PURPOSE: To prevent cables from being stained and degraded in quality by providing both a housing chamber where the cables are extended so as to be set, and are housed in, and a cable treating arm with a cable through hole, which is located at the center of a joint, and thereby preventing the cables from being exposed outside.
CONSTITUTION: A cable treating arm 18a is provided with a first housing chamber 41 in which a bundle of cables is extended so as to be set, and is housed, a second housing chamber 29 housing driving and control elements for a robot arm, and with a cable through hole 48 which is provided at the center of a joint, and connects the first housing chamber 41 to the second housing chamber 29. Since a bundle of feeding or transmitting cables 40 is housed in the first housing chamber 41 of the cable treating arm 18a at a robot arm, none of the cables is exposed outside. Besides, when an accident such as cable disconnection and the like happens to the cable treating arm 18a which is formed into a freely dechable unit structure, only the cable treating arm 18a is removed so as to be replaced with a normal cable treating arm.
TERADA AKIHIRO
YASUMURA MITSUHIRO
NARA KAZUHARU
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