| 摘要 |
<p>A guiding device (20), with high rigidity, for an umbilical member (32) and a robot (1) having the guiding device (20), by which interference between the umbilical member (32) and another component or external equipment is minimized. The guiding device (20) or an adaptor includes a first plate (21) member fixed to a third wrist element (18), a second plate member (22) opposing to and parallel to the first plate member, and a connecting member (23) for connecting the first (21) and second (22) plate members. The first (21) and second (22) plate members and the connecting member (23) define a first opening (25) for introducing the umbilical member (32) into the adaptor. The second plate member (22) includes a fixed portion (22a) fixed to an end effector (30) and an extended portion (22b) extending from the fixed portion (22a) and offset from the third wrist axis (54). A second opening (26) is formed on the extending portion (22b) of the second plate member (22), through which the umbilical member (32) may extend.</p> |
