| 摘要 |
A guiding device, with high rigidity, for an umbilical member and a robot having the guiding device, by which interference between the umbilical member and another component or external equipment is minimized. The guiding device or an adaptor includes a first plate member fixed to a third wrist element, a second plate member opposing to and parallel to the first plate member, and a connecting member for connecting the first and second plate members. The first and second plate members and the connecting member define a first opening for introducing the umbilical member into the adaptor. The second includes a fixed portion fixed to an end effector and an extended portion extending from the fixed portion and offset from the third wrist axis. A second opening is formed on the extending portion of the second plate member, through which the umbilical member may extend.
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