Abstract: In the present invention, dislodging of a belt is prevented even when there is slack in a fastening member that secures a movement-side pulley for adjusting an inter-axial distance. An adjustment mechanism that adjusts an inter-axial distance between a first pulley and a second pulley is provided with a support member to which the first pulley is provided, first and second long holes provided in an arm part body, first bolts that are inserted into the first long holes and that fasten the support member to the arm part body, and second bolts that are inserted into the second long holes and that fasten the support member to the arm part body. The first long holes have a first length that enables the support member to move toward the second pulley until the inter-axial distance reaches a distance at which the belt can be wound between the first and second pulleys.

Abstract: In the present invention, dislodging of a belt is prevented even when there is slack in a fastening member that secures a movement-side pulley for adjusting an inter-axial distance. An adjustment mechanism that adjusts an inter-axial distance between a first pulley and a second pulley is provided with a support member to which the first pulley is provided, first and second long holes provided in an arm part body, first bolts that are inserted into the first long holes and that fasten the support member to the arm part body, and second bolts that are inserted into the second long holes and that fasten the support member to the arm part body. The first long holes have a first length that enables the support member to move toward the second pulley until the inter-axial distance reaches a distance at which the belt can be wound between the first and second pulleys.

Abstract: A robot including, a motor attached to one end surface of a casing of an arm, a reducer output shaft attached to the other end surface of the casing by bolts, a hole provided in the casing, and through which the output shaft of the motor is inserted, a first sealing member sealing a space between the hole and the output shaft, a second sealing member sealing a space between the other end surface and the end surface of the reducer output shaft, a recessed portion provided on a side of the other end surface of the casing and recessed in a direction along the central axial line of the reducer output shaft; and a lubricant agent supply hole provided in the casing and extending in a substantially radial direction or in a radial direction of the reducer output shaft, the lubricant agent supply hole communicating to the recessed portion.

Abstract: Provided is a robot wrist structure provided with a first wrist element, a second wrist element, and a third wrist element. The first wrist element is provided with a casing having a hollow structure, two driving motors that drive the second wrist element and the third wrist element, and a conduit member that allows wiring to pass therethrough from an arm-side to a second-wrist-element-side in a direction along a first axis. A first opening and a second opening are provided in a first side wall and a second side wall that are positioned on either side of a reference plane. The first opening is large enough to allow the driving motors to pass therethrough. Centers of rotation shafts of the two driving motors are disposed between the first side wall and the reference plane. The conduit member is disposed between the second side wall. The wiring bypasses the driving motors.

Abstract: A robot including, a motor attached to one end surface of a casing of an arm, a reducer output shaft attached to the other end surface of the casing by bolts, a hole provided in the casing, and through which the output shaft of the motor is inserted, a first sealing member sealing a space between the hole and the output shaft, a second sealing member sealing a space between the other end surface and the end surface of the reducer output shaft, a recessed portion provided on a side of the other end surface of the casing and recessed in a direction along the central axial line of the reducer output shaft; and a lubricant agent supply hole provided in the casing and extending in a substantially radial direction or in a radial direction of the reducer output shaft, the lubricant agent supply hole communicating to the recessed portion.

Abstract: Provided is a robot wrist structure provided with a first wrist element, a second wrist element, and a third wrist element. The first wrist element is provided with a casing having a hollow structure, two driving motors that drive the second wrist element and the third wrist element, and a conduit member that allows wiring to pass therethrough from an arm-side to a second-wrist-element-side in a direction along a first axis. A first opening and a second opening are provided in a first side wall and a second side wall that are positioned on either side of a reference plane. The first opening is large enough to allow the driving motors to pass therethrough. Centers of rotation shafts of the two driving motors are disposed between the first side wall and the reference plane. The conduit member is disposed between the second side wall. The wiring bypasses the driving motors.

Abstract: An umbilical member attachment device including a first umbilical member-use first fastening part and second fastening part respectively fastening a first umbilical member to a first member and second member, and a second umbilical member-use first fastening part and second fastening part respectively fastening a second umbilical member to a first member and second member. These fastening parts are arranged offset in position from each other on a surface of the robot so that the first umbilical member and the second umbilical member do not cross, and at a reference posture, and so that a distance between the first umbilical member-use second fastening part and the second umbilical member-use second fastening part becomes broader than a distance between the first umbilical member-use first fastening part and the second umbilical member-use first fastening part.

Abstract: An umbilical member attachment device including a base part attached detachably to a first member and a second member of a robot, the first member and the second member rotating relative to each other; a first fastening part attached to the base part to fasten the first umbilical member; and a second fastening part attached to the base part to fasten the second umbilical member. The second fastening part has an attachment member attached to the base part and a fastening member fastening the second umbilical member to the attachment member, and the attachment member is provided detachably from the base part together with the second umbilical member in a state where the first umbilical member is fastened by the first fastening part.

Abstract: An umbilical member guide device of an industrial robot including an umbilical member guide body interposed between a shaft member and an end effector. The umbilical member guide body includes a first plate part having a first through hole through which the umbilical member passing through the shaft member passes, a second plate part arranged facing the first plate part, and a connecting part connecting the first plate part and the second plate part together and forming an opening part between the first plate part and the second plate part, and the second plate part further has a second through hole and a communicating part communicating the opening part and the second through hole.

Abstract: A shaft member (12) has a hollow pipe (13) extending coaxially with its axis of center of rotation and a tool mounting surface (12c) positioned at the front end of the shaft member. An umbilical member guide mechanism (10) includes an umbilical member fastening part (20) attached to a tool mounting surface side of the shaft member, a plurality of umbilical members (30) are guided from the arm side of the robot through the hollow pipe of the shaft member and fastened at the end of the hollow pipe at the tool mounting surface side by an umbilical member fastening part in parallel with the axis of center of rotation, and attaching parts (48a to 48d) which attach the umbilical member fastening part to the front end of the shaft member at one phase of at least two predetermined phases around the axis of center of rotation.

Abstract: An umbilical member arrangement unit of a robot arm section for avoiding interference between the umbilical member and external equipment has a first fixing member attached to a nonrotating part and adapted to nonslidably fix the umbilical member, and a second fixing member attached to a rotating part so as to integrally rotate with the rotating part and adapted to nonslidably fix the umbilical member. When the rotating part is positioned at a center position of a rotational motion range thereof about the longitudinal axis, the first and second fixing members direct the umbilical member along first and second tangential lines, respectively, the two tangential lines being generally perpendicular to each other, and, the fixing members are positioned in the same region in relation to two regions defined by a boundary plane parallel to the second tangential line, on which the longitudinal axis lies.

Abstract: An umbilical member treatment device (10) includes a pipe member (25) which is attached to a second engaging member (12) coaxially with the rotational axis and umbilical member fastening parts at both a first engaging member (11) and the second engaging member, the umbilical member fastening parts fastening the plurality of umbilical members so that at one end or both ends of the pipe member, the plurality of umbilical members form approximately U-shapes, at the umbilical member fastening parts, at least two umbilical members among the plurality of umbilical members being arranged adjoining each other in a ribbon shape, all of the at least two umbilical members being made to abut on an inner circumferential surface near one end or both ends of the pipe member within a range of relative rotational angle between the first engaging member and second engaging member.

Abstract: An umbilical member guide device of an industrial robot including an umbilical member guide body interposed between a shaft member and an end effector. The umbilical member guide body includes a first plate part having a first through hole through which the umbilical member passing through the shaft member passes, a second plate part arranged facing the first plate part, and a connecting part connecting the first plate part and the second plate part together and forming an opening part between the first plate part and the second plate part, and the second plate part further has a second through hole and a communicating part communicating the opening part and the second through hole.

Abstract: An umbilical member attachment device including a first umbilical member-use first fastening part and second fastening part respectively fastening a first umbilical member to a first member and second member, and a second umbilical member-use first fastening part and second fastening part respectively fastening a second umbilical member to a first member and second member. These fastening parts are arranged offset in position from each other on a surface of the robot so that the first umbilical member and the second umbilical member do not cross, and at a reference posture, and so that a distance between the first umbilical member-use second fastening part and the second umbilical member-use second fastening part becomes broader than a distance between the first umbilical member-use first fastening part and the second umbilical member-use first fastening part.

Abstract: An umbilical member attachment device including a base part attached detachably to a first member and a second member of a robot, the first member and the second member rotating relative to each other; a first fastening part attached to the base part to fasten the first umbilical member; and a second fastening part attached to the base part to fasten the second umbilical member. The second fastening part has an attachment member attached to the base part and a fastening member fastening the second umbilical member to the attachment member, and the attachment member is provided detachably from the base part together with the second umbilical member in a state where the first umbilical member is fastened by the first fastening part.

Abstract: A shaft member (12) has a hollow pipe (13) extending coaxially with its axis of center of rotation and a tool mounting surface (12c) positioned at the front end of the shaft member. An umbilical member guide mechanism (10) includes an umbilical member fastening part (20) attached to a tool mounting surface side of the shaft member, a plurality of umbilical members (30) are guided from the arm side of the robot through the hollow pipe of the shaft member and fastened at the end of the hollow pipe at the tool mounting surface side by an umbilical member fastening part in parallel with the axis of center of rotation, and attaching parts (48a to 48d) which attach the umbilical member fastening part to the front end of the shaft member at one phase of at least two predetermined phases around the axis of center of rotation.

Abstract: An umbilical member treatment device (10) includes a pipe member (25) which is attached to a second engaging member (12) coaxially with the rotational axis and umbilical member fastening parts at both a first engaging member (11) and the second engaging member, the umbilical member fastening parts fastening the plurality of umbilical members so that at one end or both ends of the pipe member, the plurality of umbilical members form approximately U-shapes, at the umbilical member fastening parts, at least two umbilical members among the plurality of umbilical members being arranged adjoining each other in a ribbon shape, all of the at least two umbilical members being made to abut on an inner circumferential surface near one end or both ends of the pipe member within a range of relative rotational angle between the first engaging member and second engaging member.

Abstract: An umbilical member arrangement unit for an umbilical member, having a simple structure and high rigidity, capable of avoiding interference between the umbilical member and external equipment. The unit has a guide member constituted by a first plate member attached to a front end of a wrist section, a second plate member opposed to the first plate member and a connecting member connecting the first and second plate members. A cross-sectional region of the connecting member includes the wrist axis, extends from the axis in a first radial direction by a distance not smaller than a half of a size of the umbilical member in the cross-sectional direction thereof, and extends from the axis in an axisymmetrical second radial direction by a distance not larger than a half of the size of the umbilical member, so that the umbilical member contacts the second plate member and/or the connecting member at any rotational angular position of the guide member.