| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for routing piping and wiring members, which ensures a sufficient moving range even if the piping and wiring members are short, and to provide an arm device for an industrial robot having a hollow hole wrist, which has a space for housing therein piping and wiring equipment in the vicinity of the wrist thereof. SOLUTION: The arm device comprises a first hollow housing 21 which is connected to a hollow connecting member 6 borne by an arm 5 in a manner being rotatable about a first axial line 1, a second hollow housing 22 which is borne by the first hollow housing 21 in a manner being rotatable about a second axial line 2, and a hollow tool bearing member 23 which is borne by the second hollow housing 22 in a manner being rotatable about a third axial line 3. The arm device has a hollow hole 24 which extends from the hollow connecting member to the hollow tool bearing member and allows pipelines and electric wire members 7 to pass therein, and an opening 25 of the hollow hole 24, formed in the arm 5. The pipelines and electric wire members reaching the hollow hole 24 are routed into the U shape in the vicinity of the opening 25 of the hollow hole 24 and fixed to the arm 5 by means of clamp members 8, 9. COPYRIGHT: (C)2003,JPO
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