Umbilical member managing system for industrial robot

摘要

An umbilical member managing system for an industrial robot. The system is provided with a manipulator including a forearm having a first longitudinal axis, the forearm including a base, a first wrist member joined to the base rotatably about the first axis and a second wrist member joined to the first wrist member rotatably about a second axis generally perpendicular to the first axis; a working tool mounted to the second wrist member of the forearm of the manipulator; an umbilical member laid outside the forearm between the base and the second wrist member and connected to the working tool; an umbilical member guiding section provided in the forearm and including a guide passage extending generally parallel to the first axis to accommodate the umbilical member in a guidable manner; and an umbilical member retaining section provided in the second wrist member for retaining the umbilical member at a proper position relative to the working tool. The umbilical member guiding section is configured to follow a rotating motion of the first wrist member about the first axis and to shift about the first axis. The umbilical member retaining section is configured to follow a rotating motion of the second wrist member about the second axis and to bend the umbilical member in a radius not less than an allowable bend radius between the umbilical member guiding section and the second wrist member.