Roboter mit Vorrichtungen zum Führen eines Kabels und / oder eines Schlauches

摘要

One or more clamping devices is employed for clamping a cable or a tube connected to an end effector of a robot, the clamping devices(s) being mounted to a robot wrist portion. One such clamping device has a base and a clamping portion configured to slide linearly with respect to the base and be also capable of turning about an axis perpendicular to the slide direction. A second clamping device has a base and a clamping portion configured to be capable of turning about an axis perpendicular to the installation surface of the base. A third clamping device has a revolving unit fitted to the circumference of the arm and configured to be capable of pivotal motion in the circumferential direction of the arm and a clamping portion provided on the circumference of the revolving unit to be capable of turning about an axis in the radial direction of the revolving unit. The clamping portions of these clamping devices are adapted to clamp the cable or the tube which extends to the end effector .