Patent ID: 7419351

Claim:
An industrial robot comprising: a forearm; a first wrist element mounted to the forearm and rotatable about a first axis extending in the longitudinal direction of the forearm; a second wrist element mounted to the first wrist element and rotatable about a second axis generally perpendicular to the first axis; a third wrist element mounted to the second wrist element and rotatable about a third axis generally perpendicular to the second axis; a work tool attached to the third wrist element via a transmission for converting a rotational motion of the third wrist element about the third axis to a rotational motion of the work tool about a fourth axis which is generally perpendicular to the second axis and is different from the third axis, an umbilical member being connected to the work tool; an umbilical member managing structure including a guide plate arranged on the second wrist element, the guide plate including: a width extending generally parallel to the second axis; a free end on one side of the guide plate away from the work tool, the free end extending along the longitudinal direction perpendicular to the direction of the width; a flexible portion extending toward the free end; and a guide surface elastically contacting and guiding the umbilical member such that the extending direction of the umbilical member generally coincides with the longitudinal direction of the guide plate before the umbilical member, extending from a base of the forearm, is connected to the work tool, wherein the umbilical member extends above the second wrist element, is held by a clamp arranged on the guide plate slideably in the longitudinal direction of the guide plate, and is arranged along the upper and front sides of the second wrist element.