Abstract: A robot system includes a robot main body, a sensor that detects a magnitude of an external force applied to the robot main body, a control unit that controls the robot main body, a reference value storage unit that stores a value of an external force detected by the sensor as a reference external force value in an operating state where only the weight of the robot main body and the load handled by the robot main body act on the robot main body, a determination unit that, during operation of the robot main body, determines that an external force other than the weight of the robot main body and the load acts on the robot main body when an absolute value of a difference between a value of an external force detected by the sensor and the stored reference external force value is larger than a predetermined threshold value.

Abstract: A robot system includes a robot main body, a sensor that detects a magnitude of an external force applied to the robot main body, a control unit that controls the robot main body, a reference value storage unit that stores a value of an external force detected by the sensor as a reference external force value in an operating state where only the weight of the robot main body and the load handled by the robot main body act on the robot main body, a determination unit that, during operation of the robot main body, determines that an external force other than the weight of the robot main body and the load acts on the robot main body when an absolute value of a difference between a value of an external force detected by the sensor and the stored reference external force value is larger than a predetermined threshold value.

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 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.

Abstract: An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.

Abstract: An umbilical member arrangement unit of a robot arm section, capable of avoiding interference between the umbilical member and external equipment without using a guide member. The arrangement unit 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 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.

Abstract: An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.

Abstract: A robot provided with a robot mechanism including a first member and a second member, the first member and the second member being movable relative to each other; and a laying structure for laying an umbilical member in the robot mechanism. The robot includes the umbilical member laid to extend between the first member and the second member; a movable clamp member movably provided in the first member to clamp the umbilical member; and a connecting member for connecting the movable clamp member to the second member in a correlatively movable manner. The connecting member transmits a force generating due to a movement of the second member relative to the first member to the movable clamp member, so as to move the clamp member in the first member.

Abstract: An industrial robot including a base carrying out a relative linear motion, a body carrying out a relative rotary motion and a cable harness for supplying electric power or transmitting control signals to operating circuits, wherein the cable harness includes a first bundle located in the base and a second bundle located in the body to be integral with the body, wherein, in the first bundle, a plurality of multi-core cables and tubes are flatly arranged parallel to each other and each of the multi-core cables and the tubes are bonded to the adjacent one with adhesive, and wherein, in the second bundle, the plurality of multi-core cables and tubes are separated from each other.

Abstract: A lubricant draining device for draining a lubricant from a closed mechanical section provided in a machine structure such as a robot, a machine tool and an injection molding machine. The lubricant draining device includes a wall defining the mechanical section, the wall including a drain port communicated with an interior space of the mechanical section while permitting a lubricant to flow therethrough; a tube connected at a proximal end thereof to the drain port and permitting a lubricant to flow therethrough; a blocking member blocking a flow of a lubricant through the tube in a releasable manner; and a retaining section retaining the tube at a location adjacent to the wall with the tube being kept connecting with the drain port. The retaining section may include a chamber, provided on the wall, for accommodating the tube in its entirety with the tube being removable from the chamber. The chamber may be provided with a detachable cover.

Abstract: A robot provided with a robot mechanism including a first member and a second member, the first member and the second member being movable relative to each other; and a laying structure for laying an umbilical member in the robot mechanism. The robot includes the umbilical member laid to extend between the first member and the second member; a movable clamp member movably provided in the first member to clamp the umbilical member; and a connecting member for connecting the movable clamp member to the second member in a correlatively movable manner. The connecting member transmits a force generating due to a movement of the second member relative to the first member to the movable clamp member, so as to move the clamp member in the first member.