Robotic system and method of assembling a robotic system

Abstract

A robot system (100) of the present application is provided with: a sheath-type sensor (30) including a detection section (32) that detects contact with a sheath section (31); and a sensor wiring (40) that outputs a detection result from the detection section (32). The sensor wiring (40) is disposed inside a robot arm (11).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a robot system and a method for assembling a robot system, and particularly relates to a robot system provided with a sensor that detects contact and a method for assembling a robot system. BACKGROUND

[0002] Conventionally, a robot system provided with a sensor that detects contact is known. Such a robot system has been disclosed in Japanese Patent No. 5902664, for example.

[0003] In Japanese Patent No. 5902664, a robot having a base, a plurality of link sections (robot arms), and a wrist section is disclosed. In addition, in Japanese Patent No. 5902664, an external force detection sensor that detects an external force acting on the link section is attached in the vicinity of each drive shaft of the link section. In addition, a signal from the external force detection sensor is input to a control unit. Further, in a case where the external force detected by the external force detection sensor becomes equal to or greater than a threshold value, the control unit stops or slows down the operation of the robot.

[0004] Patent Document 1: Japanese Patent No. 5902664

[0005] Here, although not explicitly described in Japanese Patent No. 5902664, the signal (detection result) from the external force detection sensor is input to the control unit via a wire (sensor wire). Further, in a case where the wire is fixed in a manner of following the outer surface of the link section, there is a case where the operation of the link section is hindered by the wire being pulled. For example, in a case where one of two link sections connected by a joint is rotated and the other is stationary, the portion of the wire fixed to the rotating link section is pulled by the portion of the wire fixed to the stationary link section and hinders the rotation of the link section. Therefore, in order to make the wire not hinder the operation of the link section, it is necessary to make the wire have excess length. However, if the wire has excess length, there is a problem that a portion of the wire is slackened and the portion of the wire is caught on a component or the like arranged in the periphery of the robot during the operation of the link section. SUMMARY

[0006] The present disclosure has been made to solve the above-described problems, and an object of the present disclosure is to provide a robot system and a method for assembling a robot system, which can suppress the operation of the robot arm from being hindered and can suppress the sensor wire from being caught on a component or the like arranged in the periphery during the operation of the robot arm.

[0007] To achieve the above objectives, the robot system according to the first aspect of this disclosure includes: a robotic arm; a sheath-type sensor including a sheath portion disposed to cover the outer surface of the robotic arm, and a detection portion disposed on the sheath portion and detecting contact with the sheath portion; and a sensor wiring connected to the detection portion and outputting a detection result from the detection portion, wherein the sensor wiring is disposed inside the robotic arm.

[0008] In the robot system according to the first aspect of this disclosure, as described above, the sensor wiring, which connects to the detection section of the sheathed sensor and outputs the detection result from the detection section, is disposed inside the robotic arm. Therefore, since the sensor wiring is disposed inside the robotic arm, even when the joints of the robotic arm rotate, only the portion of the sensor wiring disposed at the joint rotates around the joint axis with the joint rotation; the other portions of the sensor wiring (the portions disposed outside the joint) are not pulled. Furthermore, since the sensor wiring connected to the detection section of the sheathed sensor is disposed inside the robotic arm, unlike the case where the sensor wiring is disposed outside the robotic arm, it is possible to prevent the sensor wiring from snagging on surrounding components. As a result, it is possible to prevent the movement of the robotic arm from being obstructed and to prevent the sensor wiring from snagging on surrounding components during the movement of the robotic arm. In addition, by using the sheathed sensor, a relatively large range of contact of the robotic arm can be detected.

[0009] The second aspect of this disclosure relates to a robot system comprising: a robotic arm configured to be mounted on a sheathed sensor covering the outer surface of the robotic arm, wherein the sheathed sensor includes a sheath portion and a detection portion disposed on the sheath portion and detecting contact with the sheath portion; and a sensor wiring connected to the detection portion and outputting a detection result from the detection portion, the sensor wiring being disposed inside the robotic arm.

[0010] In the robot system according to the second aspect of this disclosure, as described above, the sensor wiring, which connects to the detection section of the sheathed sensor and outputs the detection result from the detection section, is disposed inside the robotic arm. Therefore, since the sensor wiring is disposed inside the robotic arm, even when the joints of the robotic arm rotate, only the portion of the sensor wiring disposed at the joint rotates around the joint axis with the joint rotation; the other portions of the sensor wiring (the portions disposed outside the joint) are not pulled. Furthermore, since the sensor wiring connected to the detection section of the sheathed sensor is disposed inside the robotic arm, unlike when the sensor wiring is disposed outside the robotic arm, it is possible to prevent the sensor wiring from snagging on surrounding components. As a result, it is possible to prevent the movement of the robotic arm from being obstructed and to prevent the sensor wiring from snagging on surrounding components during the movement of the robotic arm. Additionally, by using the sheathed sensor, a relatively large range of contact of the robotic arm can be detected.

[0011] In addition, the sensor wiring is pre-configured inside the robotic arm, which allows for the subsequent installation of sheathed sensors (at the installation site), thus making it easy to install them onto the robotic arm.

[0012] The assembly method of the robot system according to the third aspect of this disclosure includes the following steps: a step of preparing a robotic arm with sensor wiring pre-configured inside; and a step of installing a sheathed sensor to cover the outer surface of the robotic arm, wherein the sheathed sensor includes a sheath portion and a detection portion disposed on the sheath portion and detecting contact with the sheath portion and outputting a detection result, and the step of installing the sheathed sensor includes a step of connecting the sensor wiring disposed inside the robotic arm to the detection portion.

[0013] In the assembly method of the robot system according to the third aspect of this disclosure, as described above, the sensor wiring, which is connected to the detection section of the sheathed sensor and outputs the detection result from the detection section, is disposed inside the robotic arm. Therefore, since the sensor wiring is disposed inside the robotic arm, even when the joints of the robotic arm rotate, only the portion of the sensor wiring disposed at the joint rotates around the joint axis with the joint rotation, and the other portions of the sensor wiring (the portions disposed outside the joint) are not pulled. Furthermore, since the sensor wiring connected to the detection section of the sheathed sensor is disposed inside the robotic arm, unlike the case where the sensor wiring is disposed outside the robotic arm, it is possible to prevent the sensor wiring from snagging on surrounding components. As a result, it is possible to prevent the movement of the robotic arm from being obstructed, and to prevent the sensor wiring from snagging on surrounding components during the movement of the robotic arm. In addition, by using the sheathed sensor, a relatively large range of contact of the robotic arm can be detected.

[0014] In addition, the sensor wiring is pre-configured inside the robotic arm, which allows for the subsequent installation of sheathed sensors (at the installation site), thus making it easy to install them onto the robotic arm.

[0015] According to this disclosure, as described above, it is possible to suppress the obstruction of the robotic arm's movement and to prevent situations where sensor wiring gets caught on peripheral components during the robotic arm's movement. Attached Figure Description

[0016] Figure 1 This is a block diagram of a robot system involved in one implementation method.

[0017] Figure 2 This is a perspective view of a robot (without protective sensors) according to one implementation method.

[0018] Figure 3 This is a diagram showing the surface side of a sheathed sensor.

[0019] Figure 4 This is a diagram showing the back side of a sheathed sensor.

[0020] Figure 5 This is a perspective view of a robot (with sheathed sensors) according to one implementation method.

[0021] Figure 6 This is a cross-sectional view of the arm of a robot according to one embodiment.

[0022] Figure 7 This is a cross-sectional view of the wiring connector.

[0023] Figure 8 It is a 3D diagram of the wiring connector.

[0024] Figure 9 This is a flowchart used to illustrate the assembly method of a robot system. Detailed Implementation

[0025] Hereinafter, an embodiment embodying the present disclosure will be described based on the accompanying drawings.

[0026] Reference Figures 1-8 The structure of the robot system 100 according to this embodiment will be described.

[0027] like Figure 1As shown, the robot system 100 includes a robot 10 and a robot control device 20 for controlling the robot 10. The robot 10 and the robot control device 20 are connected via a robot wiring 21. Additionally, AC power is supplied to the robot control device 20 from an industrial power supply 1. The robot control device 20 supplies the AC power from the industrial power supply 1 to the robot 10 via the robot wiring 21 and controls the movement of the robot 10.

[0028] like Figure 2 As shown, robot 10 includes a robotic arm 11. The robotic arm 11 includes multiple links 12 (links 12a to 12e). The multiple links 12 are connected to each other via joints 13. Multiple joints 13 are provided. For example, six joints 13 are provided. That is, robot 10 is a 6-axis (J1 to J6) vertical multi-joint robot. Furthermore, motors (not shown) are provided at each of the multiple joints 13. The robotic arm 11 is mounted on a base 14. Additionally, an end effector 15 (see reference 14) is mounted at the front end of the robotic arm 11. Figure 5 In addition, robot 10 may also be composed of a vertical multi-joint robot, a dual-arm robot, or a horizontal multi-joint robot with joint axes other than 6 axes.

[0029] Additionally, the robot 10 is equipped with a sheathed sensor 30. For example... Figure 3 and Figure 4 As shown, the sheath-type sensor 30 includes: a sheath portion 31, which is configured to cover the outer surface 11a of the robotic arm 11; and a detection portion 32, which is disposed inside the sheath portion 31 and detects contact with the sheath portion 31. The sheath portion 31 is formed of resin, for example. The detection portion 32 includes: a detection line 32a embedded inside the sheath portion 31; and a substrate 32b to which signals from the detection line 32a are input. Furthermore, the detection portion 32 is a pressure-sensitive contact sensor. Alternatively, the detection portion 32 may also be constructed from an electrostatic capacitive contact sensor. Additionally, the detection portion 32 may also be disposed outside the interior of the sheath portion 31 (on a surface, etc.).

[0030] In addition, in this embodiment, such as Figure 5 and Figure 6 As shown, sheath-type sensors 30 are disposed on each of the plurality of connecting rod portions 12. The sheath-type sensors 30 include: sheath-type sensors 30a and 30b covering the connecting rod portion 12d; sheath-type sensors 30c and 30d covering the connecting rod portion 12c; sheath-type sensors 30e, 30f and 30g covering the connecting rod portion 12b; and sheath-type sensors 30h, 30i and 30j covering the connecting rod portion 12a.

[0031] like Figure 3 and Figure 4As shown, the sheath portion 31 is convex relative to the outer surface 11a of the robotic arm 11 (link portion 12) in a manner that covers the outer surface 11a of the robotic arm 11 (link portion 12). The sheath portion 31 has a shape (size) corresponding to the shape (size) of the mounted link portion 12. A substrate 32b is disposed inside the convex sheath portion 31. In addition, a rib 32d is provided inside the convex sheath portion 31.

[0032] Here, in this embodiment, as Figure 6 As shown, the robot 10 includes a sensor wiring 40, which is connected to the detection unit 32 and outputs the detection results from the detection unit 32. The sensor wiring 40 is disposed inside the robotic arm 11. Furthermore, the sensor wiring 40, which connects to the detection units 32 of the plurality of sheathed sensors 30 provided in each of the plurality of link units 12, is disposed inside the robotic arm 11. Moreover, the portion 40a of the sensor wiring 40 disposed inside the robotic arm 11 is composed of distributed wiring (a plurality of wirings in a distributed state) to suppress its occupancy within the robotic arm 11. Additionally, the portion 40b of the sensor wiring 40 that extends to the outside of the robotic arm 11 is composed of cable (a plurality of distributed wirings covered by an insulating film) for waterproofing and dustproofing.

[0033] In addition, in this embodiment, such as Figure 1 As shown, multiple sheathed sensors 30 (30a-30j) include portions that are daisy-chained together by sensor wiring 40. The sensor wiring 40, which daisy-chains the multiple sheathed sensors 30 together, is disposed inside the robotic arm 11. Specifically, sheathed sensors 30b and 30a are connected in series. Sheathed sensor 30a is connected to sheathed sensor 30c via sensor wiring 41. Sheathed sensor 30c is connected in series with sheathed sensor 30d. Sheathed sensor 30d is connected to sheathed sensor 30e via sensor wiring 42. Sheathed sensor 30e is connected to sheathed sensor 30g. Sheathed sensor 30e is also connected to sheathed sensor 30f. Sheathed sensor 30f is connected to sheathed sensor 30h.

[0034] Sheathed sensor 30f is connected to sheathed sensor 30i via sensor wiring 43. Sheathed sensor 30i is connected to sheathed sensor 30j. In addition, sheathed sensor 30i is connected to sensor wiring 44.

[0035] In this embodiment, the robot system 100 includes a sensor control device 45 connected to a sensor wiring 40, and the detection results from the sheath-type sensors 30 are input to the sensor control device 45. Specifically, the sensor control device 45 is connected to a sensor wiring 44 disposed inside the robotic arm 11. Furthermore, when any of the sheath-type sensors 30a to 30j detects contact with the sheath portion 31, the detection result is input to the sensor control device 45 via the sensor wiring 40.

[0036] In this embodiment, the sensor wiring 40 is configured such that it is removed from the sheathed sensor 30 via the inside of the robotic arm 11 and the base 14, and then connected to the sensor control device 45. Specifically, a wiring-side connector 40c connected to the end of the sensor wiring 40 is mounted on the base 14. Furthermore, a sensor control device-side connector 45b is provided at the end of the wiring 45a extending from the sensor control device 45. The sensor control device-side connector 45b is then connected to the wiring-side connector 40c.

[0037] In this embodiment, when the sensor control device 45 receives a detection result from the sheath-type sensors 30 (any one of sheath-type sensors 30a to 30j) indicating contact with the sheath portion 31, it sends a trigger signal to the robot control device 20, which controls the drive of the robotic arm 11. The robot control device 20 then stops the drive of the robotic arm 11 based on the trigger signal. Specifically, the robot control device 20 controls the drive of the motor (not shown) installed at the joint 13 of the robotic arm 11 to stop. Furthermore, DC power is input from the robot control device 20 to the sensor control device 45. Alternatively, an industrial power supply 1 can be directly input to the sensor control device 45. Additionally, the robot control device 20 can also decelerate the movement speed of the robotic arm 11 or increase the angle of the joints of the robotic arm 11 based on the trigger signal.

[0038] In addition, in this embodiment, such as Figure 6As shown, the robot system 100 (robot 10) includes a robot wiring 21 that supplies at least one (both in this embodiment) of a signal and power for driving the robotic arm 11, and is disposed inside the robotic arm 11. A sensor wiring 40 is also disposed inside the robotic arm 11 along the robot wiring 21. The robot wiring 21 is disposed inside link sections 12a, 12b, 12c, and 12d. Furthermore, the robot wiring 21 is disposed in each joint 13 along the rotation axis of the joint 13. Specifically, a cylindrical member 46 is disposed along the rotation axis of the joint 13, and the robot wiring 21 is inserted into the cylindrical member.

[0039] Furthermore, in this embodiment, the sensor wiring 40 is disposed inside the robotic arm 11 along the rotation axis of the joint 13. That is, the sensor wiring 40 is inserted into the cylindrical component 46 together with the robot wiring 21.

[0040] In addition, in this embodiment, such as Figure 7 As shown, the robotic arm 11 includes an arm hole 11b for inserting a sensor cable 40. The sensor cable 40 is then inserted into the robotic arm 11 via the arm hole 11b. The arm hole 11b is configured to open on the outer surface 11a of the robotic arm 11. Furthermore, the size of the arm hole 11b is larger than the diameter of the sensor cable 40. That is, a gap is created between the arm hole 11b and the sensor cable 40.

[0041] Furthermore, in this embodiment, such as Figure 7 and Figure 8 As shown, a wiring insertion member 50 is provided in the arm hole portion 11b for inserting the sensor wiring 40 inside. The wiring insertion member 50 includes a wiring guide hole portion 51, which guides the orientation of the sensor wiring 40, which is taken from inside the robotic arm 11 to the outer surface 11a of the robotic arm 11, along the direction of the outer surface 11a of the robotic arm 11. The robotic arm 11 side of the wiring guide hole portion 51 is formed in a direction perpendicular to the outer surface 11a of the robotic arm 11. Moreover, the wiring guide hole portion 51 is formed such that it bends approximately 90 degrees at the outer surface 11a of the robotic arm 11 and extends in a direction along the outer surface 11a of the robotic arm 11. Thus, the sensor wiring 40 is guided by the wiring guide hole portion 51 in such a way as along the outer surface 11a of the robotic arm 11. In addition, the wiring insertion member 50 is provided with a groove portion 52 that engages with the outer surface 11a of the robotic arm 11. In addition, the wiring insertion member 50 is formed, for example, of resin.

[0042] Furthermore, in this embodiment, the wiring insertion member 50 is configured to prevent foreign objects from entering through the gap between the arm hole portion 11b and the sensor wiring 40. That is, the wiring insertion member 50 is configured to fill the gap between the arm hole portion 11b and the sensor wiring 40.

[0043] In addition, in this embodiment, such as Figure 2 As shown, the sensor wiring 40 is taken out from the arm hole portion 11b, and a wiring-side connector portion 40c connected to the detection unit 32 is provided at the end of the portion 40b that is taken out from the arm hole portion 11b. Furthermore, the detection unit 32 includes a detection unit-side connector portion 32c connected to the wiring-side connector portion 40c (see reference 32b). Figure 1 ).

[0044] Specifically, such as Figure 1 As shown, the detection-side connector 32c of the sheathed sensor 30a is connected to the wiring-side connector 40c of the sensor wiring 41. Similarly, the detection-side connector 32c of the sheathed sensor 30c is connected to the wiring-side connector 40c of the sensor wiring 41. Furthermore, the detection-side connector 32c of the sheathed sensor 30d is connected to the wiring-side connector 40c of the sensor wiring 42. Additionally, the detection-side connector 32c of the sheathed sensor 30e is connected to the wiring-side connector 40c of the sensor wiring 42. Furthermore, the detection-side connector 32c of the sheathed sensor 30f is connected to the wiring-side connector 40c of the sensor wiring 43. Finally, the detection-side connector 32c of the sheathed sensor 30i is connected to the wiring-side connector 40c of the sensor wiring 43. In addition, the detection-side connector 32c of the sheathed sensor 30i is connected to the wiring-side connector 40c of the sensor wiring 44.

[0045] Next, refer to Figure 9 The assembly method of robot system 100 is described.

[0046] In step S1, a robotic arm 11 (robot 10) with sensor wiring 40 pre-configured inside is prepared.

[0047] Next, in step S2, a sheath-type sensor 30 is installed to cover the outer surface 11a of the robotic arm 11. This sheath-type sensor 30 includes a sheath portion 31 and a detection portion 32. The detection portion 32 is disposed on the sheath portion 31, detects contact with the sheath portion 31, and outputs a detection result. The sheath-type sensor 30 is installed on the robotic arm 11, for example, using fastening components, adhesives, etc. Furthermore, in the step (S2) of installing the sheath-type sensor, a sensor wiring 40 disposed inside the robotic arm 11 is connected to the detection portion 32. Specifically, the detection portion-side connector 32c of the detection portion 32 is connected to the wiring portion-side connector 40c of the sensor wiring 40.

[0048] [Effects of this implementation method]

[0049] In this embodiment, the following effect can be obtained.

[0050] In this embodiment, as described above, the sensor wiring 40, which connects to the detection unit 32 of the sheath-type sensor 30 and outputs the detection result from the detection unit 32, is disposed inside the robotic arm 11. Therefore, since the sensor wiring 40 is disposed inside the robotic arm 11, even when the joint 13 of the robotic arm 11 rotates, only the portion of the sensor wiring 40 disposed at the joint 13 twists around the joint axis along with the rotation of the joint 13; the other portions of the sensor wiring 40 (the portions disposed outside the joint 13) are not pulled. Furthermore, since the sensor wiring 40 connected to the detection unit 32 of the sheath-type sensor 30 is disposed inside the robotic arm 11, unlike the case where the sensor wiring 40 is disposed outside the robotic arm 11, it is possible to prevent the sensor wiring 40 from hooking onto surrounding components. As a result, it is possible to prevent the movement of the robotic arm 11 from being obstructed, and to prevent the sensor wiring 40 from hooking onto surrounding components during the movement of the robotic arm 11. In addition, by using the sheathed sensor 30, it is possible to detect a relatively large range of contact within the robotic arm 11.

[0051] Furthermore, in this embodiment, as described above, the robotic arm 11 includes multiple linkages 12, with sheathed sensors 30 disposed in each of the multiple linkages 12. Sensor wiring 40, connected to the detection units 32 of the multiple sheathed sensors 30 disposed in each of the multiple linkages 12, is disposed inside the robotic arm 11. Therefore, since the sensor wiring 40 connected to the detection units 32 of the multiple sheathed sensors 30 is disposed inside the robotic arm 11, even when multiple sheathed sensors 30 are provided, it is possible to prevent obstruction of the robotic arm 11's movement and to prevent the sensor wiring 40 from snagging on surrounding components during the movement of the robotic arm 11.

[0052] Furthermore, in this embodiment, as described above, the plurality of sheathed sensors 30 include portions that are daisy-chained together by sensor wiring 40, and the sensor wiring 40 that daisy-chains the plurality of sheathed sensors 30 is disposed inside the robotic arm 11. Therefore, compared to the case where sensor wiring 40 is provided separately for each of the plurality of sheathed sensors 30 (where the plurality of sheathed sensors 30 are connected in parallel), the number of sensor wiring 40 can be reduced. As a result, the situation where the space occupied by the sensor wiring 40 inside the robotic arm 11 becomes excessive can be prevented.

[0053] Furthermore, in this embodiment, as described above, when the sensor control device 45 receives a detection result from the sheath sensor 30 indicating contact with the sheath portion 31, it sends a trigger signal to the robot control device 20. Based on the trigger signal, the robot control device 20 stops the drive of the robotic arm 11, decelerates the movement speed of the robotic arm 11, or increases the angle of the joints of the robotic arm 11. Therefore, when the robotic arm 11 (sheath sensor 30) comes into contact with components or the like located around the robotic arm 11, the robot control device 20 can easily stop the drive of the robotic arm 11, decelerate it, or increase the angle of the joints of the robotic arm 11.

[0054] Furthermore, in this embodiment, as described above, the sensor cable 40 is configured such that it is taken from the sheathed sensor 30 through the inside of the robotic arm 11 and the base 14 to the outside of the robotic arm 11 and connected to the sensor control device 45. Here, if the sensor cable 40 is taken from the robotic arm 11 to the outside, there is a possibility that the sensor cable 40 taken from the robotic arm 11 may get caught on components or the like in the surrounding area as the robotic arm 11 moves. Therefore, as described above, by taking the sensor cable 40 through the inside of the base 14 to the outside of the robotic arm 11, since the base 14 is stationary, it is possible to prevent the sensor cable 40 taken from the inside of the base 14 from getting caught on components or the like in the surrounding area.

[0055] Furthermore, in this embodiment, as described above, the robotic arm 11 includes an arm hole portion 11b for inserting the sensor wiring 40, and the sensor wiring 40 is inserted into the interior of the robotic arm 11 via the arm hole portion 11b. Thus, the sensor wiring 40 can be easily inserted into the interior of the robotic arm 11 via the arm hole portion 11b.

[0056] Furthermore, in this embodiment, as described above, the wiring insertion member 50 includes a wiring guide hole 51, which guides the orientation of the sensor wiring 40, which is taken from the inside of the robotic arm 11 to the outer surface 11a of the robotic arm 11, along the direction of the outer surface 11a of the robotic arm 11. Here, when the sensor wiring 40 is taken out in a direction perpendicular to the outer surface 11a of the robotic arm 11, the bulge height (protrusion height) of the sensor wiring 40 near the arm hole 11b becomes relatively large. Therefore, by configuring it as described above, the sensor wiring 40 is taken out from the inside of the robotic arm 11 along the outer surface 11a of the robotic arm 11, thus reducing the bulge height (protrusion height) of the sensor wiring 40 near the arm hole 11b. As a result, the thickness of the sheath-type sensor 30, which is provided to cover the sensor wiring 40, can be reduced, thus suppressing the enlargement of the robot 10.

[0057] Furthermore, in this embodiment, as described above, the wiring insertion member 50 is configured to prevent foreign objects from entering through the gap between the arm hole portion 11b and the sensor wiring 40. Therefore, compared to the case where the component preventing foreign objects from entering through the gap between the arm hole portion 11b and the sensor wiring 40 is provided separately from the wiring insertion member 50, the number of components constituting the robot system 100 can be reduced.

[0058] Furthermore, in this embodiment, as described above, the sensor wiring 40 is removed from the arm hole portion 11b, and a wiring-side connector portion 40c connected to the detection unit 32 is provided at the end of the portion 40b from which it is removed. The detection unit 32 includes a detection unit-side connector portion 32c connected to the wiring-side connector portion 40c. Therefore, since the wiring-side connector portion 40c is removed from the arm hole portion 11b, the detection unit-side connector portion 32c of the detection unit 32 connected to the sheath-type sensor 30 can be easily connected to the wiring-side connector portion 40c. Thus, the sensor wiring 40 disposed inside the robotic arm 11 can be easily electrically connected to the sheath-type sensor 30 disposed outside the robotic arm 11.

[0059] Furthermore, in this embodiment, as described above, the sensor wiring 40 is arranged inside the robotic arm 11 along the rotation axis of the joint 13. Therefore, even if the rotation axis of the joint 13 rotates, only the portion of the sensor wiring 40 arranged along the rotation axis of the joint 13 twists with the rotation of the joint 13, preventing the other portions of the sensor wiring 40 (those arranged outside the joint 13) from being pulled. Therefore, it is not necessary for the sensor wiring 40 to have excess length, thus reducing the length of the sensor wiring 40.

[0060] Furthermore, in this embodiment, as described above, the sensor wiring 40 is arranged inside the robotic arm 11 along the robot wiring 21. Therefore, the sensor wiring 40 can be arranged within the space of the robot wiring 21 inside the robotic arm 11, eliminating the need for additional space inside the robotic arm 11 for arranging the sensor wiring 40. This helps to prevent the robotic arm 11 from becoming too large.

[0061] Furthermore, in this embodiment, as described above, the detection unit 32 includes a detection line 32a embedded inside the sheath portion 31 and a substrate 32b to which signals from the detection line 32a are input. Thus, by detecting the external force input to the detection line 32a via the substrate 32b, contact with the sheath portion 31 can be detected.

[0062] In addition, in this embodiment, as described above, the sensor wiring 40 is pre-configured inside the robotic arm 11, so the sheathed sensor 30 (at the installation location) can be installed later, thereby making it easy to install it onto the robotic arm 11.

[0063] [Variation Example]

[0064] Furthermore, the embodiments disclosed herein should be considered illustrative rather than restrictive in all respects. The scope of this disclosure is shown by the claims, not by the description of the embodiments above, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0065] For example, in the above embodiments, an example is shown where multiple sheathed sensors 30 are provided, but this disclosure is not limited thereto. For example, only one sheathed sensor 30 may be provided.

[0066] Furthermore, in the above embodiment, an example of a sheathed sensor 30 being disposed on a robotic arm 11 is shown, but this disclosure is not limited thereto. For example, the sheathed sensor 30 may also be disposed on a base 14 in addition to the robotic arm 11.

[0067] Furthermore, in the above embodiment, an example is shown where multiple sheathed sensors 30 are connected in series via sensor wiring 40, but this disclosure is not limited to this. For example, multiple sheathed sensors 30 may also be independently connected to sensor wiring 40. That is, multiple sheathed sensors 30 may also be connected in parallel with respect to the sensor control device 45.

[0068] Furthermore, in the above embodiment, an example is shown where the sensor control device 45, which receives the detection result from the sheath-type sensor 30, and the robot control device 20, which controls the drive of the robotic arm 11, are each set up independently; however, this disclosure is not limited to this. For example, the control device that receives the detection result from the sheath-type sensor 30 and the control device that controls the drive of the robotic arm 11 may also be a common control device.

[0069] Furthermore, in the above embodiment, an example is shown where the sensor wiring 40 is removed from the interior of the base 14 (from the base 14) to the exterior of the robotic arm 11, but this disclosure is not limited to this. For example, the sensor wiring 40 may also be removed from the robotic arm 11 to the exterior of the robotic arm 11.

[0070] Furthermore, in the above embodiment, an example is shown where a wiring insertion member 50 is provided in the arm hole portion 11b, but this disclosure is not limited thereto. For example, the wiring insertion member 50 may not be provided in the arm hole portion 11b, and the sensor wiring 40 may be removed from the arm hole portion 11b.

[0071] Furthermore, in the above embodiment, an example is shown where the wiring insertion member 50 is configured to suppress the intrusion of foreign objects through the gap between the arm hole portion 11b and the sensor wiring 40, but this disclosure is not limited to this. For example, a member for suppressing the intrusion of foreign objects through the gap between the arm hole portion 11b and the sensor wiring 40 may be provided separately from the wiring insertion member 50.

[0072] Furthermore, in the above embodiment, an example is shown where the sensor wiring 40 and the detection unit 32 are connected via connectors (wiring-side connector 40c and detection-side connector 32c), but this disclosure is not limited to this. For example, the sensor wiring 40 and the detection unit 32 can also be connected by methods other than connecting them using connectors (such as soldering).

[0073] Furthermore, in the above embodiment, an example is shown where the sensor wiring 40 is arranged inside the robotic arm 11 along the rotation axis of the joint 13, but this disclosure is not limited thereto. For example, the sensor wiring 40 may also be arranged at a position separate from the rotation axis of the joint 13.

[0074] Furthermore, in the above embodiment, an example is shown where the sensor wiring 40 is configured inside the robotic arm 11 along the robot wiring 21, but this disclosure is not limited thereto. For example, the sensor wiring 40 may also be configured inside the robotic arm 11 at a location separate from the robot wiring 21.

[0075] Furthermore, in the above embodiment, an example is shown where the detection unit 32 includes a detection line 32a embedded inside the sheath portion 31 and a substrate 32b to which a signal from the detection line 32a is input; however, this disclosure is not limited to this. For example, the detection unit 32 may also be composed of components other than the detection line 32a and the substrate 32b.

[0076] Explanation of reference numerals in the attached figures

[0077] 11…robotic arm; 11a…outer surface; 11b…arm hole; 12…link; 13…joint; 14…base; 20…robot control unit; 21…robot wiring; 30…sheathed sensor; 31…sheath; 32…detection unit; 32a…detection line; 32b…substrate; 32c…detection unit side connector; 40…sensor wiring; 40b…(removed from arm hole); 40c…wiring side connector; 45…sensor control unit; 50…wiring insertion part; 51…wiring guide hole; 100…robot system.

Claims

1. A robot system, characterized in that, have: robotic arm; A sheath-type sensor includes a sheath portion disposed in a manner that covers the outer surface of the robotic arm, and a detection portion disposed on the sheath portion and detecting contact with the sheath portion; as well as The sensor wiring connects to the detection unit and outputs the detection results from the detection unit. The sensor wiring is located inside the robotic arm. The robotic arm includes an arm hole for inserting the sensor wiring. The sensor wiring is inserted into the interior of the robotic arm via the arm hole provided in the robotic arm. The sensor wiring connector is located inside the wiring connector component of the arm hole. The wiring insertion component includes a wiring guide hole that guides the orientation of the sensor wiring, which is taken from inside the robotic arm to the outer surface of the robotic arm, to follow the direction of the outer surface of the robotic arm. The wiring guide hole is included on the outer surface of the robotic arm in an outer portion extending along the direction of the outer surface, and the sensor wiring is guided through the interior of the outer portion.

2. The robot system according to claim 1, characterized in that, The robotic arm includes multiple linkages. The sheath-type sensor is disposed on each of the plurality of connecting rods. The sensor wiring, which is connected to the detection section of the plurality of sheath-type sensors disposed in each of the plurality of linkages, is disposed inside the robotic arm.

3. The robot system according to claim 2, characterized in that, The plurality of said sheathed sensors include portions that are daisy-chained together with each other via said sensor wiring. The sensor wiring, in which multiple sheathed sensors are daisy-chained together, is disposed inside the robotic arm.

4. The robot system according to any one of claims 1 to 3, characterized in that, It also has: A sensor control device, which is wired to the sensor, receives detection results from the sheathed sensor; and A robot control device that controls the drive of the robotic arm. Upon receiving a detection result from the sheath-type sensor indicating contact with the sheath portion, the sensor control device sends a trigger signal to the robot control device. The robot control device stops the driving of the robotic arm, slows down the movement speed of the robotic arm, or increases the angle of the joints of the robotic arm based on the trigger signal.

5. The robot system according to claim 4, characterized in that, It also includes a base for mounting the robotic arm. The sensor wiring is configured such that the sheathed sensor is taken out from inside the robotic arm and the base and taken out to the outside of the robotic arm, and connected to the sensor control device.

6. The robot system according to claim 1, characterized in that, The wiring plug-in component is configured to prevent foreign objects from entering through the gap between the arm hole and the sensor wiring.

7. The robot system according to claim 1, characterized in that, The sensor wiring is taken out from the arm hole, and a wiring-side connector portion for connecting to the detection unit is provided at the end of the portion taken out from the arm hole. The detection unit includes a detection unit-side connector unit that is connected to the wiring-side connector unit.

8. The robot system according to any one of claims 1 to 3, characterized in that, The robotic arm includes multiple linkages and joints that connect the multiple linkages. The sensor wiring is arranged inside the robotic arm along the rotation axis of the joint.

9. The robot system according to any one of claims 1 to 3, characterized in that, It also includes robot wiring that supplies at least one of the signals and power for driving the robotic arm, and is disposed inside the robotic arm. The sensor wiring is located inside the robotic arm and is configured along the robot wiring.

10. The robot system according to any one of claims 1 to 3, characterized in that, The detection unit includes: a detection line embedded inside the sheath portion; and a substrate to which signals from the detection line are input.

11. A robot system, characterized in that, have: A robotic arm configured to accommodate a sheathed sensor covering its outer surface, wherein the sheathed sensor includes a sheath portion and a detection portion disposed on the sheath portion and detecting contact with the sheath portion; and The sensor wiring connects to the detection unit and outputs the detection results from the detection unit. The sensor wiring is located inside the robotic arm. The robotic arm includes an arm hole for inserting the sensor wiring. The sensor wiring is inserted into the interior of the robotic arm via the arm hole provided in the robotic arm. The robot system also includes a wiring connector located in the arm hole, through which the sensor wiring is inserted. The wiring insertion component includes a wiring guide hole that guides the orientation of the sensor wiring, which is taken from inside the robotic arm to the outer surface of the robotic arm, to follow the direction of the outer surface of the robotic arm. The wiring guide hole is included on the outer surface of the robotic arm in an outer portion extending along the direction of the outer surface, and the sensor wiring is guided through the interior of the outer portion.

12. A method for assembling a robot system, characterized in that, It has the following processes, namely: The process of preparing a robotic arm pre-configured with internal sensor wiring; and The process of installing a sheath-type sensor to cover the outer surface of the robotic arm, wherein the sheath-type sensor includes a sheath portion and a detection portion disposed on the sheath portion, detecting contact with the sheath portion and outputting a detection result. The process of installing the sheathed sensor includes connecting the sensor wiring, which is disposed inside the robotic arm, to the detection unit. The robotic arm includes an arm hole for inserting the sensor wiring. The sensor wiring is inserted into the interior of the robotic arm via the arm hole provided in the robotic arm. The robot system also includes a wiring connector located in the arm hole, through which the sensor wiring is inserted. The wiring insertion component includes a wiring guide hole that guides the orientation of the sensor wiring, which is taken from inside the robotic arm to the outer surface of the robotic arm, to follow the direction of the outer surface of the robotic arm. The wiring guide hole is included on the outer surface of the robotic arm in an outer portion extending along the direction of the outer surface, and the sensor wiring is guided through the interior of the outer portion.

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