Joint mechanism and robot

Abstract

The joint mechanism portion includes a fixed portion, a rotating portion, a motor, a motor control portion, and a force sensor that detects a force acting around a joint axis. A single linear body connected to the motor control unit and the force sensor passes through a hollow hole formed in at least a portion of the joint mechanism unit.

Description

Technical Field

[0001] The present disclosure relates to a joint mechanism unit and a robot. Background Art

[0002] The joint mechanism unit of a vertical multi-joint type robot mechanism mainly includes: a motor, a motor control unit that controls the motor, and a force sensor that detects a force acting on a rotation axis of a rotating unit that rotates through the motor. The motor control unit is mostly arranged at one end of the joint mechanism unit, and the force sensor is mostly arranged at the other end of the joint mechanism unit. And, a wire body passes through a hollow hole formed in the joint mechanism unit.

[0003] The wire body may include a cable for motor operation instructions and a cable for a force sensor (for example, Japanese Patent Laid-Open No. 2019-089143).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Patent Laid-Open No. 2019-089143 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] The smaller the cross-sectional area of the hollow hole of the joint mechanism unit, the more the whole joint mechanism unit can be miniaturized. Therefore, it is desired to reduce the number of wire bodies passing through the hollow hole of the joint mechanism unit and give a margin to the cross-sectional area of the hollow hole for the joint mechanism unit and the robot.

[0009] Means for Solving the Problems

[0010] According to a first aspect of the present disclosure, there is provided a joint mechanism unit and a robot capable of reducing the number of wire bodies passing through a hollow hole and giving a margin to the cross-sectional area of the hollow hole.

[0011] The object, features, and advantages of the present disclosure will become more apparent from the following description of embodiments in association with the drawings. Brief Description of the Drawings

[0012] Figure 1 It is a side view of a joint mechanism unit based on a first embodiment.

[0013] Figure 2 It is a block diagram of a joint mechanism unit based on a first embodiment.

[0014] Figure 3A It is a block diagram of a robot including the joint mechanism unit in a first embodiment.

[0015] Figure 3BIt is a block diagram of a robot including the joint mechanism part in other modification examples.

[0016] Figure 4 It is a side view of the joint mechanism part based on the second embodiment.

[0017] Figure 5 It is a block diagram of the joint mechanism part based on the second embodiment.

[0018] Figure 6 It is a block diagram of a robot including the joint mechanism part in the second embodiment.

[0019] Figure 7 It is a block diagram of the joint mechanism part based on the third embodiment.

[0020] Figure 8 It is a block diagram of a robot including the joint mechanism part in the third embodiment.

[0021] Figure 9A It is a diagram showing the first modification example when the wire body includes a power supply bus for control communication.

[0022] Figure 9B It is a diagram showing the second modification example when the wire body includes a power supply bus for control communication.

[0023] Figure 9C It is a diagram showing the third modification example when the wire body includes a power supply bus for control communication.

[0024] Figure 9D It is a diagram showing the fourth modification example when the wire body includes a power supply bus for control communication.

[0025] Figure 10A It is a block diagram of the joint mechanism part in other modification examples.

[0026] Figure 10B It is a block diagram of the joint mechanism part in still other modification examples.

[0027] Figure 10C It is Figure 10B A perspective view of the joint mechanism part shown.

[0028] Figure 11A It is a side view of a part of a robot having a joint mechanism part based on the fourth embodiment.

[0029] Figure 11B It is a diagram showing the first modification example in the fourth embodiment.

[0030] Figure 11C It is a diagram showing the second modification example in the fourth embodiment.

[0031] Figure 11D It is a diagram showing the third modification in the fourth embodiment.

[0032] Figure 11E It is a diagram showing the fourth modification in the fourth embodiment.

[0033] Figure 11F It is a diagram showing the fifth modification in the fourth embodiment.

[0034] Figure 11G It is a diagram showing the sixth modification in the fourth embodiment.

[0035] Figure 12A It is a side view of a part of a robot having a joint mechanism section in the fifth embodiment.

[0036] Figure 12B It is a diagram showing a modification in the fifth embodiment.

[0037] Figure 13A It is a perspective view of a robot having a joint mechanism section.

[0038] Figure 13B It is a perspective view of another robot having a joint mechanism section.

[0039] Figure 14A It is a side view of a part of a robot having a joint mechanism section in the prior art.

[0040] Figure 14B is Figure 14A a block diagram of the joint mechanism section in

[0041] Figure 15A It is a side view of a part of a robot having another joint mechanism section in the prior art.

[0042] Figure 15B is Figure 15A a block diagram of the other joint mechanism section in Detailed Embodiments

[0043] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In all the drawings, common reference numerals are assigned to corresponding components.

[0044] Figure 1 It is a side view of a joint mechanism section based on the first embodiment. The joint mechanism section 5 mainly includes a fixed portion 10 and a rotating portion 20 that rotates relative to the fixed portion 10. The rotation axis of the rotating portion 20 relative to the fixed portion 10 is the same as the joint axis of the joint mechanism section 5.

[0045] The joint mechanism section 5 can also be assembled to the robot 1, for example, the joint portion of a vertically articulated robot. Figure 13AIs a perspective view of a robot having a joint mechanism section. Figure 13A The six-axis articulated robot 1 shown has six joint mechanism sections 5a to 5f. Alternatively, the joint mechanism section 5 can also be assembled to a machine different from the robot 1, such as a machine tool.

[0046] As Figure 1 Shown, the fixed section 10 includes a housing 11 that should be fixed to an object, such as a first link (not shown). A bearing 19 is arranged at one end of the housing 11. A motor M that rotates the rotating section 20, an encoder E that detects the position of the output shaft 13 of the motor M, and a motor control section C that controls the motor M using the detection result of the encoder E are arranged in the housing 11. The motor control section C can be a computer including a processor, a memory, etc. The motor M and the encoder E are respectively connected to the motor control section C through the line bodies L3, L4. In the following drawings, the illustration of the line bodies L3, L4, etc. may sometimes be omitted.

[0047] The rotating section 20 includes a reduction output end of a speed reducer 21 rotatably supported by the bearing 19 and a force sensor S that detects the force acting around the joint axis. As shown in the figure, one end of the speed reducer 21 is engaged with the output shaft 13 of the motor M in a rotatable manner within the housing 11.

[0048] In Figure 1 , the speed reducer 21 is connected to the force sensor S through a first connecting member 23. The speed reducer 21 reduces the rotation of the output shaft 13 of the motor M at a predetermined reduction ratio and transmits it to the first connecting member 23. The force sensor S is connected to a second link (not shown) through a second connecting member 24.

[0049] The force sensor S is composed of, for example, a torque sensor that detects the force acting around the joint axis. The force sensor S preferably has an elastic spring section (not shown). When a force acts around the joint axis of the joint mechanism section 5, the spring section deforms. Therefore, the force acting around the joint axis can be detected by the deformation amount of the spring section. The force sensor S can also be a strain gauge method, a capacitance method, a magnetic method, or an optical encoder method, etc.

[0050] In a modified example, at least one of the first connecting member 23 and the second connecting member 24 can be excluded. Therefore, the speed reducer 21 can be directly connected to the force sensor S, or the force sensor S can also be directly connected to the second link A2 (not shown). In addition, as described later, the positional relationship among the motor M, the motor control section C, and the force sensor S is not limited to the above-described positional relationship.

[0051] And, from the upper control section 100 (refer to Figure 3A)The extended single line body L is connected to the motor control unit C. The upper control unit 100 is a computer including a processor, a memory, etc. For example, the upper control unit 100 can also be a robot control unit that controls the robot 1.

[0052] The speed reducer 21, the first connecting member 23, the force sensor S, and the second connecting member 24 of the rotating unit 20 have a hollow structure and form a common hollow hole 22. And, the line body L extending from the motor control unit C is connected to the force sensor S through the hollow hole 22 of the rotating unit 20. And, the line body L extending from the force sensor S is connected to the motor control unit C (not shown) of the adjacent joint mechanism unit 5 ( Figure 1 not shown). In addition, the structure of the hollow hole 22 is not limited to the above structure.

[0053] Figure 2 is a block diagram of the joint mechanism unit based on the first embodiment, Figure 3A is a block diagram of a robot including the joint mechanism unit in the first embodiment. As Figure 2 shown, the motor control unit C includes a communication unit CC. The communication unit CC functions such that the motor control unit C communicates with other motor control units, the upper control unit 100, and the force sensor S through the line body L. The communication unit CC can also perform various arithmetic processes as the motor control unit C. In addition, the force sensor S includes a communication unit SC. Similarly, the communication unit SC functions such that the force sensor S communicates with the upper control unit 100 such as the motor control unit C and other force sensors through the line body L.

[0054] As Figure 2 shown, the line body L includes a data line L1 and a power bus L2. The line body L is a single line body formed by integrally combining the data line L1 and the power bus L2. The line body L can integrally combine other buses or lines in addition to the data line L1 and the power bus L2. In addition, the data line L1 and the power bus L2 have the same communication protocol, which is also the same in the following embodiments and modification examples.

[0055] The data line L1 and the power bus L2 can be an Ethernet (registered trademark) cable, a USB cable, an optical fiber, or an HDMI (registered trademark) cable. In other words, the "bus" in this application specification is a signal transmission path and can include all concepts such as lines and strips. And, the line body L can transmit and receive data and / or current in a known method in a wired manner between one or more joint mechanism units 5, etc. according to an instruction from the upper control unit 100 (refer to Figure 3A .). In addition, other line bodies Lb extending from the force sensor S shown in Figure 1 etc. also have the same structure as the line body L.

[0056] As Figure 2As shown, the data line L1 is daisy-chained to the communication section CC of the motor control section C of the joint mechanism section 5 and the communication section SC of the force sensor S. Figure 2 The left end of the data line L1 in Figure 3A is connected to the upper control section 100 (refer to Figure 3A .), and various data are transmitted and received between the upper control section 100 and the joint mechanism section 5. The various data are control information such as command values related to the motor M produced by the motor control section C and the upper control section 100, and detection data detected by the encoder E, etc. The data line L1 can be a full-duplex communication line with a two-way signal line for two-way communication, a half-duplex communication line that switches the communication direction in a time-sharing manner, or a parallel communication line.

[0057] As Figure 2 shown, the power supply bus L2 is bus-connected to the motor control section C and the force sensor S of the joint mechanism section 5. Figure 2 The left end of the power supply bus L2 in Figure 3A is connected to the power supply section 200 (refer to Figure 3A .), and serves to supply the current from the power supply section 200 to the motor control section C and the force sensor S of the joint mechanism section 5. By supplying the current through the power supply bus L2, the motor control section C and the force sensor S are driven. The power supply bus L2 can be a DC plus-minus two-wire. The power supply bus L2 can also be supplied with single-phase AC or multi-phase AC. Also, the status of the power supply section 200 and the supply status of the power supply section 200 can be superimposed on the power supply bus L2 for communication.

[0058] In addition, for the sake of simplicity, the description of the communication sections CC and SC is sometimes omitted below. Similarly, the illustration of the communication sections CC and SC is sometimes omitted except in Figure 2 (and Figure 3A a part of Figure 3A ).

[0059] The line body L on the upstream side (the upper control section 100 and the power supply section 200 side) of the joint mechanism section 5 is a single line body formed by integrally combining the data line L1 and the power supply bus L2. When the joint mechanism section 5 is connected to other devices, such as other joint mechanism sections, the line body L on the downstream side of the joint mechanism section 5 and between the joint mechanism section 5 and other indirect mechanism sections is also a single line body formed by integrally combining the data line L1 and the power supply bus L2.

[0060] Figure 14A is a side view of a part of a robot having a joint mechanism section in the prior art, Figure 14B is Figure 14A a block diagram of the joint mechanism section in Figure 14A is a side view of a part of a robot having a joint mechanism section in the prior art, a block diagram of the joint mechanism section in The line body L of the joint mechanism section 5-A is a single line body including the data line L1 and the power supply bus L2 as described above. This line body L has a part extending from the motor control section C through the hollow hole 22 of the joint mechanism section 5-A.

[0061] Further, the other wire body Le passes through the hollow hole 22 of the joint mechanism portion 5-A. The other wire body Le has a data line Le1 connecting the upper control portion 100 and the force sensor S, and a power bus Le2 connecting the power supply portion 200 and the force sensor S. The other wire body Le is a single wire body having a structure in which the data line Le1 and the power bus Le2 are integrally combined. Further, the other wire body Lf extends from the force sensor S toward the outside of the joint mechanism portion 5-A. The other wire body Lf has substantially the same structure as the other wire body Le.

[0062] Thus, in Figure 14A and Figure 14B in the prior art shown, the wire bodies L and Le respectively have a data line L1, Le1 and a power bus L2, Le2. Therefore, the wire bodies L and Le are relatively thick.

[0063] And Figure 15A is a side view of a part of a robot having another joint mechanism portion in the prior art, Figure 15B is Figure 15A a block diagram of the other joint mechanism portion in Figure 14A and Figure 14B shown. The wire body L of the joint mechanism portion 5-B is substantially the same as that in

[0064] Thus, in Figure 15A and Figure 15B in the prior art shown, the wire bodies L and Lg respectively have a data line L1, Lg1 and a power bus L2, Lg2. Therefore, the wire bodies L and Lg are relatively thick.

[0065] That is, in the prior art, it is necessary to pass two relatively thick wire bodies through the hollow hole 22 of the joint mechanism portions 5-A and 5-B. Therefore, it is necessary to make the cross-sectional area of the hollow hole 22 relatively large. As a result, there is a problem that the joint mechanism portions 5-A and 5-B are enlarged as a whole.

[0066] In contrast, in the first embodiment, only the single wire body L passes through the hollow hole 22 of the joint mechanism portion 5. That is, in the first embodiment, it is only necessary to pass the wire body L through the hollow hole 22. As a result, in the first embodiment, there is a surplus in the cross-sectional area of the hollow hole 22, and the cross-sectional area of the hollow hole 22 can be made relatively small. Therefore, the joint mechanism portion 5 can be miniaturized as a whole.

[0067] Thus, when there is a surplus in the hollow hole 22, other line bodies, such as a line body for supplying fluid and a line body for supplying strong electric power, can also pass through the hollow hole 22 in an additional manner. As a result, the usage applications of the robot 1 having the joint mechanism portion 5 can be expanded. Also, in the present disclosure, since the line body L passes through the hollow hole 22, a slip ring is not required, and thus the responsiveness of the line body L is not reduced.

[0068] In addition, preferably, a single line body L is supported in the hollow hole 22 with a certain degree of slack. Thereby, when the rotating portion 20 of the joint mechanism portion 5 rotates relative to the fixed portion 10, it is possible to prevent the line body L from being twisted and damaged.

[0069] Figure 3A The illustrated robot 1 includes first to n-th joint mechanism portions 5a to 5n (n is a natural number). The joint mechanism portions 5a to 5n have the same structure as the joint mechanism portion 5 described with reference to Figure 2 and thus a repeated description thereof is omitted.

[0070] According to Figure 3A it can be seen that the plurality of joint mechanism portions 5a to 5n are daisy-chain connected through the line body L. Specifically, the motor control portions C1, force sensors S1, motor control portions C2, force sensors S2,... motor control portions Cn, force sensors Sn of the joint mechanism portions 5a to 5n are daisy-chain connected through the data line L1 of the line body L.

[0071] Also, the motor control portions C1, force sensors S1, motor control portions C2, force sensors S2,... motor control portions Cn, force sensors Sn of the joint mechanism portions 5a to 5n are bus-connected through the power bus L2 of the line body L. As described above, the data line L1 and the power bus L2 are used as a single line body L and pass through the respective hollow holes 22a to 22n of the joint mechanism portions 5a to 5n.

[0072] Also, an additional joint mechanism portion 5(n + 1) or an end effector 51 having the same structure as described above is connected to the joint mechanism portion 5n (refer to Figure 3B and Figure 13B ). In one example, the end effector 51 has a fixed portion 101 and a rotating portion 201 that rotates relative to the fixed portion 101. A hollow hole 221 that can allow the line body L and the like to pass through is formed in the rotating portion 201 and is the same as described above.

[0073] The fixed portion 101 includes: a motor Me, an encoder Ee that detects the position of the motor shaft of the motor Me, and a motor control portion Ce that controls the motor Me. The rotating portion 201 has the same force sensor Se as described above. Alternatively, when the end effector 51 is a robotic arm, the force sensor Se can also detect the gripping force of the robotic arm.

[0074] As shown in Figure 3A FIG. 4, the motor control unit Ce and the force sensor Se are daisy-chain connected via a data line L1 extending from the force sensor Sn. The motor control unit Ce and the force sensor Se are bus-connected via a power supply bus L2 extending from the motor control unit Cn.

[0075] Moreover, the structure of the end effector 51 is not limited to Figure 3A the structure shown in FIG. 5. The end effector 51 may also have other structures, such as the (n + 1)-th joint mechanism unit. In addition, the case where the end effector 51 itself does not exist is also included in the scope of the present disclosure. As described above, it is possible to miniaturize the joint mechanism units 5a to 5n. Therefore, it can be seen that the entire robot 1 having a plurality of joint mechanism units 5a to 5n can be made smaller.

[0076] Figure 4 FIG. 6 is a side view of the joint mechanism unit according to the second embodiment, Figure 5 FIG. 7 is a block diagram of the joint mechanism unit according to the second embodiment, Figure 6 and FIG. 8 is a block diagram of a robot including the joint mechanism unit according to the second embodiment. Those related to the second embodiment Figures 4 - 6 respectively correspond roughly to Figures 1 - 3A those related to the first embodiment. In addition, in Figure 5 FIGS. 6 to 8 and a part of the drawings described later, the illustration of the motor M and the encoder E is omitted.

[0077] Figure 4 The joint mechanism unit 5'shown in FIG. 9 has substantially the same structure as the joint mechanism unit 5 of the first embodiment. However, in the second embodiment, bus connection is performed on L1. Therefore, according to Figure 5 FIGS. 9 and Figure 6 10, it can be seen that the communication unit CC of the motor control unit C is connected to the data line L1 via an additional data line Lc, and the communication unit SC of the force sensor S is connected to the data line L1 via an additional data line Ld. According to Figure 6 FIGS. 9 and

[0078] 10, the same applies to the other joint mechanism units 5a'to 5n'. The data line L1 and the additional data lines Lc and Ld have the same structure as each other.

[0079] According to Figure 6 it is known that multiple joint mechanism parts 5a’ to 5n’ are connected in a bus manner through the line body L. Specifically, the motor control parts C1, force sensors S1, motor control parts C2, force sensors S2,... motor control parts Cn, and force sensors Sn of the joint mechanism parts 5a’ to 5n’ are connected in a bus manner through the data line L1 of the line body L.

[0080] Moreover, the motor control parts C1, force sensors S1, motor control parts C2, force sensors S2,... motor control parts Cn, and force sensors Sn of the joint mechanism parts 5a’ to 5n’ are connected in a bus manner through the power bus L2 of the line body L. As described above, the data line L1 and the power bus L2 are used as a single line body L and pass through the hollow holes 22a to 22n of the joint mechanism parts 5a’ to 5n’ respectively.

[0081] Moreover, the joint mechanism part 5n’ is connected to the end effector 51’. The end effector 51’ is the same as the end effector 51, so repeated description is omitted.

[0082] As Figure 6 shown, the motor control part Ce and the force sensor Se are connected in a bus manner through the data line L1 extending from the force sensor Sn. Moreover, the motor control part Ce and the force sensor Se are connected in a bus manner through the power bus L2 extending from the motor control part Cn.

[0083] Moreover, the structure of the end effector 51’ is not limited to Figure 6 the structure shown, and the end effector 51’ can also be of other structures. In addition, the case where the end effector 51’ itself does not exist is also included in the scope of the present disclosure.

[0084] In such a structure, the same effects as described above can also be obtained, and the joint mechanism part 5a’ etc. can be miniaturized. Moreover, since there are multiple joint mechanism parts 5a’ to 5n’, it can be known that the entire robot 1’ can be made smaller.

[0085] Figure 7 is a block diagram of the joint mechanism part based on the third embodiment, Figure 8 is a block diagram of the robot 1” including the joint mechanism part in the third embodiment. Figure 7 A part of the joint mechanism part 5” shown is substantially the same as the joint mechanism part 5’ of the second embodiment, so repeated description is sometimes omitted.

[0086] Referring to Figure 7 , the data line L1 is connected in a bus manner to the communication part CC of the motor control part C and the communication part SC of the force sensor S of the joint mechanism part 5”. Figure 7The left end of the data line L1 therein is connected to the upper control unit 100 of the same type, and various data are transmitted and received between the upper control unit 100 and the joint mechanism unit 5". In addition, the power bus L2 is connected to the motor control unit C and the force sensor S of the joint mechanism unit 5" in a bus manner.

[0087] And, in Figure 7 a plurality of address buses L4 to L6 are added. When the robot 1 has a plurality of joint mechanism units 5a to 5n, inherent IDs are assigned to the plurality of joint mechanism units 5a to 5n respectively. The address buses L4 to L6 assist in indicating and determining, through the ID, which joint mechanism unit among the plurality of joint mechanism units 5a to 5n the data is for. Therefore, the number of address buses is preferably the minimum number required to separately specify the communication unit CC of the motor control unit C and the communication unit SC of the force sensor S of each joint mechanism unit.

[0088] These address buses L4 to L6 may also form a single line body L together with the data line L1. Or, preferably, the address buses L4 to L6 form a single line body L together with the data line L1 and the power bus L2.

[0089] As Figure 8 shown, in the third embodiment, the upper control unit 100 includes an ID indicating mechanism unit 111. The ID indicating mechanism unit 111 uses the address buses L4 to L6 to output a specifying signal for specifying a specific joint mechanism unit among the plurality of joint mechanism units 5a to 5n, for example, the communication unit CC of the motor control unit C and the communication unit SC of the sensor S of the joint mechanism unit 5b. And, the upper control unit 100 communicates the data required for a specific joint mechanism unit specified by the specifying signal, for example, the joint mechanism unit 5b, through the data line L1.

[0090] In other words, the motor control units C1 to Cn and the sensors S1 to Sn of each of the joint mechanism units 5a to 5n only take in and process the data on the data line L1 or send out the information of the obtained force sensor S when they recognize that they are specified by the specifying signal from the ID indicating mechanism unit 111.

[0091] In the third embodiment, the data line L1 and the address buses L4 to L6 are connected in parallel with the communication unit CC of the motor control unit C and the communication unit SC of the sensor S. Therefore, it is possible to receive the specifying signal from the ID indicating mechanism unit 111 and the data through the data line L1 almost without time delay simultaneously.

[0092] In addition, in Figure 7In the like, 3-bit parallel lines are used as address buses L4 to L6. However, a smaller number of address buses may be used, and the specified signal may be coded to specify the address. Alternatively, the address buses L4 to L6 may be excluded, and a specific protocol may be used to superimpose the ID indication information on the data line L1 to transmit and receive the specified signal. In Figure 8 it is also possible to multiplex / share the force sensors S, reducing the thickness and weight of the wire body L.

[0093] Figure 9A FIG. is a diagram showing a first modified example in the case where the wire body includes a power supply bus for control communication. Figure 9A The joint mechanism portion 5-1 shown is the same as the Figure 2 joint mechanism portion 5 shown in structure. However, the power supply bus L2 is only connected to the motor control portion C-1 and not to the force sensor S-1. Therefore, the power supply bus L2 does not supply current to the force sensor S-1.

[0094] And, Figure 9A the wire body L shown in addition to the data line L1 and the power supply bus L2 also includes a power supply bus L7 for control communication. The power supply bus L7 for control communication is connected to a power supply portion 112 for control communication provided in the upper control portion 100. The power supply bus L7 for control communication supplies the current required for detecting the force sensor S and the current required for a circuit (not shown) used for obtaining the detected data through the power supply portion 112 for control communication. In other words, the power supply bus L7 for control communication supplies current to the force sensor S-1 through the power supply portion 112 for control communication. In addition, in the Figures 9B - 9D described later, it is also assumed that the upper control portion 100 has a power supply portion 112 for control communication, and the power supply bus L7 for control communication is connected to the power supply portion 112 for control communication.

[0095] In Figure 9A even when the power supply portion 200 is cut off for safety, the detection function and servo position of the force sensor S are maintained through the power supply bus L7 for control communication, the power supply portion 112 for control communication of the upper control portion 100, and the power supply bus L7 for control communication. Therefore, after the power supply portion 200 is powered on again, the operation can be immediately started.

[0096] Figure 9B FIG. is a diagram showing a second modified example in the case where the wire body includes a power supply bus for control communication. Figures 9B - 9D The joint mechanism portion 5 shown is connected to the same upper control portion 100 and power supply portion 200 as those shown in Figure 9A . In Figure 9BIn this case, the motor control unit C-2 obtains current through the power supply bus L2. Also, the force sensor S-2 obtains the current required to operate the force sensor S-2 through the power supply bus L2, and obtains the current required for control / communication of the force sensor S-2 through the control communication power supply bus L7.

[0097] The force sensor S may be affected by the noise emitted from the power supply bus L2. Obtaining the current required to operate the force sensor S-2 from the control communication power supply bus L7 ( Figure 9A ), or obtaining only the current required to operate the force sensor S-2 through the power supply bus L2 ( Figure 9B ) is beneficial for reducing the said noise.

[0098] Figure 9C is a diagram showing a third modification example in the case where the line body includes the control communication power supply bus. In Figure 9C , both the motor control unit C-3 and the force sensor S-3 obtain the required current through the control communication power supply bus L7. Therefore, in an emergency, even if the power supply unit 200 is cut off, there is an effect of maintaining the operation of the motor control unit C-3 and the force sensor S-3. The motor control unit C-3 can maintain the position information and settings other than for motor drive via the power supply bus L7 even if the power supply bus L2 is cut off. In the case where the force sensor S-3 does not need to be reset again when the power is restored, for example, even if the excitation power supply of the strain gauge, the display lamp, etc. are supplied from the power supply bus L2, it is okay, which can contribute to power saving. In the case where such an effect cannot be expected, the power supply bus L2 may not be connected to the motor control unit C and the force sensor S, or the power supply bus L2 itself may be excluded.

[0099] Figure 9D is a diagram showing a fourth modification example in the case where the line body includes the control communication power supply bus. The force sensor S-4 obtains the required current through the power supply bus L2. Also, the motor control unit C-4 obtains the required current through the control communication power supply bus L7. Figure 9D The structure shown is advantageous in the case where the force sensor S-4 requires a relatively large current, for example, in the case where the force sensor S-4 requires an excitation power supply, or in the case of having a magnetic bearing. Also, in an emergency, even if the power supply unit 200 is cut off, there is an effect of maintaining the operation of the motor control unit C-4 through the control communication power supply bus L7.

[0100] After the power supply unit 200 is cut off, in order to monitor whether the robot 1 stops in a safe state, some of the joint mechanism parts in the plurality of joint mechanism parts, such as the first joint mechanism part 5a and the (n + 1)th joint mechanism part 51, need to keep these force sensors operating. Figures 9A - 9D The structure shown is advantageous in such a case.

[0101] Alternatively, the communication functional parts of the motor control unit C and the force sensor S can also be obtained only from a communication power supply (not shown). In this case, even if the power supply unit 200 is cut off, the motor control unit C and the force sensor S not only maintain their functions but also maintain communication with the upper control unit 100. Therefore, there is an effect that the situation can be easily and safely restored.

[0102] Figure 10A It is a block diagram of a joint mechanism part in another modification example. In Figure 10A the m-th axis joint mechanism part 5-5 (where "m" is a natural number between "1" and "n") is shown. In the joint mechanism part 5-5, a force sensor Sm (where "m" is the same as described above. The same applies hereinafter) is arranged in the fixed part 10, and a motor Mm, an encoder Em, and a motor control unit Cm are arranged in the rotating part 20. And a linear body L is inserted into a hollow hole 22 formed in the fixed part 10.

[0103] And, associated with Figure 10A it, the structure may also be such that the rotating part 20 has the motor Mm and the encoder Em, and the fixed part 10 has the force sensor Sm and the motor control unit Cm. Similarly, for example, associated with Figure 2 it, the structure may also be such that the fixed part 10 has the motor Mm and the encoder Em, and the rotating part 20 has the force sensor Sm and the motor control unit Cm. These structures can also achieve the same effects as described above and are included within the scope of the present disclosure.

[0104] In addition, in Figure 10A the data line L1 of the linear body L daisy-chains the motor control unit Cm and the force sensor Sm, but the data line L1 may also connect the motor control unit Cm and the force sensor Sm in a bus manner. Even in such a case, it is clearly included within the scope of the present disclosure.

[0105] Figure 10B It is a block diagram of a joint mechanism part in another other modification example. Figure 10C It is Figure 10B a perspective view of the joint mechanism part shown. Figure 10B The joint mechanism part 5-6 shown includes one fixed part 10m and two rotating parts 20m, 20(m + 1) (where "m" is a natural number between "1" and "n"). That is, the joint mechanism part 5-6 serves as both the m-th joint mechanism part and the (m + 1)-th joint mechanism part.

[0106] As shown in the figure, the rotating part 20m is engaged with one end of the fixed part 10m in a rotatable manner, and the rotating part 20(m + 1) is engaged with the other end of the fixed part 10m in a rotatable manner. Moreover, the wire body L penetrates into the interior of the fixed part 10m through the hollow hole 22m of the rotating part 20m and extends to the outside through the hollow hole 22(m + 1) of the rotating part 20(m + 1). That is, the wire body L passes through both the hollow hole 22m and the hollow hole 22(m + 1). For this purpose, it is preferable to form a hollow hole in the fixed part 10 as well. In addition, the hollow hole 22m and the hollow hole 22(m + 1) are preferably in a relationship where the axes of the hollow shafts are not parallel or, although parallel, are offset (refer to Figure 10C ).

[0107] The fixed part 10m includes: a motor Mm for the rotating part 20m, an encoder Em, a motor M(m + 1) for the rotating part 20(m + 1), and an encoder E(m + 1). Moreover, the motor control part Cm of the fixed part 10m functions to control both the motor Mm for the m-th axis and the motor M(m + 1) for the (m + 1)-th axis.

[0108] In such a structure, several components of the joint mechanism part 5 - 6, such as a part of the housing 11 and the motor control part Cm, can be shared between the m-th axis and the (m + 1)-th axis. Therefore, it can be seen that the joint mechanism part 5 - 6 and the robot 1 can be further miniaturized / lightened.

[0109] In addition, in Figure 10B , the data line L1 of the wire body L daisy-chains the motor control part Cm with the force sensors Sm and S(m + 1), but the data line L1 can also connect the motor control part Cm with the force sensors Sm and S(m + 1) in a bus connection. Even in such a case, it is clearly included within the scope of the present disclosure.

[0110] Figure 11A is a side view of a part of a robot having a joint mechanism part based on the fourth embodiment. In Figure 11A , the force sensor S is directly coupled between the speed reducer 21 and the link A2. Moreover, the speed reducer 21, the force sensor S, and the link A2 form a common hollow hole 22.

[0111] As Figure 11A shown, the first clamping member 61 is provided on the inner circumferential surface of the housing 11 between the motor control part C and the speed reducer 21. Moreover, the second clamping member 62 is provided at a position outside the force sensor S. In Figure 11A , the second clamping member 62 is provided on the surface of the link A2 on the side opposite to the surface where the force sensor S is coupled.

[0112] The front ends of these first clamping members 61 and second clamping members 62 extend to positions corresponding to the inner space of the hollow hole 22. Preferably, the front ends of the first clamping member 61 and the second clamping member 62 extend near the rotation center of the joint mechanism portion 5. Further, a holding portion for fixing the wire body L is provided at the front ends of the first clamping member 61 and the second clamping member 62, for example, a clip for clamping the wire body L. Thus, the wire body L is held by the first clamping member 61 and the second clamping member 62 in the inner space of the hollow hole 22. When the rotating portion 20 rotates, the wire body L also rotates and twists, and thus the wire body L is held with a certain degree of slack.

[0113] Figure 11B It is a view showing a first modification of the fourth embodiment. In Figure 11B inside the housing 11, the pipe member 60 is fixedly arranged in the speed reducer 21. Preferably, the central axis of the pipe member 60 is the same as the central axis of the hollow hole 22, and further, the inner diameter of the pipe member 60 is preferably substantially equal to the inner diameter of the hollow hole 22. Further, the inner surface of the pipe member 60 is smooth, and the pipe member 60 is supported by other support members (not shown) inside the housing 11. In Figure 11B the first clamping member 61 is arranged adjacent to one end of the pipe member 60.

[0114] In Figure 11B the wire body L is held by the first clamping member 61 and the second clamping member 62 and passes through the hollow hole 22 and inside the pipe member 60. Thus, compared with the case shown in Figure 11A the wire body L has more room for twisting. Further, when the rotating portion 20 rotates, the wire body L twists, but the pipe member 60 does not rotate. Thus, the possibility that the wire body L gets stuck in the hollow hole 22 and the pipe member 60 is small. The wire body L passes through the pipe member 60, and thus the pipe member 60 functions as a protective pipe for protecting the wire body L. The same applies to the embodiments described later.

[0115] Figure 11C It is a view showing a second modification of the fourth embodiment. In Figure 11C the pipe member 60 is inserted into the hollow hole 22 from the force sensor S side (link A2 side). And the front end of the pipe member 60 is located near the first clamping member 61, and the base end of the pipe member 60 is located near the force sensor S. Further, in Figure 11C etc., the first clamping member 61 is arranged on a projection 11a provided on the inner surface of the housing 11.

[0116] Figure 11D It is a view showing a third modification of the fourth embodiment. In Figure 11DIn this case, the second clamping member 62 is disposed on the inner peripheral surface of the hollow hole 22 of the speed reducer 21. In this situation, by disposing the second clamping member 62 at a position closer to the first clamping member 61 than the force sensor S of the rotating portion 20, the torsional reaction force of the wire body L that rotates and twists when the rotating portion 20 rotates is reduced from affecting the accuracy of the force sensor S.

[0117] Figure 11E FIG. is a diagram showing a fourth modification of the fourth embodiment. In Figure 11E this case, the second clamping member 62 is disposed on the inner peripheral surface of the hollow hole 22 of the speed reducer 21. And, a pipe member 60 configured as described in Figure 11B is arranged. Such a case is also included in the scope of the present disclosure.

[0118] Figure 11F FIG. is a diagram showing a fifth modification of the fourth embodiment. In Figure 11F this case, a part of the link A2 is rotatably engaged with the bearing 19, and the speed reducer 21 is not engaged with the bearing 19. The force sensor S is coupled to the link A2 inside the housing 11.

[0119] The wire body L extending from the motor control unit C is connected to the force sensor S through the hollow hole 22. And, another wire body Lb extending from the force sensor S extends to the outside of the link A2 through the hollow hole 22. As described above, the wire body Lb, like the wire body L, is a single wire body composed of the data line L1 and the power bus L2.

[0120] In such a structure, two wire bodies L and Lb are present in the hollow hole 22. However, the wire body L only extends between the force sensor S and the motor control unit C, and the other wire body Lb only extends between the force sensor S and the outside of the link A2. Therefore, in any cross-section of the hollow hole 22 with respect to the rotation axis of the joint mechanism portion 5, only one of the wire body L or the wire body Lb exists. Therefore, it can be seen that Figure 11E the same effect as described above can also be obtained in the structure shown.

[0121] Figure 11G FIG. is a diagram showing a sixth modification of the fourth embodiment. In Figure 11G this case, with respect to the structure shown in Figure 11F the same pipe member 60, first clamping member 61, and second clamping member 62 as described above are added. Such a case is also included in the scope of the present disclosure.

[0122] In addition, for ease of understanding, in Figure 11E and Figure 11F the two wire bodies L and Lb are depicted as crossing near the force sensor S, but in reality, it is not necessary to make the two wire bodies L and Lb cross near the force sensor S.

[0123] Figure 12A It is a side view of a part of a robot having a joint mechanism portion of the fifth embodiment. Figure 12A The joint mechanism portion 5-7 shown includes: a motor M, an encoder E that detects the rotational position of the motor shaft of the motor M, a speed reducer 21 that decelerates the rotation of the motor M, and a force sensor S that detects the force around the output shaft of the speed reducer 21. The motor M is connected to the motor control unit C. In addition, the force sensor S is coupled to the output shaft of the speed reducer 21 via an adapter flange F.

[0124] In Figure 12A the embodiment shown, the combination of the motor control unit C, the encoder E, the motor M, and the speed reducer 21 corresponds to the fixed portion 10, and the combination of the adapter flange F and the force sensor S corresponds to the rotating portion 20. However, the fixed portion 10 does not necessarily need to include the speed reducer 21, and the rotating portion 20 may not necessarily include the adapter flange F.

[0125] In Figure 12A it, the speed reducer 21 is preferably a harmonic gear device. Thereby, the motor shaft of the motor M and the input / output shaft of the speed reducer 21 can be coaxially arranged. Therefore, a common hollow hole 22 can be formed in the motor control unit C, the encoder E, the motor M, the speed reducer 21, the adapter flange F, and the force sensor S. In other words, in Figure 12A the embodiment shown, the common hollow hole 22 is formed in both the fixed portion 10 and the rotating portion 20. Or, it can also be said that the hollow hole 22 is formed in the joint mechanism portion 5.

[0126] Preferably, a pipe member 60 similar to the above is inserted into the hollow hole 22. The length of the pipe member 60 is shorter than that of the hollow hole 22, but the pipe member 60 can also be longer than the length of the hollow hole 22. Since the pipe member 60 is fixed to the rotating portion 20 side, when the rotating portion 20 rotates, the pipe member 60 itself rotates together with the rotating portion 20. In addition, even when the pipe member 60 is excluded, it is included in the scope of the fifth embodiment.

[0127] A line body L similar to the above passes through the inside of the pipe member 60. And a first clamping member 61 is provided at the motor control unit C, and its front end extends to one end of the hollow hole 22. Preferably, a gap is formed between the front end of the first clamping member 61 and the motor control unit C.

[0128] And a second clamping member 62 provided at the adapter flange F bends over the force sensor S, and its front end extends to the other end of the hollow hole 22. In order to avoid a decrease in the sensitivity of the force sensor S, it is preferable that the second clamping member 62 does not directly contact the force sensor S, and a gap is formed between the second clamping member 62 and the force sensor S.

[0129] As Figure 12AAs shown, it is preferable that the front ends of the first clamping member 61 and the second clamping member 62 are located on the central axis of the hollow hole 22. Through these first clamping member 61 and second clamping member 62, the wire body L is held inside the hollow hole 22.

[0130] In such a case, clearly the same effects as described above can also be obtained. Moreover, when using a harmonic gear device as the speed reducer 21, an additional effect of being able to reduce the outer diameter of the joint mechanism portions 5-7 can be obtained.

[0131] Moreover, Figure 12B FIG. is a diagram showing a modification of the fifth embodiment. Figure 12B The joint mechanism portion 5-8 shown has: a motor control unit C, an encoder E, a motor M, a fitting flange F, and a force sensor S. In Figure 12B the fitting flange F is coupled to the output shaft of the motor M.

[0132] In Figure 12B the embodiment shown, the combination of the motor control unit C, the encoder E, and the motor M corresponds to the fixed portion 10, and the combination of the fitting flange F and the force sensor S corresponds to the rotating portion 20.

[0133] In Figure 12B the motor M is preferably a direct drive motor. By using a direct motor drive, the speed reducer can be eliminated. Therefore, a common hollow hole 22 can be formed in the motor control unit C, the encoder E, the motor M, the fitting flange F, and the force sensor S. In other words, in Figure 12B the embodiment shown, the common hollow hole 22 is formed in both the fixed portion 10 and the rotating portion 20. Or, it can also be said that the hollow hole 22 is formed in the joint mechanism portion 5.

[0134] Moreover, a tube member 60 is inserted into the hollow hole 22, and the wire body L passing through the tube member 60 is held in the same manner by the first clamping member 61 and the second clamping member 62.

[0135] In such a case, clearly the same effects as described above can also be obtained. Moreover, in Figure 12B the embodiment shown, by adopting a direct drive motor, the speed reducer can be eliminated. Therefore, the joint mechanism portion 5-8 can be made lighter, and an additional effect of being able to reduce the outer diameter of the joint mechanism portion 5-8 can be obtained.

[0136] As an effect of at least one of the embodiments described above, the number of wire bodies L passing through the hollow hole 22 is reduced, so a surplus is given to the cross-sectional area of the hollow hole 22. Therefore, the hollow hole 22 can be reduced, and as a result, the entire robot having the joint mechanism portion can be miniaturized. Also, additional wire bodies can pass through the hollow hole 22.

[0137] The embodiments of the present disclosure have been described in detail, but the present disclosure is not limited to the above-described respective embodiments. These embodiments can be subjected to various additions, substitutions, changes, partial deletions, etc. within the scope of not departing from the gist of the invention, or within the scope of not departing from the idea and gist of the present invention derived from the content described in the claimed scope and its equivalents. For example, in the above-described embodiments, the order of each action and the order of each process are shown as an example and are not limited thereto. In addition, the same applies to the case where numerical values or mathematical formulas are used in the description of the above-described embodiments. Furthermore, the case of appropriately combining several of the foregoing embodiments is included within the scope of the present disclosure.

[0138] Regarding the above-described embodiments and modification examples, the following supplementary notes are further disclosed.

[0139] (Supplementary Note 1)

[0140] A joint mechanism part 5, 5', 5", 5a to 5n, 5-1 to 5-8, which has:

[0141] A fixed part 10;

[0142] A rotating part 20 that rotates relative to the fixed part 10;

[0143] A motor M disposed on one of the fixed part 10 and the rotating part 20;

[0144] Motor control parts C, C1 to C4 that control the motor M;

[0145] Force sensors S, S1 to S4 disposed on the other of the fixed part 10 and the rotating part 20, detecting the force acting around the joint axis of the joint mechanism part 5, 5', 5", 5a to 5n, 5-1 to 5-8; and

[0146] A single wire body L connected to the motor control parts C, C1 to C4 and the force sensors S, S1 to S4,

[0147] The single wire body L passes through a hollow hole 22 formed in at least a part of the joint mechanism part 5, 5', 5", 5a to 5n, 5-1 to 5-8.

[0148] (Supplementary Note 2)

[0149] The joint mechanism part 5, 5', 5", 5a to 5n, 5-1 to 5-8 according to Supplementary Note 1, wherein,

[0150] The single wire body L includes at least one of a data line L1 for transmitting and receiving control information related to the motor M and detection information detected by the force sensors S, S1 to S4, and a power supply bus L2 for supplying current to the motor control units C, C1 to C4 and the force sensors S, S1 to S4.

[0151] (Appendix 3)

[0152] The joint mechanism parts 5, 5’, 5”, 5a to 5n, 5-1 to 5-8 according to Appendix 1 or 2, wherein

[0153] The single wire body L is bus-connected or daisy-chain connected between the motor control units C, C1 to C4 and the force sensors S, S1 to S4.

[0154] (Appendix 4)

[0155] The joint mechanism parts 5, 5’, 5”, 5a to 5n, 5-1 to 5-8 according to any one of Appendices 1 to 3, wherein

[0156] The single wire body L twists within the hollow hole 22.

[0157] (Appendix 5)

[0158] The joint mechanism parts 5, 5’, 5”, 5a to 5n, 5-1 to 5-8 according to any one of Appendices 1 to 4, wherein a pipe member 60 is inserted into the hollow hole 22, and the single wire body L passes through the pipe member 60.

[0159] (Appendix 6)

[0160] The joint mechanism parts 5, 5’, 5”, 5a to 5n, 5-1 to 5-8 according to any one of Appendices 1 to 5, wherein

[0161] The control information related to the motor M and the detection information of the force sensors S, S1 to S4 are communicated using the same protocol.

[0162] (Appendix 7)

[0163] The joint mechanism parts 5, 5’, 5”, 5a to 5n, 5-1 to 5-8 according to any one of Appendices 1 to 6, wherein

[0164] The single wire body L is supported loosely inside the hollow hole 22.

[0165] (Appendix 8)

[0166] A robot 1, 1’, 1”, which has:

[0167] A plurality of joint mechanism parts 5, 5', 5", 5a to 5n, 5-1 to 5-8,

[0168] The plurality of joint mechanism parts 5, 5', 5", 5a to 5n, 5-1 to 5-8 each include:

[0169] A fixed part 10;

[0170] A rotating part 20 that rotates relative to the fixed part 10;

[0171] A motor M disposed on one of the fixed part 10 and the rotating part 20;

[0172] Motor control parts C, C1 to C4 that control the motor M; and

[0173] Force sensors S, S1 to S4 disposed on the other of the fixed part 10 and the rotating part 20, detecting the force acting around the joint axis of the joint mechanism part,

[0174] The robot further has a single wire body L connected to the respective motor control parts C, C1 to C4 and the force sensors S, S1 to S4 of the plurality of joint mechanism parts 5, 5', 5", 5a to 5n, 5-1 to 5-8,

[0175] The single wire body L passes through a hollow hole 22 formed in at least a part of each of the plurality of joint mechanism parts 5, 5', 5", 5a to 5n, 5-1 to 5-8.

[0176] (Supplementary Note 9)

[0177] The robot 1, 1', 1" according to Supplementary Note 8, wherein,

[0178] The single wire body L includes at least one of a data line L1 for transmitting and receiving control information related to the motor M and detection information detected by the force sensors S, S1 to S4, and a power supply bus L2 for supplying current to the motor control parts C, C1 to C4 and the force sensors S, S1 to S4.

[0179] The robot has:

[0180] A power supply part 200 that supplies current to at least one of the respective motor control parts C, C1 to C4 and the force sensors S, S1 to S4 of the plurality of joint mechanism parts 5, 5', 5", 5a to 5n, 5-1 to 5-8 through the power supply bus L2; and

[0181] The upper control unit 100 inputs and outputs both the control information and the detection information to and from the motor control units C, C1 to C4 and the force sensors S, S1 to S4 of the plurality of joint mechanism units 5, 5', 5'', 5a to 5n, 5-1 to 5-8 through the data line L1.

[0182] (Appendix 10)

[0183] The robot 1, 1', 1'' according to Appendix 9, wherein,

[0184] The upper control unit 100 includes an instruction mechanism unit 111,

[0185] The instruction mechanism unit 111 selects at least one of the motor control units C, C1 to C4 and the force sensors S, S1 to S4 of a specific joint mechanism unit among the plurality of joint mechanism units 5, 5', 5'', 5a to 5n, 5-1 to 5-8, and outputs an instruction through the data line L1.

[0186] (Appendix 11)

[0187] The robot 1, 1', 1'' according to Appendix 10, wherein,

[0188] The single linear body L includes a plurality of address buses L4 to L6,

[0189] The instruction mechanism unit 111 outputs the instruction to the specific joint mechanism unit using the plurality of address buses L4 to L6.

[0190] Reference Signs

[0191] 1, 1', 1'' robots;

[0192] 5, 5', 5'', 5a to 5n, 5-1 to 5-8 joint mechanism units;

[0193] 10 fixing part;

[0194] 11 housing;

[0195] 11a protrusion;

[0196] 13 output shaft;

[0197] 19 bearing;

[0198] 20 rotating part;

[0199] 21 speed reducer;

[0200] 22 hollow hole;

[0201] 23 first connecting member;

[0202] 24 Second connecting member;

[0203] 51 End effector;

[0204] 60 Pipe member;

[0205] 61 First clamping member;

[0206] 62 Second clamping member;

[0207] 100 Upper control unit;

[0208] 111 ID indicating mechanism unit;

[0209] 112 Power supply unit for control communication;

[0210] 200 Power supply unit;

[0211] C, C1 to C4 motor control units;

[0212] CC, SC communication units;

[0213] E Encoder;

[0214] L Line body;

[0215] L1 Data line;

[0216] L2 Power bus;

[0217] L4 to L6 Address buses;

[0218] L7 Power bus for control communication;

[0219] M Motor;

[0220] S, S1 to S4 Sensors.

Claims

1. An articulation mechanism unit, characterized in that, it has: a fixed part; a rotating part that rotates relative to the fixed part; a motor disposed on one of the fixed part and the rotating part; a motor control unit that controls the motor; a force sensor disposed on the other of the fixed part and the rotating part, detecting a force acting around the joint axis of the articulation mechanism unit; and a single wire body connected to the motor control unit and the force sensor, the single wire body passing through a hollow hole formed in at least a part of the articulation mechanism unit.

2. The articulation mechanism unit according to claim 1, characterized in that, the single wire body includes at least one of a data line for transmitting and receiving control information related to the motor and detection information detected by the force sensor, and a power bus for supplying current to the motor control unit and the force sensor.

3. The articulation mechanism unit according to claim 1 or 2, characterized in that, the single wire body is connected in a bus connection or a daisy chain connection between the motor control unit and the force sensor.

4. The articulation mechanism unit according to claim 1 or 2, characterized in that, the single wire body twists within the hollow hole.

5. The articulation mechanism unit according to claim 1 or 2, characterized in that, a tube member is inserted into the hollow hole, and the single wire body passes through the tube member.

6. The articulation mechanism unit according to claim 1 or 2, characterized in that, control information related to the motor and detection information of the force sensor are communicated using the same protocol.

7. The articulation mechanism unit according to claim 1 or 2, characterized in that, the single wire body is loosely supported inside the hollow hole.

8. A robot, characterized in that, it has: a plurality of articulation mechanism units, each of the plurality of articulation mechanism units including: a fixed part; a rotating part that rotates relative to the fixed part; a motor disposed on one of the fixed part and the rotating part; a motor control unit that controls the motor; and a force sensor disposed on the other of the fixed part and the rotating part, detecting a force acting around the joint axis of the articulation mechanism unit, the robot further has: a single wire body connected to the motor control unit and the force sensor of each of the plurality of articulation mechanism units, the single wire body passing through a hollow hole formed in at least a part of each of the plurality of articulation mechanism units.

9. The robot according to claim 8, characterized in that, the single wire body includes at least one of a data line for transmitting and receiving control information related to the motor and detection information detected by the force sensor, and a power bus for supplying current to the motor control unit and the force sensor, the robot has: a power supply unit that supplies current to at least one of the motor control unit and the force sensor of each of the plurality of articulation mechanism units through the power bus; and a host control unit that inputs and outputs the control information and the detection information to and from the motor control unit and the force sensor of the plurality of articulation mechanism units through the data line.

10. The robot according to claim 9, wherein, the upper control unit includes an instruction mechanism unit, the instruction mechanism unit selects at least one of the motor control unit and the force sensor of a specific joint mechanism unit among the plurality of joint mechanism units, and outputs an instruction through the data line.

11. The robot according to claim 10, wherein, the single wire body includes a plurality of address buses, the instruction mechanism unit outputs the instruction to the specific joint mechanism unit using the plurality of address buses.

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