Robot having arm in which umbilical member is accomodated

Abstract

A robot including a forearm section with a through passage, a wrist section articulated on the forearm section, and an umbilical member inserted through the through passage of the forearm section and provided along the wrist section. The robot includes a tool managing and relaying unit mounted on the forearm section close to the through passage and provided with a connection part to which the umbilical member is connected, and a mount mechanism carrying the tool managing and relaying unit movably between a first position where the connection part is disposed adjacent to an opening of the through passage and a second position where the connection part is spaced from the opening of the through passage, and releasably securing the tool managing and relaying unit to the forearm section at the first position.

Description

Technical field [0001] The present invention relates to a robot having a pipeline containing arm. Background technique [0002] For industrial robots (hereinafter referred to as "robots"), when performing processing operations such as arc welding processing, laser processing, and sealing processing, and handling operations such as loading, unloading, and reclaiming, it is necessary to Work tools (hand-operated devices) such as welding torches and hands on the end of the arm structure (ie, manipulator) supply power, lasers, working fluids and other energy, electrical and optical signals, wires, gases, sealing materials, etc. material. For the supply of these energy, signals, materials, etc., cables, conduits, etc. are generally used. [0003] For example, in an arc welding robot, cables or conduits for supplying welding current, welding wire, auxiliary gas, and the like are laid for the welding torch (work tool) installed on the end of the arm. In addition, in the transport robot,...

AI Technical Summary

Problems solved by technology

However, in such an arrangement structure, the center of gravity of the wire feeder is shifted laterally from the wrist relative to the rotation center axis of the upper arm, so the balance of the arm structure is broken, and the inertia of the wire feeder itself and interference with peripheral equipment cannot be ruled out. Danger of influence from arm movements

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