Robot having a cable arrangement and means for electrically shielding the cables

摘要

A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm (13). Camera (or force sensor) and hand control cables and motor control cables CB are drawn into a robot mechanism through a connection panel (3) of a base (2) of a robot main body. While. allowing the motor control cables to sequentially diverge, the control cables CB are arranged in a robot arm along an upper arm portion (12) and guided to the forearm (13). The control cables CB are introduced into the forearm (13) with a shield and a sheath removed, and clamped at an appropriate position. After reaching an end effector-mounting face, the control cables CB are connected to a camera (or force sensor) C/S and a hand (5). The forearm (13) is formed of conductive material and grounded on the base (2) of the robot main body so as to have the same electric potential as the base (2) by using means such as an earth cable or the like, and therefore the forearm (13) is utilized in replacement of a shield.