Robot cable connection structure

Abstract

To easily change a direction for drawing a cable from a robot and secure sealability of the robot even if the cable drawing direction is changed.SOLUTION: In a cable connection structure of a robot, movable section connectors (31 to 33) are provided at tips of movable section cables (94 to 96), a first opening (12) is formed on a side face of a base (11), and a second opening (13) is formed on a bottom face of the base. The movable section connectors can be exposed to the outside from the first opening and the second opening, respectively. The cable connection structure includes: a first lid section (20) and a second lid section (40) which can be mounted in the first opening and the second opening, respectively; introduction sections (21, 22) which are provided in the first lid section, can connect an external cable to the movable section connectors or can insert the external cable up to the movable section connectors, and seal between the first lid section and the external cable; and a first seal member (17) and a second seal member (18) which seal between the base and the first lid section and the second lid section, respectively.SELECTED DRAWING: Figure 3

Description

Technical Field

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[0001] The present invention relates to a structure for connecting a cable to a robot.

Background Art

[0002] Conventionally, there has been a robot in which a robot mechanism unit includes a base having a hollow structure with an opening on a side surface, a member having a cable through-hole is attached to the base so as to close the opening, and a cable passing through the cable through-hole from the outside of the base is connected to a cable inside the robot mechanism unit by a connector (see Patent Document 1). In the robot described in Patent Document 1, sealing means is provided at a portion where the cable penetrates the cable through-hole.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, as a method of installing a robot, there are cases where it is installed on the floor, cases where it is installed on a wall or ceiling, etc. In addition, in a collaborative robot that works with a person, it is conceivable to move the robot and install it in various places. In that case, it is desirable that the direction in which the cable is pulled out from the robot can be changed according to the installation location. However, when changing the method of installing the robot, a structure that can easily change the direction in which the cable is pulled out from the robot and can ensure the sealing performance of the robot even when the pulling direction of the cable is changed has not been proposed yet.

[0005] The present invention was made to solve the above problems, and its main objective is to provide a robot cable connection structure that allows for easy changes in the direction in which the cable is pulled out from the robot, and that ensures the sealing performance of the robot even when the direction in which the cable is pulled out is changed. [Means for solving the problem]

[0006] The first means to solve the above problem is, A cable connection structure for a robot comprising a base and a movable part supported by the base, A movable part cable is connected to the movable part, and a movable part connector is provided at the tip of the movable part cable. The base is formed to be hollow, a first opening is formed on the side surface of the base, and a second opening is formed on the bottom surface of the base. The movable connector can be housed inside the base and can be exposed to the outside through the first opening and the second opening, respectively. A first lid portion that can be attached to the first opening and the second opening, and that closes the first opening or the second opening to which it is attached, A first sealing member that seals the space between the base and the first lid, An introduction portion is provided on the first lid, which allows an external cable to be electrically connected to the movable part connector or allows an external cable to be inserted to the movable part connector, and seals the space between the first lid and the external cable. A second lid portion which can be attached to the first opening and the second opening and which closes the first opening or the second opening to which it is attached, The system includes a second sealing member that seals the space between the base and the second lid.

[0007] According to the above configuration, the robot comprises a base and a movable part supported by the base. Therefore, by installing the base on the floor, wall, ceiling, etc., the robot can be installed in various locations. A movable part cable is connected to the movable part, and a movable part connector is provided at the end of the movable part cable. Therefore, by connecting an external cable to the movable part connector, the movable part and the external cable can be connected via the movable part connector and the movable part cable.

[0008] Here, the base is formed to be hollow, with a first opening formed on the side of the base and a second opening formed on the bottom of the base. The movable part connector can be housed inside the base and is also exposed to the outside through the first and second openings, respectively. Therefore, by connecting an external cable to the movable part connector through the first opening, the external cable can be pulled out from the side of the base. Also, by connecting an external cable to the movable part connector through the second opening, the external cable can be pulled out from the bottom of the base.

[0009] Furthermore, the cable connection structure includes a first cover portion that can be attached to the first opening and the second opening and closes the first opening or the second opening to which it is attached, a first sealing member that seals the space between the base and the first cover portion, and an introduction portion provided on the first cover portion that allows an external cable to be electrically connected to the movable part connector or allows an external cable to be inserted to the movable part connector and seals the space between the first cover portion and the external cable. Therefore, with the space between the base and the first cover portion sealed by the first sealing member and the space between the first cover portion and the external cable sealed by the introduction portion, the external cable can be electrically connected to the movable part connector by the introduction portion, or the external cable can be inserted to the movable part connector by the introduction portion and electrically connected to the movable part connector.

[0010] Furthermore, the cable connection structure includes a second cover portion that can be attached to the first and second openings and closes the first or second opening to which it is attached, and a second sealing member that seals the space between the base and the second cover portion. Therefore, the second cover portion can close the opening of the first and second openings to which the first cover portion is not attached, and the space between the base and the second cover portion can be sealed by the second sealing member.

[0011] Furthermore, both the first and second covers can be attached to the first and second openings, respectively. Therefore, by swapping the first and second covers, the direction in which the cable is pulled out from the robot can be easily changed. And even when the direction in which the cable is pulled out is changed, the sealing performance of the robot can be ensured as described above.

[0012] In the second method, the first lid and the second lid are formed in the same shape as plates. With this configuration, the first lid and the second lid can be attached to and removed from the first opening in the same way, and the first lid and the second lid can be attached to and removed from the second opening in the same way. Therefore, the first lid and the second lid can be easily swapped. Furthermore, the configuration for attaching the first lid or the second lid to the first opening and the configuration for attaching the first lid or the second lid to the second opening can be made common.

[0013] In the third method, building upon the second method, the outer shapes of the first lid and the second lid are asymmetrical with respect to at least one direction. With this configuration, when switching between the first and second lids, the first and second lids can always be attached to the first and second openings in the same orientation. Therefore, twisting of the movable part cable and the external cable due to a change in the orientation of the external cable relative to the movable part connector can be suppressed.

[0014] Specifically, in the fourth means, the outer shapes of the first lid and the second lid are trapezoidal. With this configuration, the outer shapes of the first lid and the second lid can be made asymmetrical in one direction by a simple shape.

[0015] In the fifth method, the first sealing member and the second sealing member have the same shape. With this configuration, the first sealing member that seals the space between the base and the first lid and the second sealing member that seals the space between the base and the second lid can be made common.

[0016] In the sixth means, the movable part cable is set to a length that allows the movable part connector to be pulled out from the first opening to the outside of the base, and also allows the movable part connector to be pulled out from the second opening to the outside of the base. With this configuration, an external cable can be connected to the movable part connector while it is pulled out from the first or second opening. Therefore, compared to the case where an external cable is connected to the movable part connector inside the base, the user's workability can be improved, and the direction in which the cable is pulled out from the robot can be changed even more easily.

[0017] If electronic components are located inside the base, there is a risk that the user's hands may come into contact with the electronic components when connecting an external cable to the movable part connector inside the base, or when returning the movable part connector inside the base after connecting an external cable to the movable part connector outside the base.

[0018] In this regard, the seventh means is configured such that electronic components are arranged inside the base, and a partition member is provided between the electronic components and the movable connector to prevent the user's hands from touching the electronic components. With this configuration, when the first lid and the second lid are swapped and an external cable is connected to the movable connector, it is possible to prevent the user's hands from touching the electronic components.

[0019] In the eighth means, the movable part connector includes a first connector that can be connected to the introduction part. According to such a configuration, by connecting the first connector to the introduction part and connecting an external cable to the introduction part, the movable part cable and the external cable can be connected via the first connector and the introduction part.

[0020] In the ninth means, the movable part connector includes a second connector that can be connected to the external cable. According to such a configuration, by inserting the external cable to the second connector through the introduction part and connecting the external cable to the second connector, the movable part cable and the external cable can be connected via the second connector.

Brief Description of the Drawings

[0021] [Figure 1] Perspective view of the robot. [Figure 2] Perspective view showing the state where the external cable is drawn out from the side of the base. [Figure 3] Cross-sectional perspective view showing the cable connection structure on the side of the base. [Figure 4] Cross-sectional perspective view showing the cable connection structure on the bottom surface of the base. [Figure 5] Perspective view showing the state where the external cable is drawn out from the bottom surface of the base.

Embodiments for Carrying Out the Invention

[0022] Hereinafter, an embodiment embodied in the cable connection structure of a robot that can be fixed to the floor and wall (ceiling) will be described with reference to the drawings.

[0023] As shown in FIG. 1, the robot 10 includes a base 11 and an arm 30. The base 11 is fixed to the floor or wall (ceiling) of the factory (building) by bolts 19. The arm 30 (movable part) is supported by the base 11. The arm 30 includes a plurality of rotating parts and joints, and each rotating part is rotated by a motor provided at each joint.

[0024] A connector panel 20 is attached to the base 11. Cable 91 is connected to the connector panel 20, and cables 92 and 93 are inserted through the connector panel 20. Cables 91, 92, and 93 (external cables) are connected to the controller (control unit) of the robot 10, the power supply, etc. In this embodiment, only some of the cables are shown for the sake of simplicity in the explanation.

[0025] As shown in Figures 2 and 3, the base 11 is formed in a cylindrical (hollow) shape. A first opening 12 is formed on the side surface of the base 11. The first opening 12 is formed in a trapezoidal shape, with the upper base being shorter than the lower base. That is, the first opening 12 is asymmetrical with respect to the vertical direction (at least one direction).

[0026] A second opening 13 is formed on the bottom surface of the base 11. The second opening 13 is formed in the same shape as the first opening 12. The second opening 13 is formed as a trapezoid, with the bottom edge on the side of the first opening 12 (upper bottom edge) being shorter than the bottom edge on the opposite side of the first opening 12 (lower bottom edge). In other words, the second opening 13 is asymmetrical with respect to the left-right direction (at least one direction).

[0027] Cables 94, 95, and 96 are electrically connected to the arm 30. Cables 94, 95, and 96 (movable part cables) are cables that transmit signals, power, etc. to the arm 30. Connectors 31, 32, and 33 (movable part connectors) are connected to the ends of cables 94, 95, and 96, respectively. Cables 94, 95, and 96 are set to a length that allows connectors 31, 32, and 33 to be pulled out from the first opening 12 to the outside of the base 11. That is, connectors 31, 32, and 33 can be housed inside the base 11 and exposed to the outside from the first opening 12. Note that for connectors 31, 32, and 33 to be exposed to the outside from the first opening 12, it is sufficient that the connectors 31, 32, and 33 are visible from the first opening 12 to the extent that a user can connect them to the connectors 31, 32, and 33 from the first opening 12.

[0028] A circuit board 14 on which electronic components 15 are mounted is installed inside the base 11. A partition member 16 is provided between the circuit board 14 (electronic components 15) and the connectors 31, 32, and 33. The partition member 16 separates the circuit board 14 from the connectors 31, 32, and 33 (openings 12 and 13), isolating the circuit board 14 from the connectors 31, 32, and 33 (openings 12 and 13). An opening 16a is formed in the partition member 16. The opening 16a is sized to allow cables 94, 95, and 96 to pass through, but is too small for a user's hand (fingers) to enter. In other words, the partition member 16 prevents a user's hand from touching the circuit board 14 (electronic components 15).

[0029] The connector panel 20 (first cover) is formed in a trapezoidal plate shape that is slightly larger than the first opening 12, corresponding to the first opening 12. The outer shape of the connector panel 20 is a trapezoid where the upper base is shorter than the lower base. In other words, the outer shape of the connector panel 20 is asymmetrical with respect to the vertical direction (at least one direction).

[0030] The connector panel 20 can be attached to the first opening 12. The connector panel 20 closes the first opening 12 by being attached to the side of the base 11 with screws 29. A packing 17 is attached to the base 11 around the first opening 12. The packing 17 (first sealing member) seals the space between the base 11 and the connector panel 20. The packing 17 may also be attached to the connector panel 20.

[0031] The connector panel 20 is provided with a connection portion 21 and an insertion portion 22.

[0032] The connection section 21 (inlet section) allows the connector 91a to be connected to the outer end of the connector panel 20, and the connector 31 (first connector) to be connected to the inner end of the connector panel 20. At the connection section 21, the connector 91a attached to the end of the cable 91 is connected to the outer end of the connector panel 20. At the connection section 21, the connector 31 is connected to the inner end of the connector panel 20. The connection section 21 seals the space between the connector panel 20 and the connector 91a (cable 91).

[0033] The insertion section 22 (inlet section) allows cables 92 and 93 to be inserted into connectors 32 and 33, respectively. Cables 92 and 93 are connected to connectors 32 and 33 (second connectors) by passing through the insertion section 22. The insertion section 22 seals the space between the connector panel 20 and cables 92 and 93. The sealing of the space between the connector panel 20 and cables 92 and 93 by the insertion section 22 means that the structure is such that water, oil, etc., cannot enter through the gap between the connector panel 20 and cables 92 and 93 in the environment in which the robot 10 operates (a drip-proof structure).

[0034] The outer shape of the dummy panel 40 (second cover) is the same as that of the connector panel 20. The dummy panel 40 is formed in a trapezoidal plate shape that is slightly larger than the second opening 13 (first opening 12), corresponding to the second opening 13 (first opening 12). The outer shape of the dummy panel 40 is a trapezoid in which the bottom edge (upper bottom edge) on the side of the first opening 12 is shorter than the bottom edge (lower bottom edge) on the opposite side of the first opening 12. In other words, the outer shape of the dummy panel 40 is asymmetrical with respect to the left-right direction (at least one direction). The connector panel 20 is also formed in a trapezoidal plate shape that is slightly larger than the second opening 13, corresponding to the second opening 13.

[0035] The dummy panel 40 can be attached to the second opening 13 (first opening 12). The dummy panel 40 closes the second opening 13 (first opening 12) by being attached to the bottom surface (side surface) of the base 11 with screws 49 (screws 29). A packing 18 is attached to the base 11 around the second opening 13. The shape of the packing 18 is the same as the shape of packing 17. The packing 18 (second sealing member) seals the space between the base 11 and the dummy panel 40 (connector panel 20). The packing 18 may also be attached to the dummy panel 40. The connector panel 20 can also be attached to the second opening 13. The connector panel 20 closes the second opening 13 by being attached to the bottom surface of the base 11 with screws 49.

[0036] Figures 4 and 5 show the case where a dummy panel 40 is attached to the first opening 12 and a connector panel 20 is attached to the second opening 13. Cables 94, 95, and 96 are set to a length that allows connectors 31, 32, and 33 to be pulled out from the second opening 13 to the outside of the base 11. That is, connectors 31, 32, and 33 can be housed inside the base 11 and are also exposed to the outside from the second opening 13. Note that for connectors 31, 32, and 33 to be exposed to the outside from the second opening 13, it is sufficient that they protrude (are visible) from the second opening 13 to the extent that a user can connect to connectors 31, 32, and 33 from the second opening 13.

[0037] The robot's cable connection structure is comprised of openings 12, 13, connectors 31, 32, 33, connector panel 20, connection part 21, insertion part 22, packing 17, dummy panel 40, and packing 18.

[0038] Next, we will explain the procedure for changing the state from the one shown in Figure 2, where cables 91, 92, and 93 are pulled out from the side of the base 11, to the state shown in Figure 5, where cables 91, 92, and 93 are pulled out from the bottom of the base 11. The following operations will be performed by the user.

[0039] Loosen screw 29 and remove the connector panel 20 from the side of the base 11 as shown in Figure 3. Pull connectors 31, 32, and 33 out through the first opening 12. Remove connector 31 from connection part 21, and remove cables 92 and 93 from connectors 32 and 33, respectively. Loosen screw 49 (see Figure 2) and remove the dummy panel 40 from the bottom of the base 11. Note that the dummy panel 40 may be removed before the connector panel 20.

[0040] Next, as shown in Figure 4, the connectors 31, 32, and 33 are pulled out through the second opening 13. At this time, the partition member 16 prevents the user's hand from touching the circuit board 14 (electronic components 15).

[0041] Next, connect connector 31 to connection part 21, and connect cables 92 and 93 to connectors 32 and 33, respectively. Return connectors 31, 32 and 33 to the inside of base 11 through the second opening 13. At this time, the partition member 16 prevents the user's hand from touching the circuit board 14 (electronic components 15). As shown in Figure 5, tighten the screw 49 to attach the connector panel 20 to the bottom surface of base 11. Tighten the screw 29 to attach the dummy panel 40 to the side of base 11. Note that the dummy panel 40 may be attached before the connector panel 20.

[0042] Furthermore, when changing from the state shown in Figure 5 to the state shown in Figure 2, the reverse of the above procedure is performed.

[0043] The embodiment described in detail above has the following advantages.

[0044] The robot 10 comprises a base 11 and an arm 30 supported by the base 11. Therefore, by installing the base 11 on the floor, wall, ceiling, etc., the robot 10 can be installed in various locations. Cables 94, 95, and 96 are connected to the arm 30, and connectors 31, 32, and 33 are provided at the ends of the cables 94, 95, and 96, respectively. Therefore, by connecting cables 91, 92, and 93 to connectors 31, 32, and 33, the arm 30 and cables 91, 92, and 93 can be connected via connectors 31, 32, and 33 and cables 94, 95, and 96.

[0045] The base 11 is hollow, with a first opening 12 formed on its side and a second opening 13 formed on its bottom. Connectors 31, 32, and 33 can be housed inside the base 11 and are also exposed to the outside through the first opening 12 and the second opening 13, respectively. Therefore, by electrically connecting cables 91, 92, and 93 to connectors 31, 32, and 33 via the first opening 12, cables 91, 92, and 93 can be pulled out from the side of the base 11. Also, by electrically connecting cables 91, 92, and 93 to connectors 31, 32, and 33 via the second opening 13, cables 91, 92, and 93 can be pulled out from the bottom of the base 11.

[0046] With the gap between the base 11 and the connector panel 20 sealed by the packing 17, and the gap between the connector panel 20 and the cable 91 sealed by the connecting part 21, the cable 91 can be connected to the connector 31 via the connecting part 21. Alternatively, with the gap between the base 11 and the connector panel 20 sealed by the packing 17, and the gap between the connector panel 20 and the cables 92 and 93 sealed by the insertion part 22, the cables 92 and 93 can be inserted through the insertion part 22 to the connectors 32 and 33, respectively, and connected to the connectors 32 and 33.

[0047] The cable connection structure includes a dummy panel 40 that can be attached to the first opening 12 and the second opening 13 and closes the first opening 12 or the second opening 13 to which it is attached, and a packing 18 that seals the space between the base 11 and the dummy panel 40. Therefore, the dummy panel 40 can close the openings of the first opening 12 and the second opening 13 to which the connector panel 20 is not attached, and the packing 18 (packing 17) can seal the space between the base 11 and the dummy panel 40.

[0048] Since both the connector panel 20 and the dummy panel 40 can be attached to the first opening 12 and the second opening 13, the direction in which cables 91, 92, and 93 are pulled out from the robot 10 can be easily changed by swapping the connector panel 20 and the dummy panel 40. Furthermore, even if the direction in which cables 91, 92, and 93 are pulled out is changed, the sealing performance of the robot 10 can be ensured as described above.

[0049] The connector panel 20 and the dummy panel 40 are formed in the same external shape as plates. With this configuration, the connector panel 20 and the dummy panel 40 can be attached to and removed from the first opening 12 in the same way, and the connector panel 20 and the dummy panel 40 can be attached to and removed from the second opening 13 in the same way. Therefore, the connector panel 20 and the dummy panel 40 can be easily swapped. Furthermore, the configuration for attaching the connector panel 20 or the dummy panel 40 to the first opening 12 and the configuration for attaching the connector panel 20 or the dummy panel 40 to the second opening 13 can be made common.

[0050] The external shapes of the connector panel 20 and the dummy panel 40 are asymmetrical with respect to at least one direction. With this configuration, when a user swaps the connector panel 20 and the dummy panel 40, the connector panel 20 and the dummy panel 40 can always be installed in the same orientation relative to the first opening 12 and the second opening 13. Therefore, twisting of cables 94, 95, 96 and cables 91, 92, 93 due to changes in the orientation of cables 91, 92, 93 relative to connectors 31, 32, 33 can be suppressed.

[0051] The external shape of the connector panel 20 and the dummy panel 40 are trapezoidal. With this configuration, the external shapes of the connector panel 20 and the dummy panel 40 can be made asymmetrical in one direction by using a simple shape.

[0052] • Packings 17 and 18 have the same shape. With this configuration, the packing 17 (packing 18) that seals the space between the base 11 and the connector panel 20 and the packing 18 (packing 17) that seals the space between the base 11 and the dummy panel 40 can be made common.

[0053] Cables 94, 95, and 96 are set to a length that allows connectors 31, 32, and 33 to be pulled out from the first opening 12 to the outside of the base 11, and also allows connectors 31, 32, and 33 to be pulled out from the second opening 13 to the outside of the base 11. With this configuration, cables 91, 92, and 93 can be connected to connectors 31, 32, and 33, respectively, while they are pulled out from the first opening 12 or the second opening 13. Therefore, compared to the case where cables 91, 92, and 93 are connected to connectors 31, 32, and 33, respectively, inside the base 11, the user's workability can be improved, and the direction in which cables 91, 92, and 93 are pulled out from the robot 10 can be changed more easily.

[0054] • Inside the base 11, electronic components 15 are arranged, and a partition member 16 is provided between the electronic components 15 and the connectors 31, 32, and 33 to prevent the user's hands from touching the electronic components 15. With this configuration, when switching the connector panel 20 and the dummy panel 40 to connect cables 91, 92, and 93 to connectors 31, 32, and 33, it is possible to prevent the user's hands from touching the electronic components 15.

[0055] By connecting connector 31 to connection part 21 and connecting connector 91a of cable 91 to connection part 21, cable 94 and cable 91 can be connected via connector 31 and connection part 21.

[0056] By inserting cables 92 and 93 through the insertion section 22 to connectors 32 and 33 respectively, and connecting cables 92 and 93 to connectors 32 and 33 respectively, cables 95 and 96 can be connected to cables 92 and 93 via connectors 32 and 33.

[0057] Furthermore, the above embodiment can also be implemented with the following modifications. Parts identical to those in the above embodiment are denoted by the same reference numerals, and their descriptions are omitted.

[0058] • The partition member 16 can be omitted.

[0059] Cables 94, 95, and 96 may be set to a length such that connectors 31, 32, and 33 cannot be pulled out from the first opening 12 to the outside of the base 11, provided that connectors 31, 32, and 33 can be exposed from the first opening 12. Cables 94, 95, and 96 may be set to a length such that connectors 31, 32, and 33 cannot be pulled out from the second opening 13 to the outside of the base 11, provided that connectors 31, 32, and 33 can be exposed from the second opening 13.

[0060] The packings 17 and 18 may have different shapes, as long as they can seal the gap between the base 11 and the connector panel 20, and between the base 11 and the dummy panel 40.

[0061] The external shapes of the openings 12, 13, connector panel 20, and dummy panel 40 are not limited to trapezoids; they may also be shapes such as a combination of rectangles of different sizes. In this case as well, the external shapes of the openings 12, 13, connector panel 20, and dummy panel 40 can be asymmetrical in one direction. Furthermore, the external shapes of the openings 12, 13, connector panel 20, and dummy panel 40 can also be rectangular, square, circular, etc.

[0062] The connector panel 20 and the dummy panel 40 may have different external shapes, as long as they can be attached to the first opening 12 and the second opening 13.

[0063] The shape of the base 11 is not limited to a cylindrical shape; it may also be a square tube (a hollow rectangular parallelepiped), a polygonal tube, or the like.

[0064] Cables 94, 95, and 96 (movable part cables) may be connected to the arm 30 via the circuit board 14. In other words, the statement that the movable part cables are connected to the arm 30 (movable part) includes a configuration in which the movable part and the movable part cables are connected (electrically connected) via other components.

[0065] Robot 10 may be a collaborative robot that works with humans, or a robot that is not fixed to the floor, wall, ceiling, etc.

[0066] Furthermore, it is possible to combine and implement the above examples of changes. [Explanation of Symbols]

[0067] 10...Robot, 11...Base, 12...First opening, 13...Second opening, 17...Packing (First sealing member, Second sealing member), 18...Packing (First sealing member, Second sealing member), 20...Connector panel (First cover), 21...Connection part (Introduction part), 22...Through part (Introduction part), 30...Arm (Movable part), 31...Connector (Movable part connector), 32...Connector (Movable part connector), 33...Connector (Movable part connector), 40...Dummy panel (Second cover), 91...Cable (External cable), 91a...Connector, 92...Cable (External cable), 93...Cable (External cable), 94...Cable (Movable part cable), 95...Cable (Movable part cable), 96...Cable (Movable part cable).

Claims

1. A cable connection structure for a robot comprising a base and a movable part supported by the base, A movable part cable is connected to the movable part, and a movable part connector is provided at the end of the movable part cable. The base is formed to be hollow, a first opening is formed on the side surface of the base, and a second opening is formed on the bottom surface of the base. The movable connector can be housed inside the base and can be exposed to the outside through the first opening and the second opening, respectively. A first lid portion that can be attached to the first opening and the second opening, and that closes the first opening or the second opening to which it is attached, A first sealing member that seals the space between the base and the first lid, An introduction portion is provided on the first lid, which allows an external cable to be electrically connected to the movable part connector or allows an external cable to be inserted to the movable part connector, and seals the space between the first lid and the external cable. A second lid portion which can be attached to the first opening and the second opening and which closes the first opening or the second opening to which it is attached, It comprises a second sealing member that seals the space between the base and the second lid, The first lid and the second lid are formed in the shape of plates with the same outer shape. The outer shape of the first lid and the outer shape of the second lid are asymmetrical with respect to at least one direction. Electronic components are arranged inside the base. A robot cable connection structure comprising a partition member provided between the electronic component and the movable connector to prevent the user's hand from touching the electronic component.

2. The cable connection structure for a robot according to claim 1, wherein the outer shape of the first lid and the outer shape of the second lid are trapezoidal.

3. The cable connection structure for a robot according to claim 1 or 2, wherein the first sealing member and the second sealing member have the same shape.

4. The cable connection structure for a robot according to any one of claims 1 to 3, wherein the movable part cable is set to a length that allows the movable part connector to be pulled out from the first opening to the outside of the base, and also allows the movable part connector to be pulled out from the second opening to the outside of the base.

5. The cable connection structure for a robot according to any one of claims 1 to 4, wherein the movable part connector includes a first connector that can be connected to the introduction part.

6. The cable connection structure for a robot according to any one of claims 1 to 5, wherein the movable part connector includes a second connector to which the external cable can be connected.

7. A cable connection structure for a robot comprising a base and a movable part supported by the base, A movable part cable is connected to the movable part, and a movable part connector is provided at the end of the movable part cable. The base is formed to be hollow, a first opening is formed on the side surface of the base, and a second opening is formed on the bottom surface of the base. The movable connector can be housed inside the base and can be exposed to the outside through the first opening and the second opening, respectively. A first lid portion that can be attached to the first opening and the second opening, and that closes the first opening or the second opening to which it is attached, A first sealing member that seals the space between the base and the first lid, An introduction portion is provided on the first lid, which allows an external cable to be electrically connected to the movable part connector or allows an external cable to be inserted to the movable part connector, and seals the space between the first lid and the external cable. A second lid portion which can be attached to the first opening and the second opening and which closes the first opening or the second opening to which it is attached, It comprises a second sealing member that seals the space between the base and the second lid, The movable part cable is set to a length that allows the movable part connector to be pulled out from the first opening to the outside of the base, and also allows the movable part connector to be pulled out from the second opening to the outside of the base. Electronic components are arranged inside the base. A cable connection structure for a robot is provided between the electronic component and the movable connector, wherein a partition member is provided to prevent the user's hand from touching the electronic component (excluding those in which the base has slits that connect to the first opening and the second opening).

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