Industrial robot

Abstract

There is provided an industrial robot having no interference of a cable for an end effector or the like with a peripheral apparatus. An end effector 5 is fixed to a wrist flange 4 through an intermediate member 6. The intermediate member 6 takes the shape of a crankshaft in which a first flange 6 a attached directly to the wrist flange 4, a second flange 6 b provided at a predetermined interval in parallel with the first flange 6 a and attached directly to the end effector 5, and two members 6 c and 6 d for coupling the first and second flanges 6 a and 6 b are arranged symmetrically.

1 . An industrial robot comprising: 
 an arm;    a wrist portion provided on a tip of the arm;    an intermediate member;    an end effector attached to a tip of the wrist portion through the intermediate member;    a cable provided from the arm to the end effector for supplying a power, a signal or a material to the end effector; and    a cylindrical member,    wherein the wrist portion comprises: 
 a wrist base which rotates around a longitudinal axis of the arm; and  
 a fixing member which rotates integrally with the wrist base and is attached to the wrist base,  
   wherein the cable is clamped onto the arm, wound upon the arm around the longitudinal axis of the arm, bent in a U shape so as to change a direction thereof, wound upon the arm in a reverse direction, and clamped onto the fixing member, and the cylindrical member covers the arm and a portion of the cable that is    wound on the arm.    
   
   
       2 . An industrial robot comprising: 
 an arm;    a wrist portion provided on a tip of the arm;    an intermediate member;    an end effector attached to a tip of the wrist portion through the intermediate member; and    a cable provided from the arm to the end effector for supplying a power, a signal or a material to the end effector,    wherein the wrist portion comprises: 
 a wrist base which rotates around a longitudinal axis of the arm; and  
 a fixing member which rotates integrally with the wrist base and is attached to the wrist base,  
   wherein the cable is clamped onto the arm, wound upon the arm around the longitudinal axis of the arm, bent in a U shape so as to change a direction thereof, wound upon the arm in a reverse direction, clamped onto the fixing member, and extended to the end effector, and the cable is constituted by two portions and the two portions are coupled at the fixing member.    
   
   
       3 . The industrial robot according to  claim 1 , wherein the cable is clamped onto the arm on one side of the arm, and is wound upon the arm around the longitudinal axis of the arm and toward the other side of the arm,  
   
   
       4 . The industrial robot according to  claim 2 , wherein the cable is clamped onto the arm on one side of the arm, and is wound upon the arm around the longitudinal axis of the arm and toward the other side of the arm.  
   
   
       5 . The industrial robot according to  claim 2 , wherein the two portions are separate members.  
   
   
       6 . The industrial robot according to  claim 4 , wherein the two portions are separate members.