Robot system, control method for robot system, and control device for robot system

Abstract

A robot system has a robot, a driving device detachably connected to the robot to electrically drive the robot, a control device that controls the robot and the driving device, a first sensor provided to the driving device, and a second sensor provided to the robot or the driving device. The control device executes a first step (S1) in which it is confirmed from an output of the first sensor whether the driving device is normally operating based on electric power, and a second step (S2) in which it is confirmed from an output of the second sensor whether the robot has been connected to the driving device. The first step (S1) includes confirming whether the first sensor is normal (S12), and the second step (S2) includes confirming whether the second sensor is normal (S23) based on the output of the first sensor and the output of the second sensor that are confirmed to be normal in the first step.

Description

Technical Field

[0001] This invention relates to a robotic arm system, a control method for a robotic arm system, and a control device for a robotic arm system. Background Technology

[0002] Conventionally, electrically powered medical devices have been equipped with sensors to confirm whether the medical device is operating correctly (see, for example, Patent Document 1). To ensure the proper operation of the medical device, the sensors are generally dualized. For example, in the electrically powered surgical instrument described in Patent Document 1, two sets of motor position sensors and a processor are provided for each motor, and if the value of at least one of the two motor position sensors is abnormal, at least one processor stops the motor.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-185438 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The aforementioned sensor duplication is commonly used as a means of detecting sensor malfunctions. On the other hand, in Patent Document 1, the shaft assembly including the end effector is detachable from the housing containing the motor. In the case of such a detachable and electrically powered medical device, multiple sensors, including sensors for detecting detachment, are installed to ensure the normal operation of the medical device. Therefore, sensor duplication leads to a significant increase in the size and cost of the device.

[0008] The present invention was made in view of the above circumstances, and its object is to provide a robotic arm system capable of detecting device malfunctions without dualizing sensors, a control method for the robotic arm system, and a control device for the robotic arm system.

[0009] Methods for solving problems

[0010] To achieve the above objectives, the present invention provides the following means.

[0011] One aspect of the present invention is a robotic arm system comprising: a robotic arm; a drive device detachably connected to the robotic arm for electrically driving the robotic arm; a control device for controlling the robotic arm and the drive device; a first sensor disposed on the drive device; and a second sensor disposed on either the robotic arm or the drive device. The control device performs the following steps: a first step, confirming whether the drive device operates normally under power based on the output of the first sensor; and a second step, confirming whether the robotic arm is connected to the drive device based on the output of the second sensor. The first step includes confirming whether the first sensor is functioning correctly, and the second step includes confirming whether the second sensor is functioning correctly based on the output of the first sensor (confirmed to be functioning correctly in the first step) and the output of the second sensor.

[0012] Another aspect of the present invention is a control method for a robotic arm system, wherein the robotic arm system has a robotic arm and a drive device, the drive device being detachably connected to the robotic arm to electrically drive the robotic arm, and the control method includes the following steps: a first step, confirming whether the drive device operates normally under power based on the output of a first sensor; and a second step, confirming whether the robotic arm is connected to the drive device based on the output of a second sensor, wherein the first step includes confirming whether the first sensor is normal, and the second step includes confirming whether the second sensor is normal based on the output of the first sensor confirmed to be normal in the first step and the output of the second sensor.

[0013] Another aspect of the present invention is a control device for a robotic arm system, wherein the robotic arm system has a robotic arm and a drive device, the drive device being detachably connected to the robotic arm to electrically drive the robotic arm, and the control device performing the following steps: a first step, confirming whether the drive device is operating normally under power based on the output of a first sensor; and a second step, confirming whether the robotic arm is connected to the drive device based on the output of a second sensor, wherein the first step includes confirming whether the first sensor is normal, and the second step includes confirming whether the second sensor is normal based on the output of the first sensor confirmed to be normal in the first step and the output of the second sensor.

[0014] Invention Effects

[0015] According to the present invention, it is possible to detect device malfunctions without requiring the sensor to be dual-engineered. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of the robotic arm system according to the first embodiment.

[0017] Figure 2 This is a partial structural diagram illustrating the connection between the robotic arm and the drive device.

[0018] Figure 3A It is a structural diagram of the line loading and unloading section and the line drive section, and it is a diagram showing the state of the line loading and unloading section after it has been unloaded from the line drive section.

[0019] Figure 3B It is a structural diagram of the line loading and unloading section and the line drive section, and a diagram showing the connection state between the line loading and unloading section and the line drive section.

[0020] Figure 4 This diagram shows other states where the line loading / unloading section and the line drive section are connected.

[0021] Figure 5 This is a block diagram of the control device for the robotic arm system.

[0022] Figure 6 This is a flowchart of the control method executed by the control device when the robotic arm system starts.

[0023] Figure 7 This is a table showing the control method of the robot arm according to the first embodiment, and a table explaining the steps performed in each process and the sensors used in each step.

[0024] Figure 8A This is a flowchart of the steps to confirm the connection between the curved line and the motor.

[0025] Figure 8B This is a flowchart of the steps for checking the connected sensors.

[0026] Figure 8C This is a flowchart of the steps for inspecting the tension sensor.

[0027] Figure 9 This is a graph illustrating the relationship between the tension of the bent line detected by the tension sensor and the torque of the motor detected by the torque sensor.

[0028] Figure 10 This is a table showing the control method of the robot arm according to the second embodiment, and a table explaining the steps performed in each process and the sensors used in each step.

[0029] Figure 11 This is a flowchart of the steps to confirm the connection between the curved line and the motor.

[0030] Figure 12 This is a table showing the control method of the robot arm according to the third embodiment, and a table explaining the steps performed in each process and the sensors used in each step.

[0031] Figure 13This is a graph illustrating the relationship between the motor torque detected by the torque sensor and the motor current detected by the current sensor.

[0032] Figure 14 This is a flowchart of the steps to confirm the connection between the curved line and the motor.

[0033] Figure 15 This is a table showing the control method of the robot arm according to the fourth embodiment, and a table explaining the steps performed in each process and the sensors used in each step.

[0034] Figure 16 This is a flowchart of the steps for confirming the connection between the line loading / unloading unit and the line drive unit. Detailed Implementation

[0035] (First Implementation)

[0036] The control method, control device, and robot system of the first embodiment of the present invention will be described with reference to the accompanying drawings.

[0037] like Figure 1 As shown, the robotic arm system 100 of this embodiment includes: an electric robotic arm 1; a drive device 2, which is detachably connected to the robotic arm 1 and electrically drives the robotic arm 1; an operation device 3, the operation of driving the robotic arm 1 is input by the surgeon; a control device 4, which controls the robotic arm 1 and the drive device 2; an image processor 5; and a display device 6.

[0038] The robotic arm 1 is a powered flexible endoscope, laparoscope (rigid endoscope), or medical robotic arm with an end effector or arm at its tip that is inserted into the patient's body cavity. Hereinafter, a powered flexible endoscope will be used as an example of robotic arm 1. When robotic arm 1 is a powered endoscope, the handling instrument 7 is inserted into robotic arm 1 via an extension tube 8. Endoscopic images acquired by robotic arm 1 are input to display device 6 via image processor 5 and displayed on display device 6.

[0039] The operating device 3 is connected to the adapter 2a of the drive device 2 via the operating cable 3a. The operating inputs input to the operating device 3 are then input to the drive device 2. The control device 4, which is built into the drive device 2, controls the drive device 2 based on the operating inputs, thereby causing the robot arm 1 to perform actions according to the operating inputs.

[0040] like Figure 1 and Figure 2As shown, the robotic arm 1 has: an insertion part 11 having a curved part (movable part) 12; a first loading / unloading part 13 disposed at the base end of the insertion part 11 and connected to the adapter 2b of the drive device 2; a second loading / unloading part 14 disposed at the base end of the insertion part 11 and connected to the adapter 5a of the image processor 5; and a plurality of curved lines (drive lines) 15 extending from the first loading / unloading part 13 to the curved part 12, transmitting the driving force of the drive device 2 to the curved part 12.

[0041] The insertion portion 11 is a flexible, elongated component, and a curved portion 12 is provided at the front end of the insertion portion 11. A plurality of curved lines 15 are arranged in an internal path (not shown), which is formed within the insertion portion 11 and extends along the length direction of the insertion portion 11.

[0042] The curved portion 12 has a first curved portion (movable portion) 121 and a second curved portion (movable portion) 122 disposed at the base end side of the first curved portion 121. The first curved portion 121 and the second curved portion 122 are respectively capable of bending upward, downward, leftward, and rightward. Four bending lines 15 for bending the first curved portion 121 upward, downward, leftward, and rightward are connected to the first curved portion 121. Four bending lines 15 for bending the second curved portion 122 upward, downward, leftward, and rightward are connected to the second curved portion 122.

[0043] like Figure 2 As shown, the first loading / unloading section 13 has four wire loading / unloading sections 16, which are mechanisms for loading and unloading curved wires 15 relative to the drive device 2. Each wire loading / unloading section 16 is provided at the base end of a pair of curved wires 15 and loads and unloads the pair of curved wires 15 relative to the drive device 2. For example, the four wire loading / unloading sections 16 load and unload a pair of curved wires 15 for vertical bending of the first curved section 121, a pair of curved wires 15 for horizontal bending of the first curved section 121, a pair of curved wires 15 for vertical bending of the second curved section 122, and a pair of curved wires 15 for horizontal bending of the second curved section 122, respectively, relative to the drive device 2.

[0044] The drive unit 2 is connected to a power source (not shown) and operates using the power supplied from the power source. The drive unit 2 has four wire drive sections 21 that serve as mechanisms for driving the curved wires 15. Through the connection between the first loading / unloading section 13 and the adapter 2b, the four wire drive sections 21 are respectively connected to the four wire loading / unloading sections 16, enabling each to drive a pair of curved wires 15. For example, the four wire drive sections 21 can respectively drive a pair of curved wires 15 for vertical bending of the first bending section 121, a pair of curved wires 15 for horizontal bending of the first bending section 121, a pair of curved wires 15 for vertical bending of the second bending section 122, and a pair of curved wires 15 for horizontal bending of the second bending section 122.

[0045] Figure 3A and Figure 3B This indicates the structure of the line loading / unloading unit 16 and the line driving unit 21. Figure 3A The wire loading / unloading unit 16 and the wire drive unit 21 indicate their separated states. Figure 3B The wire loading / unloading unit 16 and the wire driving unit 21 indicate the interconnected state. Figure 3A and Figure 3B For example, a wire loading / unloading section 16 and a wire drive section 21 are shown, including a pair of curved lines 15 for bending the first curved section 121. Other wire loading / unloading sections 16 and other wire drive sections 21 also have Figure 3A and Figure 3B The structure.

[0046] Each loading and unloading section 16 has a pair of rotating rollers 17, a support member 18 supporting the pair of rotating rollers 17, and a connecting mechanism 19 connecting the pair of rotating rollers 17 to each other.

[0047] The support member 18 is the part that is fixed relative to the wire drive unit 21 when the wire loading and unloading unit 16 is connected to the wire drive unit 21.

[0048] Each rotating roller 17 is supported on the support member 18 in such a way that it can rotate about a rotation axis B extending along the length direction A of the insertion portion 11. Each rotating roller 17 has a winding pulley 17a arranged coaxially with the rotation axis B and a gear 17b fixed to the winding pulley 17a and arranged coaxially with the rotation axis B.

[0049] The base end of each curved line 15 is guided to and wound around the winding pulley 17a via the pulley 20. The curved line 15 is pulled or fed out by rotating the rotating roller 17 about the axis of rotation B. The gear 17b is a spur gear that rotates integrally with the winding pulley 17a.

[0050] The connecting mechanism 19 is used to restrict the rotation of a pair of rotating rollers 17 and prevent the pair of curved lines 15 from slackening when the online loading / unloading section 16 is separated from the line drive section 21. The connecting mechanism 19 has a cylindrical member 19a, a linkage gear 19b, and an elastic member 19c.

[0051] The cylindrical member 19a is supported on the support member 18 in a manner that allows it to rotate about a rotation axis C extending along the length direction A and to move forward and backward along the length direction. The rotation axis C is parallel to the rotation axis B of the rotating roller 17. The base end of the cylindrical member 19a passes through the support member 18 and protrudes outward toward the outside of the line loading and unloading section 16, and is exposed on the base end side of the line loading and unloading section 16.

[0052] The linkage gear 19b is a spur gear fixed to the cylindrical component 19a and coaxially configured with the rotation axis C.

[0053] The elastic component 19c, for example a spring, applies force to the linkage gear 19b and the cylindrical component 19a toward the base end A2.

[0054] like Figure 3A As shown, with the online loading / unloading unit 16 separated from the line drive unit 21, the linkage gear 19b and the cylindrical member 19a, which are subjected to force by the elastic member 19c, are positioned in a first position. The linkage gear 19b in the first position is positioned between a pair of gears 17b and meshes with both of them. As a result, the pair of rotating rollers 17 are linked together and rotate in opposite directions, and the pair of curved lines 15 are linked together and pulled or fed out (loop state) in a loop-like manner. In the loop state, even when the curved portion 12 bends upward or downward due to external force, the pair of curved lines 15 do not slacken, maintaining the relationship between the rotation angle of the rotating rollers 17 and the bending angle of the curved portion 12.

[0055] On the other hand, such as Figure 3B As shown, with the online loading / unloading unit 16 connected to the online drive unit 21, the cylindrical member 19a overcomes the force of the elastic member 19c and is pressed towards the front end A1 by the engaging member 26a (described later). The linkage gear 19b and the cylindrical member 19a are positioned in the second position. The linkage gear 19b in the second position does not mesh with the pair of gears 17b. As a result, the pair of rotating rollers 17 do not rotate in tandem, and the pair of curved lines 15 are pulled or sent out independently (in a counter-current state).

[0056] In addition, each wire loading and unloading section 16 has: a claw 22, which is provided on the support member 18 for detecting the loading and unloading of the wire loading and unloading section 16 and the wire drive section 21; and a connecting section 23, which is a mechanism provided on a pair of rotating rollers 17 and connecting the bent wire 15 to the motor 25 (described later) of the wire drive section 21.

[0057] The chuck 22 is a component that protrudes from the support member 18 toward the outside of the wire loading / unloading section 16 and is exposed at the base end of the wire loading / unloading section 16. For example, it is a pin-shaped component extending parallel to the rotation axes B and C. Figure 3B As shown, when the online loading / unloading unit 16 is connected to the online drive unit 21, the claw 22 passes through the support member 26 and inserts into the interior of the online drive unit 21.

[0058] The connecting part 23 is a circular plate component fixed to the base end of the winding pulley 17a and coaxially arranged with the rotation axis B, and is exposed on the base end side of the line loading and unloading part 16. On the surface of the connecting part 23 on the base end side, two fitting protrusions 23a are formed on both sides of the rotation axis B.

[0059] The wire drive unit 21 has a pair of shafts 24, a pair of motors (power generating units) 25 respectively connected to the pair of shafts 24, and a support member 26 that supports the pair of shafts 24 so that they can rotate.

[0060] Each shaft 24 is supported on the support member 26 in a manner that allows it to rotate about the rotation axis D and move forward and backward along the length direction A. The rotation axis D is the central axis of the shaft 24, and when the loading and unloading part 13 is connected to the drive device 2, the rotation axis D is aligned with the rotation axis B of the rotating drum 17.

[0061] Each motor 25 is, for example, a DC motor. Each motor 25 generates rotational force using electricity supplied from the power source, causing the corresponding shaft 24 to rotate about the rotation axis D. The in-line drive unit 21 is equipped with two encoders 29a and 29b for each motor 25 to detect the rotational speed and rotation angle of the motor 25. The first encoder 29a is connected to the base of the motor 25. The second encoder 29b is connected to the shaft 24 via a pair of meshing gears 30a and 30b.

[0062] A locking member 26a is provided on the support member 26 for disengaging the connection between the connecting mechanism 19 and the pair of rotating rollers 17. The locking member 26a is a cylindrical component exposed at the front end of the in-line drive unit 21, positioned corresponding to the cylindrical member 19a. For example... Figure 3B as well as Figure 4 As shown, when the online loading / unloading unit 16 is connected to the line drive unit 21, the engaging member 26a presses the cylindrical member 19a to the second position.

[0063] In addition, the line drive unit 21 has a connected part 27, which is a mechanism that is respectively provided on a pair of shafts 24 and connects the motor 25 to the rotating drum 17.

[0064] The connected portion 27 is a circular plate component fixed to the front end of the shaft 24 and coaxially arranged with the rotation axis D, rotating integrally with the shaft 24. The connected portion 27 is exposed on the front end side of the wire drive portion 21. On the front end side surface of the connected portion 27, two fitting recesses 27a are formed on both sides of the rotation axis D.

[0065] like Figure 3B and Figure 4 As shown, by engaging the protrusion 23a and the recess 27a, the connecting portion 23 and the connected portion 27 are connected to each other, thereby connecting the motor 25 to the curved line 15 via the rotating roller 17. In this state, the rotating roller 17, the connecting portion 23, the connected portion 27, and the shaft 24 can rotate as a whole around the rotation axes C and D. Therefore, the rotational force (driving force) generated by the motor 25 is transmitted to the curved line 15 via the rotating roller 17 as a force in the length direction A.

[0066] The robotic arm system 100 also includes a tension sensor 31, a torque sensor 32, a loading / unloading sensor 33, a connection sensor 34, a current sensor 35, and an anti-interference sensor 36.

[0067] Tension sensor 31 and anti-tension sensor 36 are respectively disposed in four line loading / unloading sections 16, and torque sensor 32, loading / unloading sensor 33, connection sensor 34 and current sensor 35 are respectively disposed in four line drive sections 21. Each sensor 31, 32, 33, 34, 35 and 36 is connected to control device 4, and the outputs of each sensor 31, 32, 33, 34, 35 and 36 are sequentially sent to control device 4.

[0068] Tension sensors 31 are provided for each bending line 15 to detect the tension of the bending line 15.

[0069] A torque sensor 32 is provided for each motor 25 to detect the torque of the motor 25. For example, the torque sensor 32 is mounted on the shaft 24 and detects the torque about the rotation axis D as the torque of the motor 25.

[0070] The loading / unloading sensor 33 detects the loading / unloading of the line loading / unloading section 16 relative to the line drive section 21. When the line loading / unloading section 16 is connected to the line drive section 21, the loading / unloading sensor 33 engages with the jaw 22, which passes through the support member 26 and is inserted into the interior of the line drive section 21. The loading / unloading sensor 33 may have, for example, an optical sensor that detects contact or proximity with the jaw 22, and the engagement with the jaw 22 is detected by the optical sensor. When the jaw 22 engages with the loading / unloading sensor 33, the output of the loading / unloading sensor 33 is ON; when the jaw 22 is not engaged with the loading / unloading sensor 33, the output of the loading / unloading sensor 33 is OFF.

[0071] The loading / unloading sensor 33 is dualized. That is, two grippers 22 are provided in each line loading / unloading section 16, and two loading / unloading sensors 33 are provided in each line drive section 21. Figures 3A to 4 The diagram only shows one set of grippers 22 and loading / unloading sensors 33.

[0072] Each motor 25 is equipped with a connection sensor 34. The connection sensor 34 detects the engagement of the connecting part 23 and the connected part 27 based on the displacement of the shaft 24, thereby detecting the connection between the motor 25 and the curved line 15. When the connecting part 23 and the connected part 27 are engaged, the output of the connection sensor 34 is ON; when the connecting part 23 and the connected part 27 are not engaged, the output of the connection sensor 34 is OFF.

[0073] like Figure 3B As shown, the connected portion 27 moves toward the base end side A2 together with the shaft 24 by being pressed by the connecting portion 23. The connection sensor 34 is, for example, an optical sensor that detects the approach of the pawl 24a provided on the shaft 24, and detects the engagement of the connecting portion 23 and the connected portion 27 based on the approach of the pawl 24a.

[0074] The connected portion 27 is forced towards the front end A1 by an elastic member 28, such as a compression spring, disposed between the connected portion 27 and the support member 26. Figure 3A As shown, when the online loading / unloading unit 16 is separated from the line drive unit 21, the connected part 27 moves towards the front end A1 together with the shaft 24 under the force of the elastic member 28, and the pawl 24a is positioned away from the connection sensor 34. In this state, the connection sensor 34 cannot detect the engagement between the connecting part 23 and the connected part 27.

[0075] Figure 4 This indicates that the connection between the wire loading / unloading section 16 and the wire driving section 21 has been detected by the loading / unloading sensor 33, but the connecting section 23 and the connected section 27 are not engaged due to the positional misalignment between the engaging protrusion 23a and the engaging recess 27a. In this state, the connection sensor 34 cannot detect the engagement between the connecting section 23 and the connected section 27.

[0076] In this case, the control device 4 rotates the connected portion 27 by rotating the motor 25. When the position of the fitting recess 27a coincides with the position of the fitting protrusion 23a, the fitting recess 27a and the fitting protrusion 23a engage, and the connected portion 27 moves towards the front end side A1 by the force of the elastic member 28. The engagement of the connecting portion 23 and the connected portion 27 is detected by the connection sensor 34.

[0077] A current sensor 35 is provided for each motor 25 to detect the current flowing through the motor 25.

[0078] Countermeasure sensors 36 are disposed at each wire loading / unloading section 16 to detect the countermeasure status of a pair of bent wires 15. Details of the countermeasure sensors 36 will be described in the fourth embodiment.

[0079] Control device 4 is a computer built into drive device 2 and capable of executing programs. Control device 4 can also be a computer located externally to drive device 2 and connected to drive device 2. For example... Figure 5 As shown, the control device 4 includes at least a processor 4a, a memory 4b, a storage unit 4c capable of storing programs and data, and an input / output control unit 4d.

[0080] Storage unit 4c is a non-volatile recording medium, such as ROM or hard disk, that stores programs and necessary data. The functions of control device 4, described later, are implemented by reading the program stored in storage unit 4c into memory 4b and executing it by processor 4a. At least some functions of control device 4 can also be implemented using dedicated logic circuitry.

[0081] Next, the control method of the robotic arm system 100 executed by the control device 4 will be described.

[0082] The control method of this embodiment is executed to confirm whether the robot arm 1, drive device 2, and control device 4 are operating normally when the robot arm system 100 is started. Figure 6 As shown, the control method includes a drive device start-up process (first step) S1, a robot arm connection process (second step) S2, a bending part initialization process (third step) S3, and a bending part calibration process S4.

[0083] After the bending calibration process S4, the control device 4 receives the operation input from the operating device 3 and controls the drive device 2 according to the operation input.

[0084] Figure 7 This indicates the steps performed in each process S1, S2, S3, S4 and the sensors 31, 32, 33, 34 used in each step.

[0085] The drive unit start-up procedure S1 is a procedure that confirms whether the drive unit 2 has been turned on and whether the drive unit 2 is operating normally based on the outputs of encoders 29a and 29b and torque sensor (first sensor) 32. The drive unit start-up procedure S1 includes: step S11 of turning on the drive unit 2, which includes control device 4, and step S12 of performing self-diagnosis of the drive unit 2.

[0086] After step S11, in step S12, the control device 4 performs the following check: confirming that the processor 4a, motor 25 and encoders 29a and 29b that are supplied with power are working properly.

[0087] During the inspection of motor 25, control device 4 drives motor 25 to confirm the outputs of the two encoders 29a and 29b, which represent the rotation angle of motor 25. When motor 25 and both encoders 29a and 29b are functioning normally, their outputs are identical. If motor 25 malfunctions, there is no output from either encoder 29a or 29b. If one encoder 29a or 29b malfunctions, only the malfunctioning encoder will have no output, or the outputs of the two encoders 29a and 29b will be inconsistent. Control device 4 uses the outputs of the two encoders 29a and 29b to confirm the normality of motor 25 and the two encoders 29a and 29b.

[0088] In addition, in step S12, the control device 4 checks whether the torque sensor 32 is functioning properly based on the output of the torque sensor 32 and the outputs of the encoders 29a and 29b.

[0089] When torque sensor 32 is functioning normally, the torque output of torque sensor 32 increases as motor 25 rotates. Control device 4 rotates motor 25, confirms that encoders 29a and 29b detect the rotation of motor 25, and then checks the output of torque sensor 32. If the output of torque sensor 32 is above a predetermined value, torque sensor 32 is determined to be functioning normally. On the other hand, if encoders 29a and 29b detect the rotation of motor 25 but the output of torque sensor 32 is below a predetermined value, control device 4 determines that torque sensor 32 is malfunctioning.

[0090] The rotational torque of motor 25 can also be detected based on the current flowing through motor 25. Therefore, in step S12, control device 4 can also confirm whether torque sensor 32 is functioning properly based on the output of torque sensor 32 and the output of current sensor 35.

[0091] After confirming that the processor 4a, motor 25, encoders 29a and 29b, and torque sensor 32 are all functioning normally, the control device 4 then executes the robot connection process S2. If an abnormality is detected in at least one of the processor 4a, motor 25, encoders 29a and 29b, and torque sensor 32, the control device 4 transitions to an error state and terminates the control method.

[0092] The robot connection process S2 is a process of confirming whether the robot 1 is connected to the drive unit 2 based on the outputs of the loading / unloading sensor 33 and the connection sensor (second sensor) 34. The robot connection process S2 includes: step S21 of confirming whether the wire loading / unloading part 16 of the robot 1 is connected to the wire driving part 21 of the drive unit 2; step S22 of confirming whether the motor 25 is connected to the bending line 15; step S23 of checking the connection sensor 34; and step S24 of confirming whether the driving force is transmitted from the motor 25 to the bending line 15.

[0093] In step S21, the control device 4 confirms the connection between the line loading / unloading unit 16 and the line drive unit 21 based on the output of the dualized loading / unloading sensor 33. Specifically, if the outputs of both loading / unloading sensors 33 are ON, the control device 4 determines that the line loading / unloading unit 16 and the line drive unit 21 are connected and proceeds to the next step S22. On the other hand, if the output of at least one of the two loading / unloading sensors 33 is OFF, the control device 4 determines that the loading / unloading unit 16 and the line drive unit 21 are not connected.

[0094] In step S22, the control device 4 confirms, based on the outputs of the connection sensor 34 and the torque sensor 32, whether the motor 25 has been connected to the curved line 15 via the interconnected connection part 23 and the connected part 27.

[0095] Specifically, such as Figure 8A As shown, the control device 4 rotates the motor 25 (step S221). By rotating the motor 25, the connected part 27 rotates, and when the fitting recess 27a aligns with the fitting protrusion 23a, the connected part 27 is connected to the connecting part 23, and the output of the connection sensor 34 becomes ON (in step S222).

[0096] After confirming that the output of the connection sensor 34 is ON (Yes in step S222), the control device 4 then confirms the output of the torque sensor 32 (Step S223). With the motor 25 connected to the curved line 15 via the interconnected connection part 23 and the connected part 27, the torque of the motor 25 increases due to the increased load on the motor 25. If the output of the torque sensor 32 is above a predetermined value (Yes in step S223), the control device 4 determines that the motor 25 and the curved line 15 are properly connected and stops the motor 25 (Step S224). On the other hand, if the output of the torque sensor 32 is below a predetermined value (No in step S223), the control device 4 determines that the motor 25 and the curved line 15 are not properly connected and stops the motor 25 (Step S225), transitioning to an error state (Step S226).

[0097] In step S223, the control device 4 can also use the difference in output of the torque sensor 32 before and after the motor 25 rotates as a substitute for the output of the torque sensor 32, i.e., the detected value of the torque. In this case, if the difference is above a specified value, it is determined that the motor 25 and the curved line 15 are properly connected; if the difference is less than a specified value, it is determined that the motor 25 and the curved line 15 are not properly connected.

[0098] Control device 4 executes step S23 in parallel with step S22. In step S23, control device 4 confirms whether the coupling sensor 34 is functioning correctly based on the output of the coupling sensor 34 and the output of the torque sensor that was confirmed to be normal in step S1.

[0099] Specifically, such as Figure 8B As shown, the control device 4 rotates the motor 25 (step S231). After the output of the torque sensor 32 increases to a predetermined value or higher (yes in step S232), the output of the coupling sensor 34 is checked (step S233). If the output of the coupling sensor 34 is ON (yes in step S233), the control device 4 determines that the coupling sensor 34 is normal (step S234). On the other hand, if the coupling sensor 34 is OFF, the control device 4 determines that the coupling sensor 34 is abnormal (step S235).

[0100] Next, in step S24, the control device 4 checks the power transmission mechanism within the drive unit 2 based on the output of the torque sensor 32. The power transmission mechanism is the mechanism that transmits driving force from the motor 25 to the connected part 27, and includes components such as the rotating shaft 24 along the force transmission path. The control device 4 rotates the motor 25 and checks the output of the torque sensor 32. When the power transmission mechanism is normal, the output of the torque sensor 32 changes according to the rotation of the motor 25. If the output of the torque sensor 32 changes in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is normal. On the other hand, if the output of the torque sensor 32 does not change in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is abnormal.

[0101] If no abnormality is detected in steps S21, S22, S23, and S24, the control device 4 then executes the bending initialization process S3. If an abnormality is detected in any of steps S21, S22, S23, and S24, the control device 4 transitions to an error state and terminates the control method.

[0102] The bending initialization process S3 is as follows: based on the output of the tension sensor (third sensor) 31, it is confirmed whether the bending part 12 of the robot arm 1 is moving normally according to the driving force of the motor 25, so that the bending part 12 is in its initial state before calibration. The bending initialization process S3 includes the steps of initializing the bending angle of the bending part 12, S31, S32, applying initial tension to the bending line 15, S32, checking the tension sensor 31, and S34, checking the power transmission mechanism inside the robot arm 1.

[0103] In step S31, the control device 4 straightens the curved section 12 according to the output of the tension sensor 31. For example, while monitoring the output of the tension sensor 31, the control device 4 rotates the four motors 25 used for the first curved section 121, so that the tension of the four bending lines 15 used for the first curved section 121 is equal to that of each other. In addition, while monitoring the output of the tension sensor 31, the control device 4 rotates the four motors 25 used for the second curved section 122, so that the tension of the four bending lines 15 used for the second curved section 122 is equal to that of each other.

[0104] Next, in step S32, the control device 4 applies a predetermined initial tension to each of the eight curved lines 15 based on the output of the tension sensor 31. For example, the control device 4 rotates the motor 25 while monitoring the output of the tension sensor 31, and stops the motor 25 at a rotation angle when the tension detected by the tension sensor 31 becomes the predetermined initial tension, thereby applying the initial tension to the curved lines 15.

[0105] Next, in step S33, the control device 4 confirms whether the tension sensor 31 is normal based on the output of the tension sensor 31 and the output of the torque sensor 32, which was confirmed to be normal in step S1.

[0106] Figure 9 The relationship between the output of tension sensor 31 and the output of torque sensor 32 is explained. For example... Figure 9 As shown, under normal operating conditions, there is a defined correlation between the torque output of the torque sensor 32 and the tension output of the tension sensor 31; as the torque increases, the tension also increases. Therefore, the output of the tension sensor 31 can be estimated based on the output of the torque sensor 32.

[0107] like Figure 8C As shown, the control device 4 rotates the motor 25 (step S331), and then calculates an estimated value of the tension of the bent line 15 based on the output of the torque sensor 32, i.e., the torque of the motor 25 (step S332). Next, the control device 4 calculates the difference between the output of the tension sensor 31, i.e., the detected value of the tension, and the estimated value of the tension. If the difference is below a predetermined value (yes in step S333), the control device 4 determines that the tension sensor 31 is normal and proceeds to the next step S34. During the rotation of the motor 25, the control device 4 continuously performs the check of the tension sensor 31 by repeating steps S331 to S333.

[0108] On the other hand, if the difference is greater than the specified value (no in step S333), the control device 4 determines that the tension sensor 31 is abnormal, stops the motor 25 (step S334), and transfers to the error state (step S335).

[0109] In steps S331 and S332, the control device 4 can also calculate the estimated value of the torque of the motor 25 based on the output of the tension sensor 31, i.e., the detected value of the tension of the bending line 15, and calculate the difference between the output of the torque sensor 32, i.e., the detected value of the torque, and the estimated value of the torque.

[0110] In step S34, the control device 4 checks the power transmission mechanism within the robot arm 1 based on the output of the tension sensor 31. The power transmission mechanism transmits driving force from the connecting part 23 to the bending part 12, and includes components such as the connecting part 23, the rotating roller 17, and the bending line 15 along the force transmission path. The control device 4 rotates the motor 25 to check the output of the tension sensor 31. When the power transmission mechanism is functioning normally, the output of the tension sensor 31 changes according to the rotation of the motor 25. If the output of the tension sensor 31 changes in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is functioning normally. Conversely, if the output of the tension sensor 31 does not change in response to the rotation of the motor 25, the control device 4 determines that the power transmission mechanism is malfunctioning.

[0111] If no abnormality is detected in steps S31, S32, S33, and S34, the control device 4 proceeds to the bending section calibration procedure S4. If an abnormality is detected in any of steps S31, S32, S33, and S34, the control device 4 transitions to an error state and terminates the control method.

[0112] The bending calibration step S4 is a step to correct the relationship between the rotation amount of the motor 25 and the bending angle of the bending portion 12. In order to accurately control the bending angle of the bending portion 12 by rotating the motor 25, the rotation amount of the motor 25 and the bending angle of the bending portion 12 need to be in a specified relationship. However, sometimes, due to various reasons, the relationship between the rotation amount of the motor 25 and the bending angle of the bending portion 12 may change. In step S4, the control device 4 rotates the motor 25 and adjusts the relationship between the rotation amount of the motor 25 and the bending angle of the bending portion 12 based on the rotation angle of the motor 25 detected by the encoders 29a and 29b and the bending angle of the bending portion 12 obtained from the endoscopic image.

[0113] After process S4 is completed, the robotic arm system 100 becomes capable of being operated using the operating device 3.

[0114] When connecting the robotic arm 1 to the drive unit 2, a nurse or other operator moves the insertion part 11 and the loading / unloading parts 13 and 14 by hand to perform the connection operation. Therefore, it is important to make the insertion part 11 and the loading / unloading parts 13 and 14 lightweight and miniaturized so that the operator can easily prepare the robotic arm 1 alone. The drive unit 2 should also be small so that the user can set it up without having to choose a specific location.

[0115] Furthermore, the robotic arm system 100, which has an electrically powered and loading / unloading robotic arm 1, is equipped with multiple sensors. For example, in the case of the robotic arm 1 with two-stage bending sections 121 and 122, tension sensors 31, torque sensors 32, and coupling sensors 34 are respectively mounted corresponding to the eight bending lines 15. These sensors 31, 32, and 34 are expensive, so it is important to reduce the number of sensors in order to reduce the product cost of the robotic arm system 100.

[0116] According to this embodiment, in the inspection of the coupling sensor 34 in step S23, the normality of the coupling sensor 34 is confirmed based on the output of the coupling sensor 34 and the output of the torque sensor 32. When both the torque sensor 32 and the coupling sensor 34 are normal, the output of the torque sensor 32 is correlated with the output of the coupling sensor 34. Therefore, by combining the coupling sensor 34 and the torque sensor 32, which has been confirmed to be normal, abnormalities in the coupling sensor 34 can be detected without duplicating the coupling sensor 34, thus reducing the number of coupling sensors 34 mounted on the drive device 2.

[0117] In addition, in the connection confirmation in step S22, the connection between the curved line 15 and the motor 25 can be double-confirmed based on the output of the connection sensor 34 and the output of the torque sensor 32.

[0118] Furthermore, according to this embodiment, in the inspection of the tension sensor 31 in step S33, the normality of the tension sensor 31 is confirmed based on the output of the tension sensor 31 and the output of the torque sensor 32. When both the torque sensor 32 and the tension sensor 31 are normal, the output of the torque sensor 32 is correlated with the output of the tension sensor 31. Therefore, by combining the tension sensor 31 and the confirmed normal torque sensor 32, abnormalities in the tension sensor 31 can be detected without duplicating the tension sensor 31, thus reducing the number of tension sensors 31 mounted on the robot arm 1. This enables miniaturization and weight reduction of the loading / unloading unit 13.

[0119] (Second Implementation)

[0120] Next, the control method, control device, and robot system of the second embodiment of the present invention will be described with reference to the accompanying drawings.

[0121] In this embodiment, structures that differ from those in the first embodiment will be described, while structures identical to those in the first embodiment will be labeled with the same reference numerals and their descriptions will be omitted.

[0122] Similar to the first embodiment, the robotic arm system 100 of this embodiment includes a robotic arm 1, a drive device 2, a control device 4, an operating device 3, an image processor 5, and a display device 6.

[0123] Figure 10 This indicates the steps performed in each process S1, S2, S3, and S4 of the control method in this embodiment, and the sensors 31, 32, 33, and 34 used in each step. For example... Figure 10 As shown, the control method of this embodiment differs from that of the first embodiment in the robotic arm connection process S2.

[0124] The robotic arm connection process S2 in this embodiment includes step S21, step S25 of checking the tension sensor 31, step S22' of confirming whether the motor 25 is connected to the bending line 15, and step S24.

[0125] In step S25, the control device 4 checks whether the tension sensor 31 is functioning correctly based on the output of the tension sensor 31 and the output of the torque sensor 32, which was confirmed to be normal in step S1. Specifically, similar to step S33 of the first embodiment, the control device 4 rotates the motor 25, calculates an estimated value of the tension of the curved line 15 based on the torque of the motor 25, and calculates the difference between the detected tension value and the estimated tension value. If the difference is below a predetermined value, the control device 4 determines that the tension sensor 31 is functioning correctly and proceeds to the next step S22'. On the other hand, if the difference is greater than a predetermined value, the control device 4 determines that the tension sensor 31 is malfunctioning, stops the motor 25, and transitions to an error state.

[0126] In step S25, the control device 4 can also calculate the estimated value of the torque of the motor 25 based on the output of the tension sensor 31, i.e., the detected value of the tension of the bending line 15, and calculate the difference between the output of the torque sensor 32, i.e., the detected value of the torque and the estimated value of the torque.

[0127] In step S22', the control device 4 confirms, based on the outputs of the tension sensor 31 and the torque sensor 32, whether the motor 25 has been connected to the curved line 15 via the interconnected connecting part 23 and the connected part 27.

[0128] Specifically, such as Figure 11 As shown, the control device 4 rotates the motor 25 (step S221). With the rotation of the motor 25, the connected part 27 rotates, and when the fitting recess 27a and the fitting protrusion 23a are aligned, the connected part 27 and the connecting part 23 are connected, and the tension of the curved line 15 increases.

[0129] After confirming that the tension of the bending line 15 has increased to a predetermined value or higher (yes in step S227), the control device 4 then checks the output of the torque sensor 32. With the motor 25 connected to the bending line 15, the torque of the motor 25 increases due to the tension of the bending line 15. If the output of the torque sensor 32 is above the predetermined value (yes in step S223), the control device 4 determines that the motor 25 and the bending line 15 are properly connected and stops the motor 25 (step S224). On the other hand, if the output of the torque sensor 32 is below the predetermined value (no in step S223), the control device 4 determines that the motor 25 and the bending line 15 are not properly connected and stops the motor 25 (step S225), transitioning to an error state (step S226).

[0130] Thus, according to this embodiment, during the inspection of the tension sensor 31 in step S25, the normality of the tension sensor 31 is confirmed based on the output of the tension sensor 31 and the output of the torque sensor 32. In this way, by combining the tension sensor 31 and the torque sensor 32, which has been confirmed to be normal, abnormalities in the tension sensor 31 can be detected without duplicating the tension sensor 31, thereby reducing the number of tension sensors 31 mounted on the robot arm 1.

[0131] Furthermore, according to this embodiment, in step S22', the connection between the bending line 15 and the motor 25 is double-confirmed based on the output of the tension sensor 31 and the output of the torque sensor 32. Therefore, the connection sensor 34 can be omitted, and compared to the first embodiment, the number of sensors mounted on the drive device 2 can be further reduced.

[0132] (Third Implementation)

[0133] Next, the control method, control device, and robot system of the third embodiment of the present invention will be described with reference to the accompanying drawings.

[0134] In this embodiment, structures that differ from those in the first embodiment will be described, while structures identical to those in the first embodiment will be labeled with the same reference numerals and their descriptions will be omitted.

[0135] Similar to the first embodiment, the robotic arm system 100 of this embodiment includes a robotic arm 1, a drive device 2, a control device 4, an operating device 3, an image processor 5, and a display device 6.

[0136] Figure 12 This indicates the steps performed in each process S1, S2, S3, and S4 of the control method in this embodiment, and the sensors 31, 32, 33, 34, and 35 used in each step. For example... Figure 12As shown, the control method of this embodiment differs from that of the first embodiment in that the robot arm connection process S2 and the bending part initialization process S3 are different.

[0137] The robotic arm connection process S2 in this embodiment includes step S21, step S26 of checking the torque sensor 32, step S22” of confirming whether the motor 25 is connected to the bending line 15, and step S24.

[0138] In step S26, the control device 4 confirms whether the torque sensor 32 is functioning properly based on the output of the torque sensor 32 and the output of the current sensor (fourth sensor) 35.

[0139] Figure 13 Explain the relationship between the output of torque sensor 32 and the output of current sensor. For example... Figure 13 As shown, under normal operating conditions, there is a defined correlation between the magnitude of the torque output by the torque sensor 32 and the magnitude of the current of the motor 25, which is the output of the current sensor 35; as the current increases, the torque also increases. Therefore, the output of the torque sensor 32 can be estimated based on the output of the current sensor 35.

[0140] For example, control device 4 rotates motor 25 and calculates an estimated value of motor 25 torque based on the current of motor 25 detected by current sensor 35. Next, control device 4 calculates the difference between the output of torque sensor 32 (the detected torque value) and the estimated torque value. If the difference is below a specified value, control device 4 determines that torque sensor 32 is normal; if the difference is greater than a specified value, control device 4 determines that torque sensor 32 is abnormal.

[0141] Next, in step S22”, the control device 4 confirms whether the motor 25 has been connected to the curved line 15 via the interconnected connecting part 23 and the connected part 27 based on the output of the torque sensor 32 and the output of the current sensor 35.

[0142] Specifically, such as Figure 14 As shown, the control device 4 rotates the motor 25 (step S221). As the motor 25 rotates, the connected part 27 rotates. When the fitting recess 27a aligns with the fitting protrusion 23a, the connected part 27 is connected to the connecting part 23, and the torque of the motor 25 increases.

[0143] After confirming that the torque of motor 25 has increased to a predetermined value or higher (yes in step S228), control device 4 then checks the output of current sensor 35. With motor 25 connected to bending line 15, the current of motor 25 increases due to the increased load on motor 25. If the output of current sensor 35 is above a predetermined value (yes in step S229), control device 4 determines that motor 25 and bending line 15 are properly connected and stops motor 25 (step S224). On the other hand, if the output of current sensor 35 is below a predetermined value (no in step S229), control device 4 determines that motor 25 and bending line 15 are not properly connected and stops motor 25 (step S225), transitioning to an error state (step S226).

[0144] The bending initialization process S3 in this embodiment includes steps S31, S32, step S35 of checking the torque sensor 32, and step S34 of checking the power transmission mechanism in the robot arm 1.

[0145] In step S35, similar to step S26, the control device 4 confirms whether the torque sensor 32 is functioning properly based on the output of the torque sensor 32 and the output of the current sensor 35.

[0146] Thus, according to this embodiment, in the inspection of torque sensor 32 in step S26, the normality of torque sensor 32 is confirmed based on the output of torque sensor 32 and the output of current sensor 35. The output of torque sensor 32 and the output of current sensor 35 are correlated. Therefore, by combining torque sensor 32 and current sensor 35, abnormalities of torque sensor 32 can be detected without duplicating torque sensor 32.

[0147] Furthermore, in step S22", the connection between the curved line 15 and the motor 25 is double-confirmed based on the outputs of the torque sensor 32 and the current sensor 35. This eliminates the need for the connection sensor 34, further reducing the number of sensors mounted on the drive unit 2 compared to the first embodiment.

[0148] (Fourth Implementation)

[0149] Next, the control method, control device, and robot system of the fourth embodiment of the present invention will be described with reference to the accompanying drawings.

[0150] In this embodiment, structures that differ from those in the first embodiment will be described, while structures identical to those in the first embodiment will be labeled with the same reference numerals and their descriptions will be omitted.

[0151] Similar to the first embodiment, the robotic arm system 100 of this embodiment includes a robotic arm 1, a drive device 2, a control device 4, an operating device 3, an image processor 5, and a display device 6.

[0152] Figure 15 This indicates the steps performed in each process S1, S2, S3, S4 of the control method in this embodiment, and the sensors 31, 32, 33, 34, and 36 used in each step. For example... Figure 15 As shown, the control method of this embodiment differs from that of the first embodiment in the robotic arm connection process S2.

[0153] The robot connection process S2 in this embodiment includes steps S21', S22, S23 and S24, which confirm whether the wire loading and unloading part 16 of the robot 1 is connected to the wire driving part 21 of the drive device 2.

[0154] In step S21', the control device 4 confirms the connection between the line loading / unloading unit 16 and the line drive unit 21 based on the output of the loading / unloading sensor (fifth sensor) 33 and the output of the countermeasure sensor (sixth sensor) 36.

[0155] The countermeasure sensor 36 detects the countermeasure state of a pair of curved lines 15. When the pair of curved lines 15 are in a countermeasure state, the cylindrical member 19a and gear 19b of the connecting mechanism 19 are positioned in a second position. For example, the countermeasure sensor 36 has an optical sensor that detects contact or proximity with the cylindrical member 19a, and detects the countermeasure state by using the optical sensor to detect that the cylindrical member 19a is positioned in the second position.

[0156] like Figure 16 As shown, in step S21', the control device 4 confirms that the loading / unloading sensor 33 is ON (Yes in step S211), and then confirms the output of the countermeasure sensor 36 (step S212). If the outputs of all countermeasure sensors 36 of the four wire loading / unloading units 16 are ON, the control device 4 determines that the wire loading / unloading unit 16 and the wire drive unit 21 are connected. On the other hand, if the output of at least one countermeasure sensor 36 is OFF, the control device 4 determines that the wire loading / unloading unit 16 and the wire drive unit 21 are not connected, and transitions to an error state (step S213).

[0157] Thus, according to this embodiment, in step S21', the connection between the line loading / unloading unit 16 and the line drive unit 21 is double-confirmed based on the output of the loading / unloading sensor 33 and the output of the countermeasure sensor 36. Therefore, even without the double-confirmation of the loading / unloading sensor 33, it is possible to reliably and accurately detect whether the line loading / unloading unit 16 and the line drive unit 21 are connected, and compared to the first embodiment, the number of loading / unloading sensors 33 mounted on the drive device 2 can be reduced.

[0158] Step S21' of this embodiment can also be applied to the second and third embodiments. That is, in the second and third embodiments, step S21' can be performed instead of step S21.

[0159] In the above embodiments, the operator may also be notified of any abnormalities detected by sensors in processes S1, S2, and S3. According to this structure, by notifying the operator of the detected abnormal sensors, the operator can appropriately determine which of the robotic arm and drive unit should be replaced.

[0160] For example, in the first embodiment, if an abnormality is detected in the torque sensor 32 during the check in step S12, the abnormality of the torque sensor 32 is notified. If an abnormality is detected in the coupling sensor 34 during the check in step S23, the abnormality of the coupling sensor 34 is notified. If an abnormality is detected in the tension sensor 31 during the check in step S33, the abnormality of the tension sensor 31 is notified.

[0161] If an abnormality is detected in torque sensor 32 or coupling sensor 34, the operator will replace the drive unit with another drive unit. If an abnormality is detected in tension sensor 31, the operator will replace the robot with another robot.

[0162] In the above embodiments, the robotic arm 1 is an electrically powered flexible endoscope, but the robotic arm 1 is not limited to this and may also be other devices with electrically driven movable parts. For example, the robotic arm may be a rigid endoscope with a bending portion 12, or it may be a surgical instrument having a movable part that can perform arbitrary actions such as opening, closing, or moving forward and backward according to the driving force transmitted from the motor via the drive line.

[0163] In the above embodiments, the checks performed in each step S1, S2, S3, and S4 can be performed not only at startup but also at any time after the system is in a state where it can be operated using the operating device 3.

[0164] In the above embodiments, the power generating unit includes a motor 25, but the power generating unit can be in other ways as long as it can generate a driving force to move the movable part. For example, the power generating unit may also include an actuator that generates a linear force as a driving force. The design of the power transmission mechanism between the power generating unit and the curved line 15 can also be changed depending on the shape of the power generating unit.

[0165] Label Explanation

[0166] 1: Robotic arm, endoscope;

[0167] 2: Drive unit;

[0168] 4: Control device;

[0169] 12, 121, 122: Bending part (movable part);

[0170] 16: Loading and unloading section;

[0171] 21: Wire drive unit;

[0172] 25: Motor (power generation unit);

[0173] 31: Tension sensors (second sensor, third sensor);

[0174] 32: Torque sensor (first sensor);

[0175] 33: Loading and unloading the sensor (the fifth sensor);

[0176] 34: Connecting sensor (second sensor);

[0177] 35: Current sensor (fourth sensor);

[0178] 36: Countermeasures sensor (sixth sensor);

[0179] S1: Start-up procedure of the drive unit (first step);

[0180] S2: Robot connection process (second step);

[0181] S3: Initialization process for the bending section (third step).

Claims

1. A robotic arm system, comprising: robotic arm; A drive unit, which is detachably connected to the robotic arm, provides electric drive for the robotic arm; A control device that controls the robotic arm and the drive device; A first sensor is disposed on the driving device; as well as The second sensor is disposed on either the robotic arm or the drive device. The control device performs the following steps: The first step is to confirm, based on the output of the first sensor, whether the drive device is operating normally under power; and The second step involves confirming, based on the output of the second sensor, whether the robotic arm is connected to the drive device. The first step includes confirming whether the first sensor is functioning properly. The second step includes: confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor, which were confirmed to be normal in the first step.

2. The robotic arm system according to claim 1, wherein, The drive unit has a power generating unit that generates driving force through the electricity. In the second step, if the output of the second sensor indicates that the robot arm and the driving device are connected, and the output of the first sensor changes according to the driving force, the second sensor is judged to be normal.

3. The robotic arm system according to claim 2, wherein, The robotic arm has a movable part and a drive line that transmits the driving force to the movable part. The power generation unit includes a motor that generates rotational force as the driving force. The first sensor is a torque sensor that detects the torque of the motor. The second sensor is a connection sensor that detects the connection between the drive line and the motor.

4. The robotic arm system according to claim 3, wherein, The robotic arm includes: a pulley around which the end of the drive cable is wound and which is supported to rotate; and a connecting portion fixed to the base end of the pulley. The drive device includes: a shaft that rotates via the motor; and a connecting portion fixed to the front end of the shaft and capable of engaging with the connecting portion. The shaft is supported so as to be able to move forward and backward along its axis of rotation. The shaft shifts along the axis of rotation through the engagement of the connecting part with the connected part. The connection sensor detects the engagement between the connecting part and the connected part based on the displacement of the shaft.

5. The robotic arm system according to claim 1, wherein, In the second step, an estimated value of the output of the other sensor is calculated based on the output of one of the first sensor and the second sensor. If the difference between the output of the other of the first and second sensors and the estimated value of the other sensor's output is within a specified range, the second sensor is determined to be normal.

6. The robotic arm system according to claim 5, wherein, The robotic arm has a movable part and a drive line that transmits driving force to the movable part. The first sensor is a torque sensor that detects the torque of the motor installed in the drive device. The second sensor is a tension sensor that detects the tension of the drive line.

7. The robotic arm system according to any one of claims 1 to 6, wherein, The control device also performs a third step, in which it confirms, based on the output of the third sensor, whether the movable part of the robotic arm is operating normally according to the driving force transmitted from the drive device. The third step includes: confirming whether the third sensor is normal based on the output of the first sensor, which was confirmed to be normal in the first step, and the output of the third sensor.

8. The robotic arm system according to claim 7, wherein, In the third step, Calculate an estimate of the output of the other sensor based on the output of the first sensor and the third sensor. If the difference between the output of the first sensor and the estimated value of the third sensor and the output of the third sensor is within a specified range, the third sensor is determined to be normal.

9. The robotic arm system according to claim 8, wherein, The robotic arm has a movable part and a drive line that transmits the driving force to the movable part. The first sensor is a torque sensor that detects the torque of the motor installed in the drive device. The third sensor is a tension sensor that detects the tension of the drive line.

10. A control method for a robotic arm system, wherein, The robotic arm system includes a robotic arm and a drive unit, which is detachably connected to the robotic arm and electrically drives the robotic arm. The control method includes the following steps: The first step is to confirm, based on the output of the first sensor, whether the drive device is operating normally under power; and The second step involves confirming, based on the output of the second sensor, whether the robotic arm is connected to the drive device. The first step includes confirming whether the first sensor is functioning properly. The second step includes: confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor, which were confirmed to be normal in the first step.

11. The control method according to claim 10, wherein, The drive unit has a power generating unit that generates driving force through the electricity. In the second step, if the output of the second sensor indicates that the robot arm and the driving device are connected, and the output of the first sensor changes according to the driving force, the second sensor is judged to be normal.

12. The control method according to claim 10, wherein, In the second step, Calculate an estimate of the output of the other sensor based on the output of one of the first and second sensors. If the difference between the output of the other of the first and second sensors and the estimated value of the other sensor's output is within a specified range, the second sensor is determined to be normal.

13. The control method according to any one of claims 10 to 12, wherein, The control method further includes a third step, in which the output of the third sensor is used to confirm whether the movable part of the robotic arm is operating normally according to the driving force transmitted from the driving device. The third step includes: confirming whether the third sensor is normal based on the output of the first sensor, which was confirmed to be normal in the first step, and the output of the third sensor.

14. The control method according to claim 13, wherein, In the third step, Calculate an estimate of the output of the other sensor based on the output of the first sensor and the third sensor. If the difference between the output of the first sensor and the estimated value of the third sensor and the output of the third sensor is within a specified range, the third sensor is determined to be normal.

15. A control method for a robotic arm system, wherein, The robotic arm system includes a robotic arm and a drive unit, which is detachably connected to the robotic arm and electrically drives the robotic arm. The control method includes the following steps: The first step is to confirm, based on the output of the first sensor, whether the drive device is operating normally under power; and The second step involves confirming, based on the output of the first sensor, whether the robotic arm is connected to the drive device. The second step includes confirming whether the first sensor is functioning correctly based on the outputs of the first sensor and the fourth sensor.

16. The control method according to claim 15, wherein, The first sensor is a torque sensor that detects the torque of the motor installed in the drive device. The fourth sensor is a current sensor that detects the current of the motor.

17. The control method according to any one of claims 10 to 16, wherein, The drive device includes a line drive unit, which has a motor. The robotic arm has: a movable part; and a line loading / unloading part, which loads and unloads relative to the line drive part; And multiple drive lines that extend from the line loading / unloading section to the movable section, The second step includes: confirming whether the wire loading / unloading unit is connected to the wire driving unit based on the output of the fifth sensor and the output of the sixth sensor.

18. The control method according to claim 17, wherein, The fifth sensor is a loading / unloading sensor that detects the connection between the line loading / unloading unit and the line driving unit. The sixth sensor is an adversarial sensor that detects the adversarial state of the plurality of drive lines.

19. A control device for a robotic arm system, wherein, The robotic arm system includes a robotic arm and a drive unit, which is detachably connected to the robotic arm and electrically drives the robotic arm. The control device performs the following steps: The first step is to confirm, based on the output of the first sensor, whether the drive device is operating normally under power; and The second step involves confirming, based on the output of the second sensor, whether the robotic arm is connected to the drive device. The first step includes confirming whether the first sensor is functioning properly. The second step includes: confirming whether the second sensor is normal based on the output of the first sensor and the output of the second sensor, which were confirmed to be normal in the first step.

20. The control device according to claim 19, wherein, The drive unit has a power generating unit that generates driving force through the electricity. In the second step, if the output of the second sensor indicates that the robot arm and the driving device are connected, and the output of the first sensor changes according to the driving force, the second sensor is judged to be normal.

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