Umbilical member arrangement unit of robot wrist section

An arrangement unit for an umbilical member at a robot wrist section, the umbilical member extending to an end effector attached to a front end of the wrist section via a forearm of an industrial robot, the umbilical member being constituted by at least one of a cable adapted to supply power or a signal to the end effector and a tube adapted to supply coolant or activation air to the end effector, the arrangement unit comprising a guide member constituted by:

• a first plate member rotatably attached to a front end of the wrist section about a wrist axis;
• a second plate member, to which the end effector is fixed, the second plate member being opposed to the first plate member and separated from the first plate member by at least a distance corresponding to a size of the umbilical member in a cross-sectional direction thereof;
• and
• a connecting member which connects the first and second plate members to each other,
• wherein a cross-sectional region of the connecting member in a direction perpendicular to the wrist axis includes the wrist axis, extends from the wrist axis in a first radial direction by a distance equal to or larger than a half of a size of the umbilical member in the cross-sectional direction perpendicular to the longitudinal direction thereof, and extends from the wrist axis in a second radial direction by a distance equal to or smaller than a half of the size of the umbilical member in the cross-sectional direction perpendicular to the longitudinal direction thereof, the first and second radial directions being symmetrical with respect to the wrist axis,
• and wherein the umbilical member contacts at least one of the second plate member and the connecting member at any rotational angular position in a predetermined rotational angular range of the guide member relative to the front end of the wrist section.