| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a wiring structure of a cable of a camera or a force sensor causing no interference with an external apparatus in the front arm periphery of a robot. <P>SOLUTION: A control cable CB for the camera (or the force sensor), a hand and a motor are led into a robot mechanism via a distribution board of a robot body base. While successively branching off the control cable for the motor, the control cable CB is built in a robot arm along an upper arm, and is led to a front arm 13. Both or only the former of a twist-pair signal cable and a power cable included in the cable for the camera (or the force sensor) is spirally laid around the outer periphery of a cable protective tube in a state of being individually covered with a shield member. A residual cable is inserted into the cable protective tube, inserted into the front arm 13, clamped in a proper place, reaches an end effector installing surface, and is connected to the camera (or the force sensor) C/S and the hand 5. <P>COPYRIGHT: (C)2004,JPO |
