TORQUE SENSOR SUPPORT STRUCTURE AND ROBOT

Abstract

A torque sensor support structure is provided. A torque sensor is arranged between a decelerator and a first member for mounting the decelerator and detects torque acting between the decelerator and the first member. An adapter is provided for fixing the torque sensor to the first member. The adapter prevents deformation of the first member due to a moment and / or force acting on the torque sensor.

Description

{Technical Field}The present disclosure relates to torque sensor support structures and robots.{Prior Art}A known torque sensor of the prior art includes at least two sensor units provided between a first structural body and a second structural body coupled to each other by a third structural body. In this torque sensor, the rigidity of the first structural body or the second structural body disposed closer to the sensor units is set higher than that of the other (see, e.g., Patent Literature 1).{Known Literature List}{Patent Literature}{PTL 1} Japanese Unexamined Patent Application, Publication No. 2020-12660{Summary of the Invention}{Technical Problem}In a case where the torque sensor is disposed between a retarder and a retarder fixing member, the rigidity of the retarder fixing member may sometimes be low. In this case, even when the rigidity of the torque sensor is higher, the torque sensor is distorted in response to deformation of the retarder fixing member. Thus, there is a need for a torque sensor support structure and a robot in which torque can be accurately detected even when the retarder fixing member has low rigidity.{Solution of Problem}One aspect of the present disclosure is a torque sensor support structure including an adapter that fixes a torque sensor to a first member. The torque sensor is disposed between a retarder and the first retarder mounting member, and detects torque acting around an axis of the retarder. The adapter suppresses deformation of the first member caused by a force and / or a torque acting on the torque sensor.{Brief Description of Drawings}{ FIG. 1 } FIG. 1 is a partial vertical sectional view illustrating a robot according to an embodiment of the present disclosure.{ FIG. 2 } FIG. 2 is a partially enlarged vertical sectional view showing a torque sensor support structure in the robot of FIG. 1.{ FIG. 3 } FIG. 3 is an exploded vertical sectional view of a retarder, a torque sensor, and an O-ring in the robot of FIG. 1.{ FIG. 4 } FIG. 4 is a vertical sectional view illustrating the retarder, the torque sensor, and the O-ring of FIG. 3 in an installed state.{ FIG. 5 } FIG. 5 is an exploded vertical sectional view illustrating an adapter, O-rings, and a base to be combined with the mounting unit of FIG. 4.{ FIG. 6 } FIG. 6 is a partially enlarged vertical sectional view illustrating how the torque sensor and the adapter are combined with each other in the torque sensor support structure of FIG. 2.{ FIG. 7 } FIG. 7 is a partially enlarged vertical sectional view illustrating the beginning of engagement of the torque sensor with an insertion portion of the adapter of FIG. 6.{ FIG. 8 } FIG. 8 is a partially enlarged vertical sectional view illustrating a state in which the engagement between the insertion portion of the adapter of FIG. 6 and the torque sensor is completed.{ FIG. 9 } FIG. 9 is a vertical sectional view illustrating a state in which the adapter, the O-rings, and the base are combined with the mounting unit of FIG. 4.{Description of Embodiments}A torque sensor support structure and a robot 1 according to an embodiment of the present disclosure will be described below with reference to the drawings.The robot 1 according to this embodiment is, for example, a vertical articulated robot. As shown in FIG. 1, the robot 1 includes a base (a first member) 2 fixed to an installation surface such as a floor surface. The robot 1 includes a rotating body (a second link) 3 supported to be rotatable about a first axis A with respect to the base 2.The base 2 and the rotating body 3 are composed of, for example, a light metal material such as an aluminum alloy. The base 2 has a tubular shape with openings 2 aand 2 bopen on both sides thereof in the direction of the first axis A. In a part of a side wall, the base 2 has another opening 2c for inserting therethrough a wiring member such as a cable. The base 2 includes a partition wall 2 dfor partitioning the internal space thereof in the direction of the first axis A.A retarder 4 that rotationally drives the rotating body 3 about the first axis (axis) A with respect to the base 2 is disposed between the base 2 and the rotating body 3. A torque sensor 5 and an adapter 6 are fixed between the retarder 4 and the partition wall 2d of the base 2. The torque sensor 5 is disposed between the retarder 4 and the base 2, and detects torque acting around the first axis A between the retarder 4 and the base 2.A support structure for the torque sensor 5 according to this embodiment fixes the torque sensor 5 to the base 2 with the adapter 6 interposed therebetween. The retarder 4 has a cylindrical shape and is indirectly fixed to the base 2 with the adapter 6 and the torque sensor 5 interposed therebetween. The retarder 4 includes an output portion 7 directly fixed to the rotating body 3 and a housing 8 indirectly fixed to the base 2.The torque sensor 5 is in the form of a circular plate having a smaller outer diameter than the retarder 4. the torque sensor 5 comprises an annular first portion 9 arranged radially inwardly and an annular second portion 10 arranged radially outwardly. The torque sensor 5 comprises a third region 11 which couples the first region 9 and the second region 10 to one another.In the third region 11, a sensor such as a strain gauge for detecting torque based on strain is disposed. The sensor may be disposed at a position close to either the first region 9 or the second region 10, or may be disposed equidistant from both.The first portion 9 of the torque sensor 5 is provided with a plurality of through holes 9 athat penetrate in the thickness direction and that are spaced apart circumferentially. At an end surface 5 dof the first region 9, the torque sensor 5 includes a circular depression 5 ccentered on the first axis A.On the other hand, the housing 8 of the retarder 4 includes a protrusion 8 bthat engages with the recess 5 cof the torque sensor 5, and an end surface 8 cthat is in close contact with the end surface 5 dof the torque sensor 5. The projection 8b of the housing 8 and the recess 5c of the torque sensor 5 are engaged with each other with an extremely short engagement length of, for example, 1 to 2 mm.In a state where the protrusion 8 bis engaged with the recess 5 cand the end surface 8 cis in close contact with the end surface 5 d, screws 12 inserted through the through holes 9 aare screwed to screw holes 8 a. Accordingly, the torque sensor 5 is fixed to the retarder 4. The second portion 10 of the torque sensor 5 is provided with a plurality of bolt holes 10 athat penetrate in the thickness direction and that are spaced apart circumferentially.The adapter 6 is composed of a material such as iron having a higher strength than the material used for forming the base 2, and has the shape of a large circular plate on the radially outer side of the torque sensor 5. The adapter 6 is provided with a plurality of bolt holes 6 athat penetrate in the thickness direction and are spaced apart from each other in the circumferential direction about the first axis A. The adapter 6 is fixed to the torque sensor 5 by screwing bolts 13 extending through the through holes 6 awith the bolt holes 10 ain the second region 10.The adapter 6 has an outer diameter sufficiently larger than the outer diameter of the torque sensor 5. Specifically, the adapter 6 extends further radially outward beyond an outer peripheral surface 5 aof the torque sensor 5. In the example shown in FIG. 1, the outer diameter of the adapter 6 corresponds to the outer diameter of the retarder 4.Further, the adapter 6 has a size covering the entire torque sensor 5 in the radial direction.Specifically, the adapter 6 has a size required for fixing and which extends radially inward from the second region 10 of the torque sensor 5. The adapter 6 also has a thickness sufficiently larger than the thickness of the torque sensor 5. Accordingly, the adapter 6 ensures sufficient rigidity for suppressing deformation of the base 2.The adapter 6 includes a first engagement portion 15 formed by a circular protrusion that engages with a circular recess 14 provided in the base 2 and centered on the first axis A. The adapter 6 also includes a second engaging portion 16 formed of a circular groove for engaging with the outer peripheral surface 5 aof the torque sensor 5.As shown in FIG. 2, the second engagement portion 16 includes an inner circumferential surface 16 adisposed radially outward from the outer circumferential surface 5 aof the torque sensor 5 with a gap therebetween. The second engagement portion 16 also includes a lower surface 16 bto which an end surface 5 bin the thickness direction of the second portion 10 of the torque sensor 5 is abutted.The second engagement portion 16 includes an insertion portion 16 cthat engages with only one end of the outer peripheral surface 5 awhen the end surface 5 bof the torque sensor 5 is brought into abutment with the lower surface 16 b. The engagement length of the insertion portion 16 cis set to be slightly larger than an appropriate crush (an appropriate degree of crush) of an O-ring (seal member) 17 described later, but is preferably as small as possible. When the appropriate crush of the O-ring 17 is 0.7 mm, for example, the engagement length of the insertion portion 16 cis preferably greater than 0.7 mm and less than or equal to 2 mm.The through holes 6 aare provided at positions that are aligned with the screw holes 10 awhen the outer circumferential surface 5 aof the torque sensor 5 is engaged with the second engagement portion 16.The base 2 is provided with a plurality of through-holes 2e at positions aligned with the through-holes 6a when the first engaging portion 15 of the adapter 6 is engaged with the recess 14.The bolts 13 extending through the through-holes 2 ein the base 2 and the through-holes 6 ain the adapter 6 are screwed to the bolt holes 10 ain the torque sensor 5. Accordingly, the torque sensor 5 and the adapter 6 can be fixed to the base 2 with the joint fastening using the bolts 13.An outer portion of the adapter 6 on the radially outer side of the torque sensor 5 has parallel end surfaces (flat surfaces) 6 band 6 cpositioned on both sides in the thickness direction and orthogonal to the thickness direction. The base 2 has an end surface (flat surface) 2 ffacing the end surface 6 bat the outer portion of the adapter 6 with a gap therebetween in the direction of the first axis A. The end surface (flat surface) 8 cof the housing 8 faces the end surface 6 con the outer portion of the adapter 6 with a gap therebetween in the direction of the first axis A.An annular O-ring 18 surrounding the first engaging portion 15 is disposed between the end surface 2f of the base 2 and the end surface 6b of the adapter 6. Further, the O-ring 17 is disposed between the end surface 8 cof the housing 8 of the retarder 4 and the end surface 6 cof the adapter 6.The gap between the flat surface 2f of the base 2 and the flat surface 6b of the adapter 6 has dimensions that allow the O-ring 18 to be compressed with an appropriate crush. The gap between the end face 8c of the housing 8 and the end face 6c of the adapter 6 has dimensions that allow the O-ring 17 to be compressed with an appropriate crush.A crush is a change in the line diameter of each of the O-rings 17 and 18 in the direction of the first axis A between an uncompressed state of the O-ring and a compressed state of the O-ring. By being compressed with the appropriate pinch, each of the O-rings 17 and 18 hermetically seals the gap to prevent liquid or gas from passing therethrough.The O-ring 17 is in the form of a ring surrounding the torque sensor 5. For example, as shown in FIG. 4, when the O-ring 17 is not compressed, it has an inner diameter equal to or larger than the outer diameter of the outer circumferential surface 5 aof the torque sensor 5. The O-ring 17 has, as shown in FIG. 2, an inner diameter at which the O-ring 17 does not come into contact with the outer circumferential surface 5 aof the torque sensor 5 or comes into contact with it only slightly.As a result, the O-ring 17 hermetically seals the gap between the end surfaces 6 cand 8 cthat come into contact with the O-ring 17 from opposite sides in the direction of the first axis A. The O-ring 18 hermetically seals the gap between the end surfaces 2 fand 6 bwhich come into contact with the O-ring 18 from opposite sides in the direction of the first axis A.The base 2, the adapter 6, the torque sensor 5, and the retarder 4 include a hollow bore 19 provided in the space including the first axis A, through which the base 2 communicates with the inside of the rotating body 3. The wiring member (not shown) inserted through the opening 2 cin the base 2 can be wired to the rotating body 3 via the hollow bore 19.Next, the operation of the support structure for the torque sensor 5 and the robot 1 according to this embodiment having the above-described configuration will be described.The robot 1 according to this embodiment is assembled as follows.First, as shown in FIG. 3, the retarder 4 is placed with the housing 8 upward so that the first axis A is in the vertical direction. Then, the torque sensor 5 is brought closer to the retarder 4 from above. The projection 8b of the housing 8 is engaged with the recess 5c of the torque sensor 5, and the end face 5d of the torque sensor 5 is brought into close contact with the end face 8c of the housing 8.In this state, the phase of the through holes 9a in the first portion 9 of the torque sensor 5 is matched with the phase of the screw holes 8a in the housing 8. Then, as shown in FIG. 4, the bolts 12 inserted through the through holes 9 ain the first region 9 of the torque sensor 5 are screwed to the bolt holes 8 ain the housing 8. Accordingly, the torque sensor 5 is fixed to the housing 8 of the retarder 4 in a state positioned with respect to each other in the direction of the first axis A and in the direction orthogonal to the first axis A.Thereafter, the O-ring 17 is laid around the outer periphery of the torque sensor 5 fixed to the retarder 4 so as to be disposed on the end surface 8 cof the housing 8 on the radially outer side of the outer peripheral surface 5 a. In this state, the adapter 6 is lowered from above the torque sensor 5 as shown in FIG. 5. As shown in FIGS. 6 and 7, the torque sensor 5 is inserted into the second engagement portion 16 of the adapter 6. Then, as shown in FIG. 8, the outer peripheral surface 5 aof the torque sensor 5 is engaged with the insertion portion 16 cin the vicinity of the lower surface 16 bof the second engagement portion 16.In this case, according to this embodiment, the engagement length in which the torque sensor 5 is engaged with the insertion portion 16 cis set to be slightly larger than the appropriate crush of the O-ring 17. Thus, as shown in FIG. 7, the torque sensor 5 starts to engage with the insertion portion 16c before the adapter 6 comes into contact with the O-ring 17.In a case where the engagement starts after the adapter 6 contacts the O-ring 17, the operator cannot haptically confirm the start of the engagement, thereby reducing the workability of the assembly process. In contrast, when the adapter 6 comes into contact with the O-ring 17 after the start of the engagement, the operator can more reliably recognize the start of the engagement. As a result, workability of the assembling process is improved.Then, as shown in FIG. 8, the outer peripheral surface 5 aof the torque sensor 5 is engaged with the insertion portion 16 c. By bringing the lower surface 16 bof the second engagement portion 16 of the adapter 6 into close contact with the end surface 5 bof the torque sensor 5, the O-ring 17 is compressed with the appropriate crush. In this state, the phase of the through holes 6a in the adapter 6 is matched with the phase of the screw holes 10a in the torque sensor 5.In this state, the O-ring 18 is disposed on the flat surface 6 bon the radially outer side of the first engagement portion 15 of the adapter 6. Then, as shown in FIG. 5, the base 2 is brought closer to the adapter 6 from above in a vertically inverted position, and the first engaging portion 15 of the adapter 6 is engaged with the recess 14 of the base 2.At the time when the lower surface of the recess 14 of the base 2 comes into close contact with the end surface of the adapter 6, the phase of the through holes 2 ein the base 2 agrees with the phase of the through holes 6 ain the adapter 6. Then, as shown in FIG. 9, the bolts 13 inserted through the through holes 2 eand 6 ain the base 2 and the adapter 6 are screwed to the bolt holes 10 ain the torque sensor 5.By screwing the bolts 13, the torque sensor 5 and the adapter 6 are fixed by being fastened together to the base 2. Then, the torque sensor 5, the adapter 6, and the base 2 are fixed in a state positioned with respect to each other in the direction of the first axis A and in the direction orthogonal to the first axis A.By being fixed according to the joint fastening using the bolts 13, the torque sensor 5 and the adapter 6, and the adapter 6 and the base 2 can be fixed at the same interval in the radial direction. As compared with a case where the fixation distance varies in the radial direction, a torque occurring around an axis orthogonal to the first axis A is less likely to affect the torque sensor 5.Further, in the joint attachment, counterbores in the adapter 6 required when the adapter 6 is individually fixed to the torque sensor 5 and the base 2 are not required. Consequently, a decrease in the rigidity of the adapter 6 and an unnecessary increase in the size of the adapter 6 can be prevented.When the joint attachment is completed, the dimensions of the gap between the housing 8 and the adapter 6 and the gap between the base 2 and the adapter 6 may correspond to the extents to which the O-rings 17 and 18 are compressed by the appropriate crushes. As a result, the gap between the housing 8 of the retarder 4 and the adapter 6 is hermetically sealed by the O-ring 17 on the radially outer side of the torque sensor 5 along the entire circumference. The gap between the base 2 and the adapter 6 is also hermetically sealed by the O-ring 18 on the radially outer side of the first engagement portion 15 of the adapter 6 along the entire circumference.According to this embodiment, the torque sensor 5 is fixed to the base 2 in this manner with the adapter 6 interposed therebetween. The adapter 6 is composed of a material having a higher rigidity than the base 2. Further, the adapter 6 is thick with a wide extension not only across the second region 10 of the torque sensor 5 for fixation thereto, but also across the radially inner and outer sides thereof.Accordingly, the adapter 6 has sufficiently high rigidity and can sufficiently suppress deformation of the base 2 on the lower surface of the recess 14 to which the adapter 6 is fixed. Specifically, deformation of the base 2 caused by a force or a torque applied from the retarder 4 to the torque sensor 5 can be suppressed, so that the detection accuracy of the torque sensor 5 can be improved.Further, according to this embodiment, the engagement between the outer peripheral surface 5 aof the torque sensor 5 and the adapter 6 corresponding to the insertion portion 16 cthat has a sufficiently small engagement length is achieved. By engaging the outer peripheral surface 5a of the torque sensor 5 with the insertion portion 16c, the center of the torque sensor 5 and the center of the adapter 6 can be accurately aligned with each other.By the reduced engagement length of the insertion portion 16 c, an effect of a force or a torque acting on the outer circumferential surface 5 aof the torque sensor 5 from the adapter 6 can be prevented. Specifically, it is possible to prevent a force or a torque acting on the outer circumferential surface 5 aof the torque sensor 5 from being detected as a torque by the torque sensor 5. As a result, a decrease in the torque detection accuracy of the torque sensor 5 can be prevented.Further, the gap between the case 8 of the retarder 4 and the adapter 6 is hermetically sealed by the O-ring 17 on the radially outer side of the torque sensor 5. Accordingly, liquid entering from the outside through a gap between the base 2 and the rotating body 3 can be prevented from entering the torque sensor 5.The gap between the adapter 6 and the base 2 is also hermetically sealed by the O-ring 18. Accordingly, liquid entering from the outside through the gap between the base 2 and the rotating body 3 can be prevented from entering from the adapter 6 radially inward.As a method for preventing liquid from entering through the gap between the base 2 and the rotating body 3, there is a method for hermetically sealing a cylindrical gap between the retarder 4 and the base 2.In this case, however, the sliding resistance of the O-ring compressed between the retarder 4 and the base 2 acts on the process of engaging the adapter 6 with the base 2. This sometimes makes it difficult for the operator to detect the start of the engagement haptically. Screwing the screws 13 while the engagement is not performed properly may be problematic in that damage occurs to the engagement surfaces or an obliquely assembled state.According to this embodiment, the O-ring 17 is compressed between the flat surfaces 6 cand 8 corthogonal to the first axis A. Accordingly, the sliding resistance of the O-ring 17 does not affect the process of engaging the first engaging portion 15 of the adapter 6 with the recess 14 of the base 2. As a result, the operator can easily haptically recognize the start of the engagement, thereby enabling a proper assembly process.In this embodiment, the O-ring 17 is squeezed on the radially outer side of the torque sensor 5 by being compressed in the direction of the axis A between the housing 8 and the adapter 6. The compressed O-ring 17 does not come into contact with the outer circumferential surface 5 aof the torque sensor 5 or only slightly comes into contact with it.Accordingly, the force or torque acting via the O-ring 17 does not act on the torque sensor 5. Accordingly, it is possible to prevent a force or torque acting on the torque sensor 5 via the O-ring 17 from being detected as torque by the torque sensor 5.In this embodiment, the O-ring 17 is arranged using the outer circumferential surface 5 aof the torque sensor 5 as an alignment aid. Accordingly, the surface of the case 8 of the retarder 4 and the surface of the adapter 6 for compressing the O-ring 17 may be simple flat surfaces 8 cand 6 c. This facilitates machining of the housing 8 and the adapter 6.Similarly, the O-ring 18 is arranged using the first engagement portion 15 formed by the protrusion of the adapter 6 as an alignment aid. Accordingly, the surfaces of the base 2 and the adapter 6 for compressing the O-ring 18 may be simple flat surfaces 2f and 6b. This facilitates machining of the base 2 and the adapter 6.In this embodiment, a vertical articulated robot will be described as an example of the robot 1. Alternatively, the robot 1 may be of any other type.Further, in this embodiment, the support structure for the torque sensor 5 provided between the base 2 and the rotating body 3 will be described as an example. Alternatively, a similar structure may be employed as a support structure for a torque sensor disposed between a retarder and a first link for another propeller shaft.In this embodiment described above, the torque sensor 5 is fixed between the housing 8 of the retarder 4 and the base 2. Alternatively, the embodiment may be applied to a case where the torque sensor 5 is fixed between the output portion 7 of the retarder 4 and the rotating body 3.In this embodiment, the base 2, the adapter 6, and the torque sensor 5 are fixed together so as to be fixed at the same distance around the first axis A. Alternatively, the base 2 and the adapter 6 may be fixed using a first bolt, and the adapter 6 and the torque sensor 5 may be fixed using a second bolt. In this case, the first screw and the second screw may be arranged with pitch in the circumferential direction at the same distance around the first axis A.By separating the fixation between the base 2 and the adapter 6 from the fixation between the adapter 6 and the torque sensor 5, the adapter 6 and the torque sensor 5 can be fixed to each other in advance. Accordingly, the torque sensor 5 and the adapter 6 can be managed as one unit.The base 2 and the adapter 6 can be fixed to the radially outer side of the torque sensor 5. In this case, the screws 13 may be larger, and the number of screws 13 may be reduced.Although the O-rings 17 and 18 are used as sealing members, sealing members of any other kind, such as annular gaskets, may alternatively be used.Further, in this embodiment, the position of the O-rings 17 and 18 in the radial direction is oriented approximately at the outer circumferential surface 5 aor the first engagement portion 15 at the inner side. Alternatively, O-ring grooves may be formed in the adapter 6, the housing 8, or the base 2 to define the positions of the O-rings 17 and 18 in the radial direction.In this embodiment, the side wall of the base 2 is provided with the opening 2c. Since the opening 2 cin the side wall has a large effect on the deformation of the base 2, the opening 2 cis desirably small in size and the number of the openings 2 cis desirably small.The present disclosure is advantageous in that torque acting from the retarder 4 on the base 2 can be accurately detected even when the base 2 serving as a first member for fixing the retarder 4 has low rigidity.Moreover, according to the support structure for the torque sensor 5, which can accurately detect torque, the robot 1 according to the present disclosure can accurately perform force control.Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, changes, omissions, etc. may be made to these embodiments insofar as the resulting embodiments do not depart from the spirit of the invention or from the concept and spirit of the present invention derived from the contents described in the claims and their equivalents. For example, in the above embodiments, the order of the operations may be changed, the order of the processes may be changed, some of the operations may be omitted or added depending on the conditions, and some of the processes may be omitted or added depending on the conditions, without limitation to the above example. The same applies if a numerical value or a numerical expression is used in the description of the above embodiments.{List of Reference Numerals}1 Robot 2 Base (first member) 3 Rotating body (second member) 4 Retarder 5 Torque sensor 6 Adapter 12 Screw 13 Screw 17 O-ring (sealing member) 16 c Einschub region A First axis (axis)References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2020-12660

[0003]

Claims

A torque sensor support structure comprising an adapter that fixes a torque sensor to a first member, the torque sensor being disposed between a retarder and the first member for mounting the retarder, the torque sensor detecting torque acting around an axis of the retarder, the adapter inhibiting deformation of the first member caused by a force and / or a torque acting on the torque sensor.The torque sensor support structure of claim 1, wherein the adapter is composed of a material having a higher strength than the first member.The torque sensor support structure according to claim 1 or 2, wherein the torque sensor is fixed to the retarder, and the adapter and the first member are fixed to the torque sensor according to joint fixation with a screw.The torque sensor support structure according to claim 1 or 2, wherein the torque sensor is fixed to the retarder using a bolt, the first member is fixed to the adapter using a first bolt, and the adapter is fixed to the torque sensor using a second bolt.The torque sensor support structure according to any one of claims 1 to 4, wherein the torque sensor is in the form of a circular plate, and wherein the adapter is in the form of a plate larger than the torque sensor toward a radially outer side.The torque sensor support structure according to claim 5, further comprising: an annular sealing member surrounding the torque sensor, wherein the sealing member is compressed in an axis direction between the retarder and the adapter.The torque sensor support structure according to claim 6, wherein the torque sensor and the adapter are engaged with each other through a fitting portion, and wherein an engagement length of the fitting portion is slightly larger than an appropriate degree of compression of the seal member.A robot comprising: a first link; a second link; a retarder that supports the second link to be rotatable about a predetermined axis with respect to the first link; a torque sensor that is disposed between the retarder and the first link and that detects torque acting between the retarder and the first link; and an adapter fixed between the torque sensor and the first link, wherein the adapter suppresses deformation of the first link caused by a force and / or a torque acting on the torque sensor.

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