Robot with improved cable routing and clamping

摘要

A robot comprising a base, an arm assembly and first and second spaced robot parts are mounted on the robot so that the first robot part pivots with respect to the second robot part about a pivotal axis and a ribbon of flexible cables are connected to and extend between the robot parts in a direction substantially normal to and towards the pivotal axis to provide a ribbon of cables which have an effective length between the robot parts which does not change during pivoting. The cables are clamped in spaced apart positions by a directing mechanism and a retainer mechanism so that the effective length does not change and the cables do not rub each other during pivoting. The directing mechanism comprises a weldment including a pair of interconnected holders which direct the cables from an axis parallel to the pivotal axis to the normal direction towards the pivotal axis.