US 7,320,264 B2
Manipulator
Torbjorn Albertsson, Lindome (Sweden); and Thomas Carlstrom, Gothenburg (Sweden)
Assigned to ABB AB, Västerås (Sweden)
Filed on Jul. 11, 2001, as Appl. No. 9/902,536.
Claims priority of application No. 0002654 (SE), filed on Jul. 14, 2000.
Prior Publication US 2002/0007692 A1, Jan. 24, 2002
Int. Cl. B25J 17/00 (2006.01)
U.S. Cl. 74—490.02  [414/680] 21 Claims
OG exemplary drawing
 
1. An industrial robot manipulator, comprising:
a first arm comprising a front arm part and coaxial a rear arm part, the front arm part being journalled in the rear arm part such that the front arm part is rotatable about its longitudinal axis relative to the rear arm part;
a second arm rotatably connected to the front arm part of the first arm and rotatable about a second axis;
cabling extending along the front arm part and the rear arm part; and
a supporting device operative to support the cabling, the supporting device comprising:
a supporting arm connected to the rear arm part and rotatably supported about a rotation axis, the supporting arm being rotatable about the rotation axis between a relaxed position and an extended position and applying a spring pulling force to the cabling to guide and hold the cabling stretched between the supporting arm and the second arm, and
an auxiliary arm connected to the second arm.