US Patent No. 9,346,174

UMBILICAL MEMBER ARRANGEMENT STRUCTURE OF INDUSTRIAL ROBOT HAVING HOLLOW MEMBER


Patent No. 9,346,174
Issue Date May 24, 2016
Title Umbilical Member Arrangement Structure Of Industrial Robot Having Hollow Member
Inventorship Satoshi Adachi, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,346,174

1. An arrangement structure for an umbilical member, comprising:
a forearm having a base part and a first wrist element, the first wrist element being rotatable relative to the base part
about a first axis along a longitudinal direction of the forearm;

a second wrist element rotatable relative to the first wrist element about a second axis which intersects with the first axis
at a right angle; and

a work tool rotatable relative to the second wrist element about a third axis which intersects with the second axis at a right
angle, the arrangement structure being configured to arrange a first umbilical member including at least one of a wire and
a tube connected to the work tool,

wherein a speed reducer having a hollow structure, which drives and rotates the first wrist element about the first axis,
is disposed between the base part and the first wrist element so that a rotation axis of the speed reducer coincides with
the first axis,

wherein a first opening is formed on a lateral side of the first wrist element, and a bent hollow member having a first flange,
through which the first umbilical member is inserted, is attached to the first opening via a first seal member, the bent hollow
member having a hollow portion with at least one bent portion,

wherein a second opening is formed on a rear side of the base part, and a cylindrical hollow member having a second flange,
through which the first umbilical member is inserted, is attached to the second opening via a second seal member, so that
the cylindrical hollow member extends through inside the speed reducer having the hollow structure,

wherein the bent hollow member is rotatably attached to the cylindrical hollow member within the first wrist element via a
bearing and an oil seal,

wherein a second umbilical member, which is a control cable for controlling a motor for driving the second wrist element or
the work tool, is arranged outside the cylindrical hollow member, and

wherein an inner diameter of the bent hollow member and an inner diameter of the cylindrical hollow member are equal to each
other at a connecting point between the bent hollow member and the cylindrical hollow member.