installed in the storage part of the wrist body to connect a signal to the signal processing circuit board ; and a drive unit which is installed in the storage part of the wrist body to control the swinging of the wrist rotation body on the wrist body. The invention reduces the number of cables in the hole part of the wrist body under the premise that a rotation angle is not restricted, which improves the convenience in installation, maintenance, and control.SELECTED DRAWING: Figure 4 【課題】関節式ロボットアームの手首構造を提供する。【解決手段】本発明の関節式ロボットアームの手首構造は、先端部、後端部、先端部及び後端部の間に設けられる収納部、及び後端部に設けられると共に収納部を外界に連通させるための孔部を有する手首本体、手首本体の先端部に枢設されるように制御される手首回転体、手首本体の後端部に着脱可能な形で設置されると共に収納部内に位置され、且つ孔部に対応する切欠き部を有する信号処理回路基板、手首本体に設けられると共に信号処理回路基板に信号接続されるコネクタ、手首本体の収納部に設置されると共に信号が信号処理回路基板に接続される制御ユニット、及び手首本体の収納部に設置されると共に手首回転体の手首本体に対しての擺動を制御させるための駆動ユニットを備える。本発明は回転角度が制限されない前提の下、手首の孔部のケーブルの数量を減少させ、装設、メンテナンス、及び制御の利便性を向上させる。【選択図】図４