| 主权项 |
1. An attachment structure for drive cables of a robot,
wherein the robot comprises a movable part which is movable so that the robot has any given position and posture, and a stationary part which is fixed independently of the position and posture of the robot, wherein the movable part of the robot comprises: a pivot body attached to the stationary part so as to be able to pivot around a pivot axis; a first arm attached to the pivot body so as to be able to rotate around a first rotational axis; and a second arm attached to the first arm so as to be able to rotate around a second rotational axis, wherein the drive cables includes at least a power cable supplying power to a motor for driving the pivot body, the first arm and the second arm, and a signal cable for transmitting and receiving a signal to and from the motor, wherein the attachment structure comprises a first fixing member and a second fixing member separate from the first fixing member, each of which is configured to fix the drive cables non-slidably, wherein the first fixing member is disposed behind the pivot body so as to pivot together with the pivot body, wherein the second fixing member is disposed in the stationary part and at a distance away from the first fixing member in a direction parallel to the first rotational axis, and wherein the drive cables are fixed by the first fixing member and the second fixing member so as to be curved convexly upward between the first fixing member and the second fixing member. |
