Patent ID: 7631573

Claim:
A guiding device for supporting an umbilical member corresponding to the motion of a robot, the robot comprising: a forearm; wrist elements rotatably mounted to the end of the forearm; an end effector attached to one of the wrist elements; and a flexible umbilical member connected the end effector, wherein the guiding device comprises: a first plate member fixed to the wrist element; a second plate member fixed to the end effector, the second plate member opposing to the first plate member and being apart from the first plate member by at least the diameter of the umbilical member; and a connecting member for connecting the first and second plate members; wherein the first and second plate members and the connecting member form a passage through which the umbilical member may extend; the first and second plate members and the connecting member define a first opening for introducing the umbilical member into the passage; and the second plate member has a second opening for leading out the umbilical member from the passage, and wherein the second plate member includes a fixed portion fixed to the end effector and an extended portion extending from the fixed portion and away from the rotation axis of the wrist element and the second opening is formed on the extended portion, the connecting member connects the extended portion of the second plate member to a part of the first plate member opposed to the extended portion of the second plate member.