# US 2017/0291305 A1 · Wire body processing structure for robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0291305 A1 - Document ID: US20170291305A1 - Status: Published application - Kind: A1 - Application number: 15/476,318 - Filed: 2017-03-31 - Published: 2017-10-12 - Earliest claimed: 2016-04-07 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Toshihiko INOUE; Tomoyuki MOTOKADO; Wataru AMEMIYA - Web page: https://patentgrep.com/patent/US20170291305A1 ## CPC - B25J 15/0019: {End effectors other than grippers} - B23K 9/323: {Combined coupling means, e.g. gas, electricity, water or the like} - B25J 19/0029: {arranged within the different robot elements} - Y10S 901/42: Welding - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Provided is a wire body processing structure for a robot having a wrist, a base end of which is connected to a forearm in a rotatable manner about a first axis and a distal end of which has a plurality of working tools attached thereto. The wire body processing structure includes a first flexible conduit disposed along the first axis from the forearm to the distal end of the wrist and also includes a second flexible conduit disposed longitudinally within the first conduit. A first wire body for one of the working tools is extended longitudinally through the second conduit. A second wire body for another one of the working tools is extended longitudinally through a space between the first conduit and the second conduit. ## Claims ### Claim 1 A wire body processing structure for a robot having a wrist, a base end of which is connected to a forearm in a rotatable manner about a first axis and a distal end of which has a plurality of working tools attached thereto, the wire body processing structure comprising: a first flexible conduit disposed along the first axis from the forearm to the distal end of the wrist; and a second flexible conduit disposed longitudinally within the first conduit, wherein a first wire body for one of the working tools is disposed so as to extend longitudinally through the second conduit, and wherein a second wire body for another one of the working tools is disposed so as to extend longitudinally through a space between the first conduit and the second conduit. ### Claim 2 (depends on 1) The wire body processing structure according to claim 1, further comprising: an attachment flange member configured to attach the plurality of working tools to the distal end of the wrist, wherein the attachment flange member is provided with a through-hole through which the second conduit extends and a window that exposes the space between the first conduit and the second conduit toward a radially outer side and through which the second wire body extends. ### Claim 3 (depends on 2) The wire body processing structure according to claim 2, wherein a distal end and a base end of the first conduit are engaged with holes provided in the forearm and the wrist, and at least one of the distal end and the base end is disposed in a movable manner along the first axis. ### Claim 4 (depends on 2) The wire body processing structure according to claim 2, wherein a distal end of the first conduit is engaged with a hole formed in the wrist in a movable manner along the first axis, and wherein the wire body processing structure further comprises a movement limiting unit that limits movement of the first conduit along the first axis so as to prevent the first conduit from protruding toward the attachment flange member beyond a distal-end surface of the wrist. ### Claim 5 (depends on 2) The wire body processing structure according to claim 2, wherein a distal and a base end of the second conduit are engaged with holes provided in a member fixed to the forearm and the attachment flange member or in the working tools, and at least one of the distal end and the base end is disposed in a movable manner along the first axis. ### Claim 6 (depends on 5) The wire body processing structure according to claim 5, wherein the distal end of the second conduit is engaged with the hole provided in one of the working tools in a movable manner along the first axis, and wherein the working tool limits movement of the second conduit toward the distal end along the first axis. ### Claim 7 (depends on 5) The wire body processing structure according to claim 5, wherein the base end of the first conduit and the base end of the second conduit are disposed in a movable manner along the first axis, wherein the member fixed to the forearm is a working-tool control device that is configured to control the working tools, and wherein the working-tool control device is configured to limit movement of the first conduit and the second conduit toward the base end along the first axis.