KR20110020640A - A cable arranging apparatus of an industrial robot - Google Patents

Abstract

PURPOSE: A cable control device for industrial robots is provided to prevent damage to cables, since cables are not sagged and returned to the original location. CONSTITUTION: A cable control device for industrial robots comprises a guide member(11), a moveable member(13), an elastic member, and first and second clamps(15,17). The guide member is installed at the side of a cable(C) and is extended in a longitudinal direction. The moveable member is expanded in the longitudinal direction of the guide member and is guided by the guide member. The moveable member is moved in the longitudinal direction of the guide member. At least a part of elastic member is arranged in the guide member. The elastic member returns moveable member to the initial position by returning force when the movable member moves. The first and second clamps are fixed to one and the other ends of the movable member, respectively.

Description

A cable arranging apparatus of an industrial robot

The present invention relates to a cable control device for an industrial robot, and more particularly, to a cable control device for an industrial robot that can prevent the cables connected to the arm and the head of the industrial robot to hang according to the operation of the robot.

In general, an industrial robot is used in an automobile factory or a factory manufacturing various products, and includes a head to which a plurality of arms and various tools that can move in various directions are mounted. The head is then provided with a number of cables, such as power cables, operation cables, water cables, and the like, and wired along the outside of the arm.

In such industrial robots, the production process is performed while the arm and the head move or rotate. At this time, due to the relative movement of the arm and the head, the cable fixed to the outside of the arm and connected to the head is pulled and loosened repeatedly.

In this case, if the lengths of the cables are changed to be loose, the cables may be damaged due to twisting or bending.

As described above, an apparatus for preventing the cable from being loose due to the change in the length of the cable while the arm and the head of the industrial robot moves relative to each other is disclosed in Korean Patent Publication No. 10-0743612 filed and filed by the present applicant.

The technique disclosed in the above patent publication includes a movable body for fixing a cable hose and moving by a rail, and a support disposed at a position spaced apart from the movable body to be fixed and coupled to the cable hose.

The moving body has a coil spring arranged on one side, and when the head is pulled to the head side by moving or rotating, the coil spring is extended and the coil spring can pull the moving body to the home position when the head moves in the original direction by moving or rotating. Has a structure. That is, the movable body moves relative to the support or moves away from the support side to prevent the cable from sagging.

As described above, the technique disclosed in the patent publication moves the cable hose along the inner circumferential surface of the fixture while the movable body moves relative to the fixture. This structure has a problem that the relative movement occurs in a state where the fixture and the cable hose is constantly friction, the operation stability and durability is inferior. In addition, when the cable is not pulled, the cable is stably supported because the distance between the fixture and the movable body is relatively large, whereas when the cable is pulled, the cable is not stable because the distance between the fixture and the movable body is relatively small. There is a problem.

Accordingly, the present invention has been proposed to solve the above problems, and an object of the present invention is to prevent the cables connected to the head of the robot from stretching more than necessary when the arm and the head of the industrial robot make relative movements. An object of the present invention is to provide a cable control device for an industrial robot that can prevent cables from being broken and improve operation stability and durability.

Another object of the present invention is to provide a cable control apparatus for an industrial robot capable of stably supporting a cable at all times regardless of whether the cable is pulled or not pulled.

In order to achieve the object as described above, the present invention, in the cable adjusting apparatus of the industrial robot for guiding a cable connected between the arm and the head of the industrial robot, is installed on the side of the cable on the arm and the longitudinal direction A guide member extending in the direction, the movable member extending in the longitudinal direction of the guide member and being guided by the guide member and moving in the longitudinal direction of the guide member, at least a part of which is disposed in the guide member, and the movable member is moved In this case, the movable member is fixed to one end of the movable member to support the cable and the elastic member for restoring the restoring force to return to the initial position, the first clamp and the other end of the movable member to support the cable It provides a cable control device for an industrial robot including a second clamp.

The moving member may include a guide part moving along an inner surface of the guide member, and a rod part coupled to the guide part to protrude in a longitudinal direction from the guide member.

The cable is preferably provided with a hose surrounding the outer peripheral surface.

Preferably, the arm is provided with a third clamp that secures the hose.

The first clamp is preferably fixedly coupled to the hose.

The second clamp is preferably fluidly coupled or fixedly coupled to the hose.

The elastic member is preferably made of a coil spring disposed on the outer peripheral surface of the moving member having an elastic force for pressing the moving member to the initial position.

The first clamp and the second clamp is preferably provided with a fixed portion made of a semi-circular shape, a hinge portion coupled to the fixing portion and made of a semi-circular shape to rotate while surrounding the hose.

It is preferable that the first clamp is fixedly coupled to the guide portion.

It is preferable that the second clamp is fixedly coupled to the rod portion protruding from the guide member.

Preferably, the elastic member is composed of a compression coil spring that is elastically supported between one end of the moving member and the guide member to apply an elastic force to return the moving member to its original position.

Alternatively, the elastic member may be composed of a tension coil spring coupled between one end of the movable member and the guide member or the external fixing portion to apply an elastic force to return the movable member to its original position.

As described above, the present invention has an effect of preventing damage to the cables connected to the head by the elastic force of the elastic member and always being returned to the original position to be aligned even when the head of the robot is moved or rotated.

In particular, the present invention has the effect of increasing the stability of the operation of the cable adjusting device to improve the durability because the first clamp and the second clamp to secure the hose moves with the hose at regular intervals. This means that the cable can be reliably supported at all times, even when the cable is pulled or not pulled.

In addition, the present invention, when the first clamp and the hose disposed in the head-side direction is coupled to the fluid flow can be prevented from twisting the cable when the cable is rotated or moved in response to the rotation direction of the head cable adjusting device There is an effect of further improving the stability of the operation.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. In the drawings, like reference numerals are used to refer to like elements.

1 is a view for explaining an example to which the first embodiment of the present invention is applied, and shows a cable control device 3 installed in the industrial robot (1).

The industrial robot 1 includes an arm 5 and a head 7 on which a tool is mounted. A plurality of cables C (shown in FIGS. 1 and 2) are connected to the arm 5 and the head 7.

As shown in FIGS. 2 to 3, the cable adjusting device 3 includes a hose 9, a guide member 11 coupled to the arm 5, and a guide member that surround the outer circumference of the cable C. A moving member 13 moving along the 11, and a first clamp 15 and a second clamp 17 coupled to the moving member 13.

In addition, the cable adjuster 3 may be provided with another third clamp 19 for securing the hose 9 to the arm 5. And the moving member 13 is elastically supported by the elastic member 21 so that it may return to the direction moved to an original position after being moved.

The hose 9 is to protect the cables (C) is preferably made of a corrugated pipe surrounding the cable (C). This hose 9 may be made of a synthetic resin material. In the embodiment of the present invention, the hose 9 may be applied to any material as long as it is a material having flexibility while protecting the cable (C).

The arm 5 is coupled to the bracket (B) that can couple the guide member (11). The bracket B is for easily coupling the guide member 11 to the arm 5 and may be omitted in some cases.

Referring to the first example of the guide member 11 and the moving member 13 as follows.

As illustrated in FIG. 4, the guide member 11 has a constant length and a space is provided therein. The guide member 11 is preferably arranged in the longitudinal direction of the arm (5). The guide member 11 is provided with a slot 11a, which is a portion opened in the longitudinal direction in the upper portion. The slot 11a is to allow the movable member 13 to be smoothly moved along the longitudinal direction while being connected to the first clamp 15.

The moving member 13 is accommodated in the guide member 11 and guides 13a, which move along the longitudinal direction, connected to the guide 13a, and protrudes in the longitudinal direction from the guide member 11. And a rod part 13b, which is moved.

That is, the guide part 13a is disposed to be able to move in the longitudinal direction inside the guide member 11. The rod 13b is integrally coupled to the guide 13a and has a rod shape, and a through hole (not shown) is provided on one side of the guide member 11 to guide the member 11 through the through hole. It can protrude outward and move.

It is preferable that the elastic member 21 is disposed on the outer circumferential surface of the rod portion 13b described above. When the elastic member 21 is disposed on the outer circumferential surface of the rod portion 13b, the elastic member 21 may be stably compressed because the elastic member is guided to the rod surface. One side of the elastic member 21 is elastically supported on one side of the inner surface of the guide member 11 and the other side is elastically supported on the guide portion (13a). The elastic member 21 acts as an elastic force capable of always returning the guide portion 13a to its initial position.

As shown in FIGS. 2 to 3, the guide member 13a may be coupled to the connection member 23. The connection member 23 may pass through the slot 11a provided in the guide member 11 and be coupled to the guide part 13a with a bolt or the like. The first clamp 15 is coupled to the upper portion of the connection member 23.

In the exemplary embodiment of the present invention, the first clamp 15 is illustrated with an example coupled to the upper portion of the connection member 23, but is not limited thereto. In some cases, the guide part 13a may be formed by a fastening member such as a bolt. It is also possible to couple directly to.

As shown in FIGS. 2 and 3, the first clamp 15 includes a fixing portion 25 coupled to the above-described connecting member 23 and a rotating portion 27 hinged to the fixing portion 25. It includes. The fixing part 25 may be coupled to the connecting member 23 by a fastening member such as a bolt as described above, and preferably forms a semicircular shape. In addition, the rotating portion 27 is preferably made of a semi-circular shape that corresponds to the fixing portion 25.

As shown in FIG. 11, the fixing part 25 and the rotating part 27 may be coupled to the hose fixing member 51. The hose fixing member 51 may be provided with a protrusion (not shown) along the inner circumferential surface, and in this case, the hose may be more firmly supported.

Therefore, the hose fixing member 51 is disposed to cover the outer circumferential surface of the hose 9, and the hose fixing member 51 is disposed and fixed in the inner space formed by the fixing part 25 and the rotating part 27 described above. can do.

And the fixing portion 25 and the rotating portion 27 is preferably one side is hinged and the other side is preferably made of a conventional structure that can be fixed by a fixing means such as a separate bolt (not shown).

The first clamp 15 is preferably fixedly coupled to the hose 9 through the hose fixing member 51. That is, as the first clamp 15 moves, the hose fixing member 51 is fixed to the outer circumferential surface of the hose 9 so that the hose 9 of the portion where the first clamp 15 is coupled may also move together. .

Further, as shown in FIGS. 2 and 3, another connecting member 29 is coupled to the rod portion 13b. Another connection member 29 is preferably coupled to the rod portion (13b) protruding to the outside of the guide member (11).

The second clamp 17 may be coupled to the connecting member 29 (FIG. 2, 3) coupled to the rod portion 13b.

Of course, in the embodiment of the present invention has been described by illustrating an example in which the second clamp 17 is coupled to the connecting member 29 is not limited to this, it is also possible to be directly coupled to the rod (13b).

The second clamp 17 includes another fixing portion 31 coupled to the connecting member 29 and another rotating portion 33 rotatably coupled to the further fixing portion 31. The fixing part 31 and the rotating part 33 forming the second clamp 17 may have the same structure as the first clamp 15 described above.

As for the fixing part 31 and the rotating part 33, the other hose fixing member 53 is couple | bonded with the inner peripheral surface. Hose fixing member 53 is made of a structure that can wrap the outer peripheral surface of the hose (9) is made of a cylindrical shape. The hose fixing member 53 has a cylindrical space of the inner circumferential surface thereof. Therefore, when the outer circumferential surface of the hose 9 is coupled to the inner circumferential surface of the hose fixing member 53, the outer circumferential surface of the hose 9 may be coupled in a state having a certain degree of play without being coupled by interference fit.

That is, when the second clamp 17 and the hose 9 are coupled, it is preferable that the hose 9 is coupled to such an extent that it can rotate to some extent in the rotational direction.

The coupling structure of the second clamp 17 and the hose 9 is such that the hose 9 is connected to the hose of the second clamp 17 when the head C is rotated and the twisting of the cable C occurs. It is to prevent twisting and damage by rotating on the inner peripheral surface of the fixing member (53).

Of course, the coupling structure of the second clamp 17 and the hose 9 of the present invention is not limited to the above-described example, and firmly secured by interference fits as in the example in which the first clamp 15 and the hose 9 are coupled. It is also possible to be fixed. In this case, the first clamp 15 and the second clamp 17 can move together while maintaining a constant distance at all times, thereby preventing the cable C from sagging, and operating the cable control device more stably.

The third clamp 19 preferably has the same structure as the first clamp 15 or the second clamp 17. However, the third clamp 19 is preferably fixed directly to the bracket (B) installed in the arm (5) to maintain a fixed state irrespective of the movement of the cable (C). Such a third clamp 19 is useful for changing the direction of the cable C as shown in Figs. 2 and 3. The third clamp 19 is not limited to the example illustrated and described in the embodiment of the present invention, and may be configured in various examples.

If described in detail the operation and operation of the first embodiment of the present invention as described above.

The cable C is pulled to the head 7 side when the head 7 on which the tool is mounted is moved or rotated and the distance from the arm 5 is relatively reduced. At this time, while the cable (C) is moved, the hose (9) coupled to the outer peripheral surface of the cable (C) is also moved together.

As the hose 9 is moved, the first clamp 15 and the second clamp 17 are also moved together. The elastic member 21 is pressed while the first clamp 15 is moved. When the first clamp 15 is moved, the guide part 13a and the rod part 13b of the moving member 13 also move together. Therefore, the 2nd clamp 17 also moves together (moving distance D of FIG. 3) (state shown in FIG. 3).

Therefore, when the head 7 is moved and the cable C is pulled, the hose 9 and the cable C move together by the first clamp 15 and the second clamp 17 so that the cable adjusting device is smooth. Works.

Then, when the cable C is loosened while the head 7 moves or rotates, the elastic force of the elastic member 21 presses the guide portion 13a of the movable member 13 to the initial position (Fig. 3). In the opposite direction of the arrow). Then, the guide portion 13a of the moving member 13 moves in the direction toward the initial position by the elastic force of the elastic member 21.

At the same time, the rod 13b of the movable member 13 moves together in the direction toward the initial position. Therefore, while the 1st clamp 15 and the 2nd clamp 17 also move to the initial position direction, the hose 9 and the cable C with this hose 9 are moved to an initial position. Therefore, even if the relative positions of the arm 5 and the head 7 are variable, it is possible to prevent the cable C from sagging.

In particular, the first embodiment of the invention is characterized in that the first clamp 15 and the second clamp 17 are moved simultaneously when the cable is pulled, ie between the first clamp 15 and the second clamp 17 of FIG. By moving while keeping the distance D constant at all times, the hose 9 or the cable C is prevented from being twisted or a faulty movement occurs.

In addition, in the first embodiment of the present invention, when the hose 9 is rotatably loosely coupled at the portion where the second clamp 17 and the hose 9 are coupled, the cable C is rotated when the head 7 rotates. ) And the hose 9 can be rotated to some extent to prevent twisting or twisting, thereby increasing the operating stability and durability of the cable adjusting device, thereby stably operating the industrial robot.

5 and 6 are views for explaining a second example of the guide member and the movable member, and show the guide member 71, the movable member 73, and the elastic member 75.

In the second example, only the differences from the description of the first example will be described, and the same parts will be replaced with the description of the example.

The second example includes the guide portion 77 and the rod portion 79 is the same as the above-described example, but the guide portion 77 is characterized by consisting of a roller-shaped rolling member. That is, the first example described above has a configuration in which the guide portion 77 slides, but the second example of the present invention has a structure in which the guide portion 77 can move while rolling in the guide member 71. There is a difference. The second example of the present invention means that it can be carried out in various ways depending on the design conditions.

7 and 8 are views for explaining a third example of the guide member and the movable member, and show the guide member 91, the movable member 93, and the elastic member 95.

The third example will only be different from the above example and the same parts will be replaced with the description of the above example.

The moving member 93 includes a guide part 97 for moving the inside of the guide member 91 and a rod part 99 coupled to the guide part 97 to move in the longitudinal direction of the guide member 91.

The third example is different from the above-described example in the shape of the movable member 93. That is, the moving member 93 is formed in the form of a block to omit the connecting member and directly coupled to the guide portion 97 of the moving member 93. This example can be manufactured in a simpler structure and can be selected to the appropriate structure through a variety of designs according to the situation of the manufacturing site.

9 and 10 are diagrams for explaining a fourth example of the guide member and the movable member, and show the guide member 111, the movable member 113, and the elastic member 115.

The fourth example will only be different from the above-described example and the same parts will be replaced by the description of the above-described example.

Compared to the third example described above, the fourth example has a structure in which the guide member 111 and the guide part 117 have different connection shapes. That is, the guide grooves 111a are provided in the longitudinal direction inside the guide member 111, and the protrusions 117a of the guide portion 117 are inserted into the guide grooves 111a and moved. Therefore, the protrusions 117a of the guide part 117 can be easily slid along the guide groove 111a provided in the guide member 111.

This fourth example shows that it can be designed and manufactured in various ways according to the design conditions.

Another example that may be applied to the first clamp or the second clamp of the present invention will be described with reference to FIG. 12. 12 illustrates the second clamp 17, it is clear that the same structure can be applied to the first clamp.

In addition, although the elastic member is illustrated as being wound around the outer circumference of the rod in the first to fourth examples, it is also possible to arrange the elastic member outside the rod.

In FIG. 2, another rotary lower bracket 173 is coupled to the upper portion of the connecting member 171 of the second clamp 17, and the rotary lower bracket 173 is capable of relative rotation with the rotary lower bracket 173. Rotating upper bracket 175 is coupled.

The rotary lower bracket 173 is coupled to the connection member 171 and a rotation shaft portion 173a is provided at the center thereof. And the rotary upper bracket 175 is provided with another rotary shaft portion 175a that can be coupled to the rotary shaft portion 173a provided in the rotary lower bracket 173. Therefore, the rotary lower bracket 173 and the rotary upper bracket 175 can be rotated relative to each other by rotatably coupling the rotation shaft parts 173a and 175a with each other.

The fixing part 177 of the second clamp is coupled to the upper portion of the rotary upper bracket 175 by a fastening member. Of course, the rotating portion 179 is coupled to the fixed portion 177 as in the above-described example. In addition, the hose fixing member 181 may be used in the same manner as described above.

As described in the above example, the rotary lower bracket is used even when the head 7 is moved and a twisting force acts on the cable C or the cable C moves to a position deviated from the longitudinal direction of the guide member. 173 and the upper upper bracket 175 may correspond to each other while rotating relative to each other can further improve the stability.

Next, a second embodiment of the present invention will be described with reference to FIGS. 13 and 14. In a second embodiment of the present invention, the elastic member is made of a tension coil spring. That is, in the first embodiment described above, the elastic member is composed of a compression coil spring, and the movable member is returned to its initial position by a force to be restored after the elastic member is compressed, whereas the second embodiment of the present invention After the elastic member made of the tension coil spring is stretched, the movable member returns to its initial position by a force to be restored. The second embodiment of the present invention will be described only in terms of differences from the first embodiment described above, and the same parts as the above-described examples will be replaced by the description.

In the second embodiment of the present invention, the guide member 11 has a predetermined length and a space therein. The guide member 11 is provided with a slot 11a, which is a portion opened in the longitudinal direction, and the moving member 13 is accommodated in the guide member 11 to guide along the longitudinal direction 13a. ) And a rod portion 13b which is connected to the guide portion 13a and protrudes and moves in the longitudinal direction from the guide member 11, is the same as the first embodiment.

The elastic member 201 is made of a tension coil spring, it may be coupled between the moving member 13 and the guide member 11 or the external fixing portion. As shown in FIG. 13, the guide member 11 may be extended longer, and one end of the elastic member 201 may be fixed to the internal fixing pin 202 provided in the guide member 11. 14, one end of the elastic member is fixed to the external fixing part. That is, one end of the elastic member 201 is fixed to the bracket (B) using the fixing pin 203.

The other end of the elastic member 201 may be fixed to the guide portion 13a, but is not limited thereto. That is, it is also possible to connect the other end of the elastic member 201 with the rod portion 13b, the first clamp 15, the second clamp.

The elastic member 201 is elongated when the cable is pulled to generate an elastic force that can always return the moving member 13 to its initial position.

The operation process of the second embodiment of the present invention made as described above is as follows.

As the cable C is moved by the movement or rotation of the head, the hose 9 coupled to the outer circumferential surface of the cable C is also moved. As the hose 9 is moved, the first clamp 15, the second clamp 17, and the moving member 13 also move together, and the elastic member 201 is extended.

When the cable C is loosened while the head 7 moves or rotates, the elastic force of the elastic member 201 pulls the guide portion 13a of the movable member 13 to the initial position. Therefore, while the 1st clamp 15 and the 2nd clamp 17 also move to the initial position direction, the hose 9 and the cable C with this hose 9 are moved to an initial position. Therefore, even if the relative positions of the arm 5 and the head 7 are variable, it is possible to prevent the cable C from sagging.

Particularly, in the second embodiment of the present invention, like the first embodiment, the first clamp 15 and the second clamp 17 move simultaneously when the cable is pulled, whereby the first clamp 15 and the second clamp ( 17) the distance between the movement is always kept constant to effectively prevent the hose (9) or cable (C) is twisted or bad movement occurs.

Although the technical features of the present invention have been described above with reference to specific embodiments, those skilled in the art to which the present invention belongs may make various changes and modifications within the scope of the technical idea according to the present invention. It is obvious.

For example, in the first embodiment, one rod portion (moving member) and one elastic member disposed on the outer circumference of the rod portion are used, but a plurality of rod portions and a plurality of elastic portions may be employed depending on the design. In addition, a plurality of elastic members may also be used in the second embodiment, and the fixing position may be changed in various ways depending on the design.

1 is a view schematically showing an industrial robot and a cable adjusting device in order to explain the first embodiment of the present invention.

Figure 2 is a perspective view showing in detail the cable adjustment device that is the main part of FIG.

3 is a view showing a state in which the cable is pulled to explain the operation of the cable adjustment device of FIG.

FIG. 4 is an exploded view illustrating the guide member and the moving member of FIG. 2 to illustrate a first example.

5 is a view for explaining a second example of the guide member and the moving member.

6 is an exploded view illustrating the guide member and the moving member of FIG. 5.

7 is a view for explaining a third example of the guide member and the moving member.

8 is an exploded view illustrating the guide member and the moving member of FIG. 7.

9 is a view for explaining a fourth example of the guide member and the moving member.

10 is an exploded view illustrating the guide member and the moving member of FIG. 9.

11 is a diagram illustrating an embodiment of a first clamp or a second clamp.

12 is a view illustrating another embodiment of the first clamp or the second clamp.

13 is a view for explaining a first example of the second embodiment of the present invention.

14 is a view for explaining a second example of the second embodiment of the present invention.

Claims (15)

In the cable control device of the industrial robot for guiding the cable connected between the arm and the head of the industrial robot, A guide member installed on a side of the cable and extending in a longitudinal direction; A movable member extending in the longitudinal direction of the guide member and moving in the longitudinal direction of the guide member while being guided by the guide member; At least a portion of the elastic member disposed on the guide member to apply a restoring force to return the movable member to an initial position when the movable member is moved; A first clamp fixed to one end of the movable member to support the cable; And A second clamp fixed to the other end of the movable member to support the cable; Cable control device of the industrial robot comprising a. The method according to claim 1, The moving member A guide part moving along an inner surface of the guide member, A rod part coupled to the guide part and protruding from the guide member in a longitudinal direction Cable control device of the industrial robot comprising a. The method according to claim 1, Hose surrounding the outer peripheral surface of the cable Cable control device of the industrial robot further comprising. The method according to claim 1, A third clamp disposed on the arm to secure the hose Cable control device of the industrial robot further comprising. The method according to claim 1, The first clamp is Cable control device of the industrial robot, characterized in that fixed to the hose. The method according to claim 1, The second clamp is Cable control apparatus of the industrial robot, characterized in that coupled to the hose fluidly. The method according to claim 1, The second clamp is Cable control device of the industrial robot, characterized in that fixed to the hose. The method according to claim 1, The elastic member is Coil spring having an elastic force to press the moving member to the initial position Cable control device of the industrial robot comprising a. The method according to claim 1, The first clamp or the second clamp is Semicircular fixing part, Cable hinge device of the industrial robot is hinged to the fixed portion is made of a semi-circular shape having a rotating portion that is fastened surrounding the hose. The method according to claim 2, Cable control device of the industrial robot that the first clamp is fixedly coupled to the guide. The method according to claim 2, Cable control device of the industrial robot that the second clamp is fixedly coupled to the protruding portion of the rod. The method according to claim 1, The first clamp or the second clamp is Cable control apparatus of the industrial robot is fixed to the moving member to be rotated about an axis perpendicular to the guide member. The method according to claim 2, The first clamp or the second clamp is Rotating lower bracket coupled to the guide side, The cable adjusting device of the industrial robot including a rotary upper bracket coupled to the hose side and coupled to rotate relative to the rotary lower bracket. The method according to claim 1, The elastic member is Cable adjustment apparatus of the industrial robot made of a compression coil spring elastically supported between one end of the moving member and the guide member, the elastic coil for returning the moving member to its original position. The method according to claim 1, The elastic member is Cable tensioning device of the industrial robot is composed of a tension coil spring is coupled between one end of the moving member, the guide member or the external fixing portion, the elastic coil to return the moving member to its original position.

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