Nikaido, Marmelstein, Murray & Oram
Wrist mechanism for an industrial robot
 A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant. 
Fanuc Ltd.
B Y B Y Y
B25J Y10T B25J Y10T Y10T
inventional additional inventional additional additional
Kyozi Nobutoshi Hitoshi
Iwasaki Torii Mizuno