TUBULAR MEMBER ARRANGEMENT MECHANISM FOR ROBOT WRIST SECTION

PROBLEM TO BE SOLVED: To provide a tubular member arrangement mechanism having a simple structure and a high rigidity while effectively avoiding interference between the tubular member and peripheral equipment.SOLUTION: The tubular member arrangement mechanism has a guide member (28) including a first plate member (36) attached to a fore-end of a wrist section, a second plate member (38) placed facing the first plate member and a connecting member (40) for connecting the first and second plate members, wherein a cross-sectional shape of the connecting member in cross-section perpendicular to a wrist axis includes the wrist axis, extends from the wrist axis in a first radial direction by a distance equal to or longer than a half of a length of the tubular member in the cross-sectional direction thereof, and extends in an second radial direction axially symmetrical to the first radial direction by a distance equal to or shorter than a half of the length of the tubular member in the cross-sectional direction, and the tubular member is placed so as to contact either or both of the second plate member and the connecting member at whichever rotational angular position within a predetermined rotational angle range the guide member may be.