Drag chain falling-off detection device and robot system

Abstract

The invention relates to a drag chain falling-off detection device and a robot system. The drag chain falling-off detection device comprises a detection seat; the detection executing mechanism is arranged on the detection seat and is used for being arranged on a falling path of the drag chain, and the detection executing mechanism is used for being connected with the falling drag chain in an abutting mode; the detection switch is connected with the detection executing mechanism, and the detection executing mechanism is used for generating pulling force on the detection switch so as to drive the detection switch to generate a detection signal. And a detection signal is transmitted to the controller so as to control the robot to stop moving on the truss immediately, so that the problem that a power cable, an encoder cable, a signal cable and the like mounted in a drag chain are broken or broken in a hidden manner due to strong pulling or extrusion of the cable caused by continuous movement of the robot is effectively avoided, and the safety of the truss robot is ensured; time and cost for maintaining damaged cables are saved, and the truss robot is prevented from being shut down for maintenance to affect production efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of equipment safety detection, and in particular to a drag chain detachment detection device and a robot system. Background Art

[0002] A gantry robot is a type of industrial automation equipment based on a Cartesian coordinate system. It achieves precise positioning and movement in three dimensions through the linkage of the X, Y, and Z axes. It is primarily used for material handling, machine tool loading and unloading, and automated production line operations. Its core components include a rigid gantry structure, modular design, and high-precision servo control. During operation, the gantry robot moves along a guide rail on a crossbeam to perform workpiece handling, loading and unloading, welding, and assembly. Its power cables, encoder cables, and signal cables for various sensors are mounted on drag chains for securement and guidance, moving with the robot.

[0003] However, in actual work, the drag chain of the truss robot may break due to its own poor quality, expiration of life, improper installation and maintenance, etc., which may cause the cable to fall off, sag and bend. Due to the lack of corresponding detection devices, the robot cannot sense it in time after the drag chain and cable fall off. At this time, the robot will continue to move and pull or squeeze the cable forcefully, causing the power cable, encoder cable, signal cable, etc. to break or break secretly, affecting the normal operation of the truss robot. Repairing damaged cables is time-consuming and costly, and will cause the truss robot to stop, affecting production efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a drag chain detachment detection device and a robot system to address the problem of drag chain detachment causing cable damage by pulling or squeezing.

[0005] In a first aspect of the present application, a drag chain detachment detection device is provided, comprising:

[0006] Detection seat;

[0007] a detection actuator, the detection actuator being mounted on the detection seat and arranged on the falling path of the drag chain, the detection actuator being used to abut against the drag chain that has fallen off; and

[0008] The detection switch is connected to the detection actuator, and the detection actuator is used to generate a pulling force on the detection switch to drive the detection switch to generate a detection signal.

[0009] The drag chain detachment detection device of the present invention is applied in a robot system in a working environment to detect a broken or detached drag chain. During operation, when the drag chain detaches due to breakage or other reasons, the drag chain will fall in the height direction. Since a detection actuator is installed on the falling path of the drag chain, when the drag chain falls and collides with the detection actuator, it will generate an impact force on the detection actuator, thereby causing the detection actuator to generate a pulling force on the detection switch. At this time, the detection switch can quickly generate a detection signal and transmit the detection signal to the controller to control the robot to stop moving on the truss immediately, thereby effectively preventing the robot from continuing to move and causing strong pulling or squeezing of the cable, resulting in breakage or hidden breakage of the power cable, encoder cable, signal cable, etc. installed inside the drag chain, ensuring the safety of the truss robot, saving time and cost in repairing damaged cables, and preventing the truss robot from being shut down for maintenance and affecting production efficiency.

[0010] The technical solution of this application is further described below:

[0011] In one embodiment, the detection seat includes a fixed rod and a detection rocker arm, the fixed rod and the detection rocker arm are arranged relative to each other to form an installation cavity, the detection actuator is arranged in the installation cavity, and one end of the detection actuator is connected to the fixed rod, the other end of the detection actuator is connected to the detection rocker arm, and the detection switch is connected to the detection rocker arm.

[0012] In one embodiment, the detection base further includes a carrier plate, the detection switch is arranged on the carrier plate, and a positioning component is provided on the carrier plate, and the positioning component is used to fix the carrier plate on the work site.

[0013] In one embodiment, the positioning assembly includes a plurality of suction cups, which are used to be adsorbed and fixed to the work site; or, the positioning assembly includes a plurality of moving wheels, which are provided with brake units.

[0014] In one embodiment, the detection seat further includes an elastic connecting member, one end of the elastic connecting member is connected to the detection rocker, and the other end of the elastic connecting member is disposed on the carrier plate.

[0015] In one embodiment, the direction in which the carrier plate moves away from the detection rocker is defined as a first direction, the carrier plate is provided with a plurality of mounting portions, and the elastic connector is provided with a connector at one end close to the carrier plate, and the connector can be selectively connected to any of the mounting portions.

[0016] In one embodiment, the detection actuator includes a trigger rope, one end of the trigger rope is connected to the fixing rod, and the other end of the trigger rope is connected to the detection swing rod.

[0017] In one embodiment, the trigger ropes are provided in plurality, and the plurality of trigger ropes are arranged side by side and spaced apart along the height direction of the detection seat;

[0018] Alternatively, the detection actuator further includes a support rope, and a plurality of the trigger ropes are provided, the plurality of trigger ropes are arranged side by side and spaced apart along the height direction of the detection seat, and two adjacent trigger ropes are connected by at least one support rope.

[0019] In one embodiment, when the detached drag chain collides with the detection actuator from the front, the detection switch is installed upright, and the detection switch is provided with a contact unit, and the contact unit is switched from a normally closed state to an open state;

[0020] Alternatively, when the detached drag chain collides with the detection actuator from the side, the detection switch is installed tilted, and the detection switch is provided with a contact unit, and the contact unit is switched from a normally closed state to an open state.

[0021] In a second aspect of the present application, a robot system is further provided, comprising:

[0022] truss;

[0023] a robot, the robot being movably mounted on the truss, the robot having a drag chain with a cable installed inside the drag chain; and

[0024] The drag chain detachment detection device as described in any of the above embodiments, wherein the drag chain detachment detection device is arranged below the moving path of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings that constitute a part of this application are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 Schematic diagram of the structure of a robot system according to an embodiment.

[0028] Figure 2 Schematic diagram of the structure of a drag chain detachment detection device according to an embodiment.

[0029] Figure 3 This is a structural diagram of an embodiment in which a detection switch is installed at an angle.

[0030] Figure 4 Schematic diagram of the structure of a drag chain colliding with a drag chain detachment detection device in one embodiment.

[0031] Description of reference numerals:

[0032] 100. Robot system; 10. Truss; 20. Robot; 21. Drag chain; 30. Drag chain detachment detection device; 31. Detection base; 311. Fixing rod; 312. Detection swing arm; 313. Carrier plate; 313a. Mounting portion; 314. Elastic connector; 32. Detection actuator; 321. Trigger rope; 33. Detection switch. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0036] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0039] See Figure 2 , a drag chain detachment detection device 30 is shown in one embodiment of the present application. It includes a detection base 31, a detection actuator 32, and a detection switch 33. The detection base 31 is the main load-bearing component of the drag chain detachment detection device 30, and is used to integrate the detection actuator 32 and the detection switch 33. Typically, the detection base 31 is installed on the ground at the workplace or on other designated load-bearing objects.

[0040] The detection actuator 32 is installed on the detection seat 31 and is used to be arranged on the falling path of the drag chain 21. The detection actuator 32 is used to abut against the drag chain 21 that has fallen off; the detection switch 33 is connected to the detection actuator 32, and the detection actuator 32 is used to generate a pulling force on the detection switch 33 to drive the detection switch 33 to generate a detection signal.

[0041] Please combine Figure 1 and Figure 4In summary, the implementation of the technical solution of this embodiment will achieve the following beneficial effects: the drag chain detachment detection device 30 of this solution is applied to the robot system 100, and is used in a working environment to detect a broken and detached drag chain 21. During operation, when the drag chain 21 detaches due to a break or other reason, the drag chain 21 will fall in the height direction. Since the detection actuator 32 is installed on the falling path of the drag chain 21, when the drag chain 21 falls and collides with the detection actuator 32, an impact force is generated on the detection actuator 32, thereby causing the detection actuator 32 to fall. A pulling force is generated on the detection switch 33. At this time, the detection switch 33 can quickly generate a detection signal and transmit the detection signal to the controller to control the robot 20 to stop moving on the truss 10 immediately, thereby effectively preventing the robot 20 from causing strong pulling or squeezing of the cables due to continued movement, resulting in breakage or hidden breakage of the power cables, encoder cables, signal cables, etc. installed inside the drag chain 21, ensuring the safety of the truss 10 robot 20, saving time and cost in repairing damaged cables, and preventing the truss 10 robot 20 from shutting down for maintenance and affecting production efficiency.

[0042] Please continue reading Figure 2 In one embodiment, the detection base 31 includes a fixed rod 311 and a detection rocker 312. The fixed rod 311 and the detection rocker 312 are arranged relative to each other to form an installation cavity. The detection actuator 32 is arranged in the installation cavity, and one end of the detection actuator 32 is connected to the fixed rod 311, and the other end of the detection actuator 32 is connected to the detection rocker 312. The detection switch 33 is connected to the detection rocker 312.

[0043] The fixing rod 311 is used for fixed installation in the workplace, and the installation method can be at least one of screw connection, welding, clamping, etc. The fixing rod 311 is used to load one end of the positioning detection actuator 32.

[0044] The detection swing rod 312 is connected to the detection switch 33 and the other end of the detection actuator 32. When the detached drag chain 21 falls and collides with the detection actuator 32, the detection actuator 32 deforms or moves, synchronously driving the detection swing rod 312 to move. The detection swing rod 312 triggers the detection switch 33, causing it to generate a detection signal. This contact-type detection solution has high detection accuracy and good reliability.

[0045] Please continue reading Figure 2Furthermore, in yet another embodiment, the detection base 31 further includes a carrier plate 313, on which the detection switch 33 is disposed, and a positioning assembly is provided on the carrier plate 313, the positioning assembly being used to secure the carrier plate 313 to the work site. By mounting the detection switch 33 on the carrier plate 313, the working position of the detection switch 33 can be flexibly moved and adjusted by moving the carrier plate 313, and the detection actuator 32 can then be adjusted to a preset detection working state by moving the detection pendulum 312. After the positions of the various components are adjusted, the positioning assembly is connected and fixed to the work site to achieve positioning of the detection switch 33 and the detection pendulum 312, as well as support and positioning of the detection actuator 32.

[0046] Specifically, in an optional embodiment, the positioning assembly includes a plurality of suction cups, which are used to be fixed to the workplace by adsorption. The suction cups can be fixed to the workplace by adsorption force, and the fixing method is simple, and the assembly and disassembly is convenient and labor-saving. Alternatively, in another optional embodiment, the positioning assembly includes a plurality of moving wheels, and the moving wheels are provided with brake units. On the one hand, the provided moving wheels facilitate the movement of the carrier plate 313, avoiding the need for staff to carry the carrier plate 313 and bear the weight of components such as the detection switch 33 and the carrier plate 313 when lifting the carrier plate 313, resulting in high labor intensity; on the other hand, after moving to the designated position and completing the adjustment of components such as the detection actuator 32, the brake unit is operated to prevent the moving wheel from moving freely, thereby ensuring the structural stability of the entire drag chain detachment detection device 30, which helps to improve the detection accuracy.

[0047] Please continue reading Figure 2 and Figure 4 In addition, based on any of the above embodiments, the detection actuator 32 includes a trigger rope 321, one end of which is connected to the fixed rod 311, and the other end of which is connected to the detection swing rod 312. When the drag chain 21 breaks and falls, colliding with the trigger rope 321, the trigger rope 321 bends and deforms, thereby exerting a pulling force on the detection swing rod 312. The detection swing rod 312 deflects and triggers the detection switch 33, causing the detection switch 33 to generate a detection signal, thereby controlling the robot 20 to stop moving, thereby preventing the robot 20 from pulling or squeezing the cable.

[0048] Furthermore, the drag chain detachment detection device 30 also includes an alarm, which is directly electrically connected to the detection switch 33, or indirectly electrically connected to the detection switch 33 through a controller. When the robot 20 stops moving based on the detection signal, the alarm will also synchronously issue an alarm prompt to promptly remind the staff to intervene and eliminate the fault problem.

[0049] Optionally, the alarm may be any one of a sound alarm, a light alarm, an audible and visual alarm, etc., and may be flexibly selected according to actual needs.

[0050] Please continue reading Figure 2 Furthermore, in another embodiment, the detection seat 31 also includes an elastic connecting member 314 , one end of the elastic connecting member 314 is connected to the detection rocker 312 , and the other end of the elastic connecting member 314 is disposed on the carrier plate 313 .

[0051] When the trigger rope 321 is hit by the falling drag chain 21 and is bent and deformed, it will pull the detection pendulum 312 to cause deflection. At this time, the elastic connector 314 is pulled by the detection pendulum 312 and stretched; when the fault is eliminated and the drag chain 21 is separated from the trigger rope 321, the elastic connector 314 recovers its deformation and applies a rebound tension to the detection pendulum 312, thereby realizing automatic resetting of the detection pendulum 312 and improving the degree of automation of the device.

[0052] For example, the elastic connector 314 may be an elastic band, a spring, an elastic cord, an elastic rope, or the like.

[0053] Please continue reading Figure 2 Furthermore, based on the above embodiment, the direction in which the carrier plate 313 moves away from the detection pendulum 312 is defined as a first direction. The carrier plate 313 is provided with multiple mounting portions 313a. The elastic connector 314 is provided with a connector at one end near the carrier plate 313. The connector can be selectively connected to any mounting portion 313a. In this way, by connecting the connector to mounting portions 313a at different distances from the detection pendulum 312, the degree of expansion and contraction of the elastic connector 314 can be flexibly adjusted, thereby adjusting the elastic tension. This elastic tension acts on the trigger rope 321 through the detection pendulum 312, ensuring that the trigger rope 321 remains stretched straight. This allows the trigger rope 321 to be more accurately transmitted to the detection switch 33 after being impacted by the drag chain 21, thereby improving detection sensitivity.

[0054] Furthermore, in yet another embodiment, multiple trigger ropes 321 are provided, and the multiple trigger ropes 321 are arranged side by side and spaced apart along the height direction of the detection base 31. On the one hand, the provision of multiple trigger ropes 321 spaced apart side by side along the height direction can meet the need for the falling tow chain 21 to randomly collide with any of the trigger ropes 321 due to factors such as unstable posture, thereby improving the reliability of collision detection. On the other hand, there is also the possibility that the collision impact force caused by the falling tow chain 21 is too large, causing at least one trigger rope 321 that contacts the tow chain 21 to break. However, the remaining trigger ropes 321 can still ensure effective collision with the tow chain 21, ensuring that they can effectively pull the detection pendulum 312, thereby ensuring the detection accuracy of the detection switch 33.

[0055] Alternatively, as an alternative to the above embodiment, the detection actuator 32 further includes a support rope, and multiple trigger ropes 321 are provided. The multiple trigger ropes 321 are spaced side by side along the height of the detection base 31, and adjacent trigger ropes 321 are connected by at least one support rope. Given the heavy weight of the drag chain 21 and the cables installed therein, the impact force exerted on the trigger ropes 321 after a fall is significant. The addition of a support rope between adjacent trigger ropes 321 improves the overall structural strength and impact resistance of the detection actuator 32, thereby preventing irreversible structural damage caused by the impact of the drag chain 21.

[0056] The support rope and the trigger rope 321 may be installed by any one of screw connection, lashing, and hoop connection.

[0057] It should be noted that, considering that the trigger rope 321 needs to meet the requirements of light weight, high tensile strength, low elongation, and strong corrosion resistance, the trigger rope 321 is made of high-strength polyethylene fiber. Of course, in other optional embodiments, the trigger rope 321 can also be made of stainless steel wire rope, nylon rope (thread), etc.

[0058] It should also be noted that the support rope can be made of the same material as or a different material from the trigger rope 321 , and the choice can be flexible.

[0059] Please continue reading Figure 2 In actual operation, the falling drag chain 21 may cause different collisions with the drag chain detachment detection device 30. For example, in one embodiment, when the falling drag chain 21 collides with the detection actuator 32 from the front. A frontal collision is a collision from the top to the bottom that hits the trigger rope 321. At this time, the detection switch 33 is installed upright, and the detection switch 33 is provided with a contact unit, which switches from a normally closed state to an open state. That is, when the trigger rope 321 is collided with the drag chain 21 and drives the detection rocker 312 to deflect, the movable cover drives the contact unit of the detection switch 33 to move, so that the contact unit switches from a normally closed state to an open state, thereby generating a detection signal.

[0060] Please continue reading Figure 3 Alternatively, when the detached drag chain 21 collides with the detection actuator 32 from the side, that is, when it strikes the trigger rope 321 horizontally, the detection switch 33 is installed at an angle. For example, the detection switch 33 is installed at a 45° angle. The detection switch 33 includes a contact unit that switches from a normally closed state to an open state. Installing the detection switch 33 at a 45° angle ensures that any movement of the detection rocker 312 will cause the contact unit of the detection switch 33 to move.

[0061] Please continue reading Figure 1 In addition to the above, the present application further provides a robot system 100, comprising a truss 10, a robot 20, and a drag chain detachment detection device 30 according to any of the above embodiments. The robot 20 is movably mounted on the truss 10. For example, the robot 20 has a movable chassis that can move along a guide rail on the truss 10.

[0062] The robot 20 has a drag chain 21, which is equipped with cables. These cables include, but are not limited to, power cables, encoder cables, and signal cables for various sensors. A drag chain detachment detection device 30 is located below the robot 20's movement path. If the drag chain 21, which moves with the robot 20, detaches and falls, collides with the drag chain detachment detection device 30, immediately stopping the robot 20 and preventing the cables from being pulled or squeezed, potentially damaging them.

[0063] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A drag chain detachment detection device, characterized in that: include: Detection seat; A detection actuator, which is mounted on the detection seat and is arranged on the falling path of the drag chain, and is used to abut against the drag chain that has fallen off; as well as The detection switch is connected to the detection actuator, and the detection actuator is used to generate a pulling force on the detection switch to drive the detection switch to generate a detection signal.

2. The drag chain detachment detection device according to claim 1, characterized in that: The detection seat includes a fixed rod and a detection rocker arm, the fixed rod and the detection rocker arm are arranged relative to each other to form an installation cavity, the detection actuator is arranged in the installation cavity, and one end of the detection actuator is connected to the fixed rod, the other end of the detection actuator is connected to the detection rocker arm, and the detection switch is connected to the detection rocker arm.

3. The drag chain detachment detection device according to claim 2, characterized in that: The detection seat also includes a carrier plate, the detection switch is arranged on the carrier plate, and a positioning component is arranged on the carrier plate, and the positioning component is used to fix the carrier plate on the work site.

4. The drag chain detachment detection device according to claim 3, characterized in that: The positioning assembly includes a plurality of suction cups, which are used to be adsorbed and fixed to the work site; or the positioning assembly includes a plurality of moving wheels, which are provided with brake units.

5. The drag chain detachment detection device according to claim 3, characterized in that: The detection seat further includes an elastic connecting member, one end of which is connected to the detection rocker, and the other end of which is arranged on the carrier plate.

6. The drag chain detachment detection device according to claim 5, characterized in that: The direction in which the carrier plate moves away from the detection rocker is defined as a first direction. The carrier plate is provided with a plurality of mounting portions. The elastic connector is provided with a connector at one end close to the carrier plate. The connector can be selectively connected to any of the mounting portions.

7. The drag chain detachment detection device according to claim 2, characterized in that: The detection actuator includes a trigger rope, one end of the trigger rope is connected to the fixing rod, and the other end of the trigger rope is connected to the detection swing rod.

8. The drag chain detachment detection device according to claim 7, characterized in that: The trigger ropes are provided in plurality, and the plurality of trigger ropes are arranged side by side and spaced apart along the height direction of the detection seat; Alternatively, the detection actuator further includes a support rope, and a plurality of the trigger ropes are provided, the plurality of trigger ropes are arranged side by side and spaced apart along the height direction of the detection seat, and two adjacent trigger ropes are connected by at least one support rope.

9. The drag chain detachment detection device according to claim 2, characterized in that: When the falling drag chain collides with the detection actuator from the front, the detection switch is installed upright, and the detection switch is provided with a contact unit, and the contact unit switches from a normally closed state to an open state; Alternatively, when the detached drag chain collides with the detection actuator from the side, the detection switch is installed tilted, and the detection switch is provided with a contact unit, and the contact unit is switched from a normally closed state to an open state.

10. A robot system, characterized in that: include: truss; a robot, the robot being movably mounted on the truss, the robot having a drag chain with a cable installed inside the drag chain; as well as The drag chain detachment detection device according to any one of claims 1 to 9, wherein the drag chain detachment detection device is arranged below the moving path of the robot.

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