| 摘要 |
PROBLEM TO BE SOLVED: To provide a wiring processing structure for a cable of a camera or a force sensor which does not cause the interference with external equipment in the forearm of a robot and by which a space inside the forearm can be efficiently utilized. SOLUTION: The control cable for the camera (or the force sensor), a hand, and a motor or the like is drawn into the inside of a robot mechanism part and led to the forearm 13 while successively branching the control cable for a motor. A protection tube 50 having a nearly circular cross section, is passed through the hollow part of the forearm 13. One end of the protection tube 50 is supported to a forearm support part 14 with a cantilevered structure via a protection tube support part 15. Sensor cables for a visual sensor/a force sensor, cables for controlling a motor for driving a wrist and for controlling a hand, cables or wire bodies 51-55 including compressed air piping or the like for driving pneumatic equipment are inserted into the protection tube 50. The sensor cable is made into a state of being covered with a shield member and a sheath member. Each cable for controlling a motor/for controlling a hand is inserted in a state of a wire rod. COPYRIGHT: (C)2005,JPO&NCIPI |
