Robot system, robot, and control method of robot

Abstract

To provide a robot system, a robot, and a control method of a robot capable of improving operability of the robot.SOLUTION: A robot system 1 includes a robot 3, and a controller 5 that controls the robot 3. The robot 3 has: an arm 13; and a belt-like switch 25 that can be operated at a plurality of portions in a direction of circulating in an outer periphery of the arm 13 and establishes a state where the controller 5 can operate the robot 3 on the basis of operation when a worker performs the operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The disclosed embodiments relate to a robot system, a robot, and a method for controlling a robot. [Background technology]

[0002] Patent Document 1 describes a six-axis vertical articulated robot that works in collaboration with a worker. This robot has an input switch at its tip that allows the worker working in collaboration with the robot to input various signals to the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-177432 A Summary of the Invention [Problem to be solved by the invention]

[0004] The robot of the above-mentioned conventional technology is provided with an input switch that is operated by an operator, and there is room for further improvement in operability.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide a robot system, a robot, and a method for controlling a robot that can improve the operability of a robot. [Means for solving the problem]

[0006] In order to solve the above problems, according to one aspect of the present invention, a robot system is applied, comprising a robot and a controller that controls the robot, wherein the robot has an arm and a first operation unit that can be operated at multiple points in a direction circling the outer periphery of the arm, and when a worker performs the operation, the controller makes the robot movable based on the operation.

[0007] According to another aspect of the present invention, there is provided a robot controlled by a controller, the robot having an arm and a first operation unit that can be operated at multiple points in a direction circling the outer periphery of the arm, and that, when an operator performs the operation, causes the controller to make the robot movable based on the operation.

[0008] According to another aspect of the present invention, a method for controlling a robot is applied, which includes, when an operator operates a first operating unit that can be operated at multiple points in a direction circling the outer periphery of an arm of the robot, bringing the robot into a movable state based on the operation. Effect of the Invention

[0009] According to the robot system etc. of the present invention, the operability of the robot can be improved. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system and a robot according to an embodiment. [Diagram 2] FIG. 2 is an enlarged perspective view of the vicinity of a tip of an arm, illustrating an example of the configuration of a ribbon switch. [Diagram 3] FIG. 13 is an enlarged perspective view showing the vicinity of the tip of the arm from another angle, illustrating an example of the configuration of the ribbon switch. [Figure 4] 11 is an enlarged perspective view of the vicinity of the tip of the arm, illustrating an example of a state in which the ribbon switch has been removed. FIG. [Diagram 5] 5 is a cross-sectional view showing an example of a cross-sectional structure of a groove that accommodates a ribbon switch. FIG. [Figure 6] 11 is a cross-sectional view showing an example of a cross-sectional structure of a recess that accommodates a fastener of a ribbon switch. FIG. [Figure 7] FIG. 1 is a plan view illustrating an example of an overall configuration of a ribbon switch. [Figure 8] 11 is a plan view illustrating an example of a configuration of a fastener for a ribbon switch. FIG. [Figure 9] 11 is an enlarged perspective view of the vicinity of the tip of an arm, illustrating an example of the configuration of a function button. FIG. [Figure 10] FIG. 13 is an enlarged perspective view of the vicinity of the tip of the arm, illustrating an example of a connector provided on the arm and a cable connected to an end effector. [Figure 11] 11 is an explanatory diagram showing an example of a case where a camera is attached to a mounting portion provided near the tip of an arm. FIG. [Figure 12] 11 is a diagram illustrating an example of a configuration of a tip end of an arm as viewed from a direction of a rotation axis of a flange portion. FIG. [Figure 13] FIG. 2 is a block diagram illustrating an example of a functional configuration of a controller. [Figure 14] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment will be described with reference to the drawings.

[0012] <1. Robot system configuration> An example of the configuration of a robot system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram illustrating an example of the configuration of a robot system and a robot according to an embodiment.

[0013] As shown in FIG. 1, the robot system 1 includes a robot 3 and a controller 5.

[0014] The robot 3 is configured as, for example, a vertically articulated six-axis robot equipped with six joints J1 to J6, and an end effector 7 (see FIG. 10 described later) according to the task is attached to the tip 23a. The end effector 7 is, for example, a robot hand. The robot 3 may be a robot with other axes than six axes (for example, five axes or seven axes). The robot 3 may also be a robot other than a vertically articulated type, such as a horizontally articulated type or a parallel link robot.

[0015] The controller 5 controls the robot 3. The controller 5 may include, for example, a personal computer (PC), a motion controller, a programmable logic controller (PLC), etc. The controller 5 may be disposed integrally with the robot 3, or may be disposed separately. When disposed separately, the controller 5 may be connected to the robot 3 by a cable, or may be connected wirelessly. The controller 5 may be configured as a single device, or may be configured as multiple devices.

[0016] <2. Robot configuration> An example of the configuration of the robot 3 will be described with reference to FIG.

[0017] 1, the robot 3 has a base 9, a rotating part 11, and an arm 13. The base 9 is fixed to, for example, a floor or a stand.

[0018] The swivel unit 11 is supported on the upper end of the base 9 so as to be rotatable around a rotation axis Ax1 that is parallel to the vertical direction. The swivel unit 11 is driven to rotate around the rotation axis Ax1 with respect to the upper end of the base 9 by driving an actuator Ac1 provided at a joint J1 that rotatably connects the swivel unit 11 to the adjacent base 9. The actuator Ac1 has a torque sensor Ts1 that detects torque around the rotation axis Ax1 between the base 9 and the swivel unit 11. A detection value of the torque sensor Ts1 is transmitted to the controller 5.

[0019] The arm 13 is supported on, for example, one side of the rotating part 11. The arm 13 has a lower arm part 15, an elbow part 17, an upper arm part 19, a wrist part 21, and a flange part 23. The lower arm part 15, the elbow part 17, the upper arm part 19, the wrist part 21, and the flange part 23 are examples of links.

[0020] The lower arm 15 is supported on one side of the rotating unit 11 so as to be rotatable around a rotation axis Ax2 perpendicular to the rotation axis Ax1. The lower arm 15 is driven to rotate around the rotation axis Ax2 with respect to one side of the rotating unit 11 by driving an actuator Ac2 provided at a joint J2 that rotatably connects the adjacent rotating unit 11 and the lower arm 15. The actuator Ac2 has a torque sensor Ts2 that detects torque around the rotation axis Ax2 between the rotating unit 11 and the lower arm 15. A detection value of the torque sensor Ts2 is transmitted to the controller 5.

[0021] The elbow 17 is supported at the tip of the lower arm 15 so as to be rotatable around a rotation axis Ax3 parallel to the rotation axis Ax2. The elbow 17 is driven to rotate around the rotation axis Ax3 relative to the tip of the lower arm 15 by driving an actuator Ac3 provided at a joint J3 that rotatably connects the adjacent lower arm 15 and the elbow 17. The actuator Ac3 has a torque sensor Ts3 that detects torque around the rotation axis Ax3 between the lower arm 15 and the elbow 17. The detection value of the torque sensor Ts3 is transmitted to the controller 5.

[0022] The upper arm 19 is supported at the tip of the elbow 17 so as to be rotatable around a rotation axis Ax4 perpendicular to the rotation axis Ax3. The upper arm 19 is driven to rotate around the rotation axis Ax4 relative to the tip of the elbow 17 by driving an actuator Ac4 provided at a joint J4 that rotatably connects the adjacent elbow 17 and upper arm 19. The actuator Ac4 has a torque sensor Ts4 that detects torque around the rotation axis Ax4 between the elbow 17 and the upper arm 19. The detection value of the torque sensor Ts4 is transmitted to the controller 5.

[0023] The wrist 21 is supported at the tip of the upper arm 19 so as to be rotatable around a rotation axis Ax5 perpendicular to the rotation axis Ax4. The wrist 21 is driven to rotate around the rotation axis Ax5 relative to the tip of the upper arm 19 by driving an actuator Ac5 provided at a joint J5 that rotatably connects the adjacent upper arm 19 and wrist 21. The actuator Ac5 has a torque sensor Ts5 that detects torque around the rotation axis Ax5 between the upper arm 19 and the wrist 21. A detection value of the torque sensor Ts5 is transmitted to the controller 5.

[0024] The flange portion 23 is supported at the tip of the wrist portion 21 so as to be rotatable around a rotation axis Ax6 perpendicular to the rotation axis Ax5. The flange portion 23 is driven to rotate around the rotation axis Ax6 relative to the tip of the wrist portion 21 by driving an actuator Ac6 provided at a joint J6 that rotatably connects the adjacent wrist portion 21 and flange portion 23. The actuator Ac6 has a torque sensor Ts6 that detects torque around the rotation axis Ax6 between the wrist portion 21 and the flange portion 23. A detection value of the torque sensor Ts6 is transmitted to the controller 5.

[0025] The end effector 7 (not shown in FIG. 1; see FIG. 10) is attached to the tip portion 23a of the flange portion 23, and rotates about the rotation axis Ax6 together with the rotation of the flange portion 23 about the rotation axis Ax6.

[0026] The robot 3 configured as above is a six-axis robot having six joints J1-J6 each equipped with six actuators Ac1-Ac6. Each of the actuators Ac1-Ac6 that drive the joints J1-J6 is configured with, for example, a servo motor, an encoder, and a reducer (see FIG. 13). When the robot 3 receives an external force due to, for example, a collision with a person or an object, the robot 3 detects torque with the torque sensors Ts1-Ts6 at the joints J1-J6, and can immediately stop operation or move in the opposite direction to the direction in which the external force acts. The robot 3 is configured as a collaborative robot that can operate together with a worker.

[0027] In the above, the rotation around the rotation axis along the longitudinal direction (or extension direction) of arm 13 is called "rotation," and the rotation around the rotation axis perpendicular to the longitudinal direction (or extension direction) of arm 13 is called "pivot," to distinguish between the two.

[0028] The configuration of the robot 3 described above is an example, and is not limited to the above content. For example, the robot 3 may be provided with a force sensor in addition to or instead of the torque sensors Ts1 to Ts6.

[0029] <3. Configuration of arm control section> An example of the configuration of the operation unit provided on the arm 13 of the robot 3 will be described with reference to Figs. 2 to 12. Fig. 2 is an enlarged perspective view of the vicinity of the tip of the arm, showing an example of the configuration of the ribbon switch. Fig. 3 is an enlarged perspective view of the vicinity of the tip of the arm from another angle, showing an example of the configuration of the ribbon switch. Fig. 4 is an enlarged perspective view of the vicinity of the tip of the arm, showing an example of a state in which the ribbon switch is removed. Fig. 5 is a cross-sectional view showing an example of a cross-sectional structure of a groove that accommodates the ribbon switch. Fig. 6 is a cross-sectional view showing an example of a cross-sectional structure of a recess that accommodates a fixture for the ribbon switch. Fig. 7 is a plan view showing an example of the overall configuration of the ribbon switch. Fig. 8 is a plan view showing an example of the configuration of a fixture for the ribbon switch. Fig. 9 is an enlarged perspective view of the vicinity of the tip of the arm, showing an example of the configuration of a function button. Fig. 10 is an enlarged perspective view of the vicinity of the tip of the arm, showing an example of a connector provided on the arm and a cable connected to an end effector. Fig. 11 is an explanatory view showing an example of a case in which a camera is attached to a mounting part provided near the tip of the arm. FIG. 12 is a diagram showing an example of the configuration of the tip of the arm as viewed from the direction of the rotation axis of the flange portion.

[0030] As shown in FIG. 2 and FIG. 3, a ribbon switch 25 is provided on the arm 13 of the robot 3. The ribbon switch 25 (an example of a first operating part) is an operating part provided in a ribbon shape in a direction going around the outer periphery of the arm 13. The term "strip shape" refers to a long shape having a predetermined width in the short side direction and a length longer than the predetermined width in the long side direction. The "direction going around the outer periphery of the arm 13" is, for example, a direction going around the outer periphery of the arm 13 (circular shape) on a plane perpendicular to the extension direction of the arm 13. The "direction going around the outer periphery of the arm 13" includes, for example, a direction going around the outer periphery of the arm 13 on a plane inclined with respect to the plane perpendicular to the extension direction of the arm 13 (elliptical shape), a spiral direction in which the start point and end point of the rotation are shifted from the extension direction, and the like.

[0031] The ribbon switch 25 can be operated at multiple locations in the direction of circling the outer circumference of the arm 13, and when the operator performs the operation, the controller 5 makes the robot 3 movable based on the operation. The "movable state" is a state in which, when the operator pushes the arm 13 with his / her hand to apply an external force, the tip 23a of the arm 13 can be freely moved within a predetermined range according to the direction of the external force. This state is also called hand guide because the operator can freely operate the robot 3. The robot 3 is in the movable state only while the ribbon switch 25 is operated by the operator. The "movable state" also includes a state in which the arm 13 moves the tip 23a by executing a preset operation. The ribbon switch 25 realizes the same function in the controller 5 by operating the multiple locations. The "same function" is, for example, a function of making the robot 3 movable, but other functions may also be realized.

[0032] Ribbon switch 25 may be provided on any of lower arm portion 15, elbow portion 17, upper arm portion 19, wrist portion 21, and flange portion 23 of arm 13. Ribbon switch 25 may be provided in one location or multiple locations. As one example, ribbon switch 25 may be provided on upper arm portion 19, which rotates around rotation axis Ax4 along the longitudinal direction of arm 13 by joint J4, or on the outer periphery of flange portion 23, which rotates around rotation axis Ax6 along the longitudinal direction of arm 13 by joint J6.

[0033] In the embodiment, as shown in FIG. 2 and FIG. 3, ribbon switch 25 is provided on the outer periphery of flange portion 23 which rotates around rotation axis Ax6 by joint J6. Ribbon switch 25 is provided in a direction going around the outer periphery of flange portion 23, for example, along a circumferential direction centered on rotation axis Ax6. Ribbon switch 25 is provided on the outer periphery of flange portion 23 over more than half the circumference in the direction of going around. Note that ribbon switch 25 is not limited to the above embodiment, and for example, three ribbon switches each having a length of 1 / 3 of the circumference of flange portion 23 may be provided side by side along the direction of going around the outer periphery of flange portion 23. Note that ribbon switch 25 may be provided over the entire circumference of the outer periphery of flange portion 23. In the embodiment, ribbon switch 25 is provided over more than half the circumference but less than the entire circumference of flange portion 23, specifically, over a length obtained by subtracting length Ls2 (see FIG. 8) in the longitudinal direction of fixture 27 from the entire circumference of the outer periphery of flange portion 23.

[0034] 2, ribbon switch 25 is provided between joint J6 and tip 23a in the direction of rotation axis Ax6. Specifically, multiple (e.g., three) connectors 29a, 29b, and 29c are provided in the flange 23 near tip 23a, and ribbon switch 25 is provided between joint J6 and connectors 29a, 29b, and 29c in the direction of rotation axis Ax6. A cable used for the end effector 7 is connected to at least one of connectors 29a, 29b, and 29c.

[0035] As shown in FIG. 4 and FIG. 5, a groove 31 for accommodating ribbon switch 25 is provided on the outer periphery of flange 23. Groove 31 is provided along the direction going around the outer periphery of flange 23. A width Wg1 of groove 31 in the direction of rotation axis Ax6 is substantially the same as or slightly larger than a width Ws1 of ribbon switch 25 in the direction of rotation axis Ax6, and ribbon switch 25 is accommodated so as to fit into groove 31. Ribbon switch 25 may be fixed to groove 31 by, for example, an adhesive tape or a glue. As shown in FIG. 5, a depth D1 of groove 31 is slightly smaller than a height H1 of ribbon switch 25. This prevents ribbon switch 25 from protruding significantly from the outer periphery of flange 23, while allowing operation surface 25a of ribbon switch 25 to protrude slightly from the outer periphery of flange 23, improving operability. Note that depth D1 of groove 31 may be the same as height H1.

[0036] As shown in Figs. 4 and 6, a recess 33 for accommodating the fixture 27 is provided in a portion of the groove 31 in the longitudinal direction. The recess 33 is formed in substantially the same shape (e.g., rectangular) as the fixture 27. The width Wg2 of the recess 33 in the direction of the rotation axis Ax6 is substantially the same as or slightly larger than the width Ws2 of the fixture 27, and the fixture 27 is accommodated so as to fit into the recess 33. As shown in Fig. 6, the depth D2 of the recess 33 is slightly smaller than the height H2 of the fixture 27. The width Wg2 of the recess 33 is larger than the width Wg1 of the groove 31, and the depth D2 of the recess 33 is larger than the depth D1 of the groove 31.

[0037] 4 and 6, the recess 33 is provided with an opening 35 and a plurality of (e.g., two) screw holes 37. As shown in FIG. 6, the opening 35 penetrates the housing of the flange portion 23, and a bush 39 (not shown in FIG. 4) is provided therein. The bush 39 is made of, for example, a rubber material or a resin material, and has two openings 39a formed therein. The two signal wires 25b (see FIG. 7) of the ribbon switch 25 are inserted into the openings 39a of the bush 39 and are wired from the outer periphery of the flange portion 23 to the inside via the opening 35 of the flange portion 23.

[0038] As shown in FIG. 7, ribbon switch 25 is an elongated switch having a width Ws1 in the short direction and a length Ls1 in the long direction that is longer than width Ws1. Ribbon switch 25 has two signal wires 25b drawn out from one end in the long direction. Ribbon switch 25 has insensitive zones 25A of length La near both ends in the long direction, and has sensitive zone 25B of length Lb therebetween. Ribbon switch 25 is configured such that when an operator presses any point in the long direction of sensitive zone 25B of operation surface 25a, a contact is closed inside ribbon switch 25, and two signal wires 25b are electrically connected to each other. Note that ribbon switch 25 may have a configuration other than the above as long as it can detect operations at multiple points in the long direction.

[0039] 6 and 8, fastener 27 covers a portion of ribbon switch 25 in the longitudinal direction and fastens ribbon switch 25 to the outer periphery of arm 13. In the embodiment, fastener 27 covers dead zones 25A at both ends of ribbon switch 25 and fastens ribbon switch 25 to the outer periphery of flange portion 23. Specifically, fastener 27 covers dead zone 25A at one end of ribbon switch 25 on one longitudinal side, covers dead zone 25A at the other end of ribbon switch 25 on the other longitudinal side, and covers two signal wires 25b drawn out from one end of ribbon switch 25 and bushing 39 at the longitudinal center. Fastener 27 has through holes 27a through which screws (not shown) are inserted on both short sides at the longitudinal center. With fastener 27 covering dead zone 25A, signal wire 25b, and bushing 39 at both ends of ribbon switch 25, screws inserted through through holes 27a are fastened to screw holes 37 provided in the housing of flange portion 23, thereby fixing fastener 27 to recess 33. Fastener 27 allows only sensitive zone 25B of ribbon switch 25 to be exposed to the outer periphery of flange portion 23, and also presses both ends of ribbon switch 25 against each other to prevent it from floating up.

[0040] As shown in FIG. 8, the fixing device 27 is substantially rectangular, has a length Ls2 in the longitudinal direction, and has a width Ws2 in the lateral direction. The width Ws2 of the fixing device 27 is larger than the width Ws1 of the ribbon switch 25. The fixing device 27 has a different shape from the ribbon switch 25, so that the fixing device 27 is visible to the operator, and the operator can easily distinguish between the part of the dead zone 25A covered by the fixing device 27 and the part of the sensitive zone 25B exposed from the fixing device 27. The length Ls2 of the fixing device 27 is longer than twice the length La of the dead zone 25A of the ribbon switch 25. The total length of the length Ls2 of the fixing device 27 and the length Lb of the sensitive zone 25B of the ribbon switch 25 is substantially the same as the length dimension of the outer periphery of the flange portion 23. The length Ls1 of the ribbon switch 25 is shorter than the length dimension of the outer periphery of the flange portion 23.

[0041] By providing the ribbon switch 25 configured as described above on the outer periphery of the flange portion 23, the following can be performed. For example, during a teaching operation for memorizing the operation of the robot 3, an operator can hold the ribbon switch 25 to turn it on, and while holding the ribbon switch 25, push and move the flange portion 23 with his / her hand to memorize the operation. This type of teaching operation is also called direct teaching because the operator teaches the operation of the robot 3 with his / her hand. Also, for example, when an external force is applied to the robot 3 due to a collision with a person or an object, the operator can hold the ribbon switch 25 to turn it on, and while holding the ribbon switch 25, push and move the flange portion 23 with his / her hand to quickly move the arm 13 away from the collision object.

[0042] The state of the ribbon switch 25 being operated and the state of the ribbon switch 25 not being operated may be displayed in a distinguishable manner so that the operator can visually recognize the state. For example, in an embodiment, as shown in FIG. 2, the upper arm 19 has a bent portion 19a bent into an L-shape at the tip end, and a ring-shaped light emitting portion 40 is provided on the outer surface of the bent portion 19a, which is convex, for example. The light emitting portion 40 is composed of, for example, an LED. The light emitting portion 40 emits light in different colors depending on whether the ribbon switch 25 is operated or not. Note that the light emitting portion 40 may be lit in a form other than the above, such as emitting light only when the ribbon switch 25 is operated. The shape of the light emitting portion 40 may be other than a ring shape.

[0043] As shown in Fig. 9, a function button 41 is provided on the wrist 21 adjacent to the flange 23 on which the ribbon switch 25 is provided on the arm 13. The wrist 21 has a bent portion 21a bent into an L shape, and the function button 41 is provided, for example, on the outer surface of the bent portion 21a that is convex. The number of function buttons 41 may be one or more. In the embodiment, the function button 41 is composed of, for example, three function buttons 41a, 41b, and 41c.

[0044] The function buttons 41a, 41b, and 41c (an example of a second operation unit) can be assigned functions designated by the operator to each button. In the embodiment, three function buttons 41a, 41b, and 41c are provided, so that up to three functions can be assigned. For example, a function to operate the end effector 7 may be assigned to at least one of the function buttons 41a, 41b, and 41c. If the end effector 7 is a robot hand, the function to operate the end effector 7 may be a function to open and close the robot hand. In this case, the operator can perform the following by using the ribbon switch 25 and the function buttons 41a, 41b, and 41c in combination. For example, the operator can move the end effector 7 to a desired position by using the hand guide of the ribbon switch 25, and then drive the end effector 7 using the function buttons 41a, 41b, and 41c, which makes it easy to check the operation of the end effector 7.

[0045] Also, for example, a function of registering a teaching point when performing a teaching operation may be assigned to at least one of function buttons 41a, 41b, 41c. In this case, the operator can perform the following by using ribbon switch 25 and function buttons 41a, 41b, 41c in combination. For example, by operating at least one of function buttons 41a, 41b, 41c while performing hand guiding with ribbon switch 25 during a teaching operation, the operator can register the position of tip 23a of arm 13 (or the position of the tip of end effector 7) at the time of the operation as a teaching point, making the teaching operation easier.

[0046] The ribbon switch 25 and the function buttons 41a, 41b, and 41c are located in close proximity to each other on the adjacent flange portion 23 and wrist portion 21, facilitating the combined operation described above. Note that functions other than those described above may be assigned to the function button 41.

[0047] 9, a release button 43 is provided on wrist 21 adjacent to flange 23 on which ribbon switch 25 is provided on arm 13. Release button 43 (an example of a third operation part) is provided on, for example, a convex outer surface of bent portion 21a of wrist 21. In this embodiment, release button 43 is provided adjacent to function button 41.

[0048] As described above, when the robot 3 receives an external force, for example, by colliding with a person or an object, a protective stop or an emergency stop is executed to immediately stop the operation. The release button 43 is a button for releasing the emergency stop. The worker can release the emergency stop by operating the release button 43 after the emergency stop is executed. By using the ribbon switch 25 and the release button 43 in combination, the worker can perform the following operations. For example, when an emergency stop is executed, the worker can operate the ribbon switch 25 to hand-guide the robot 3 to quickly evacuate the arm 13 from the colliding object, and after safety is ensured, the worker can release the emergency stop and resume the operation of the robot 3 by operating the release button 43. The ribbon switch 25 and the release button 43 are disposed on the adjacent flange portion 23 and wrist portion 21, and therefore are located in close proximity, and the combined operation as described above is easy.

[0049] The emergency stop state and the state in which the emergency stop has been released by the release button 43 may be displayed in a distinguishable manner so that an operator can visually recognize these states. For example, in an embodiment, as shown in FIG. 9, a ring-shaped light-emitting unit 45 is provided around the release button 43. The light-emitting unit 45 is configured, for example, with an LED. The light-emitting unit 45 lights up in a predetermined color when an emergency stop is executed, and turns off when the emergency stop is released by the release button 43. Note that light emission forms other than those described above may also be used, such as, for example, different light-emitting colors for both states. The light-emitting unit 45 may have a shape other than a ring shape.

[0050] As shown in FIG. 10, the end effector 7 is provided at the tip 23a of the arm 13. As shown in FIG. 2, the flange portion 23 is provided with a connector 29 between the ribbon switch 25 and the tip 23a to which a cable is connected. The number of connectors 29 may be one or more. In the embodiment, for example, three connectors 29a, 29b, and 29c are provided. A cable 47 used for the end effector 7 is connected to at least one of the connectors 29a, 29b, and 29c. In the example shown in FIG. 10, one end of the cable 47 is connected to the connector 29a, for example, and the other end of the cable 47 is connected to the end effector 7. The cable 47 is, for example, a power cable, a signal line, an air tube, or the like.

[0051] 2 and 10, connectors 29a, 29b, and 29c are housed in recesses 49 formed on the outer circumferential surface of flange portion 23 so as to be recessed inward. This prevents connectors 29a, 29b, and 29c from protruding from the outer periphery of flange portion 23, and prevents cables from getting in the way when connected to connectors 29a, 29b, and 29c. In addition, any of connectors 29a, 29b, and 29c, for example connector 29b, is disposed near fixture 27 that fixes ribbon switch 25. This prevents the cable connected to connector 29b from getting in the way when an operator operates sensing band 25B of ribbon switch 25.

[0052] 11, the robot 3 has a mounting part 53 for mounting a camera 51 for capturing images of an object to be worked on by the robot 3, at a position closer to the tip 23a than the ribbon switch 25 of the arm 13. The mounting part 53 is formed, for example, as a flat part for mounting a support member 55 for the camera 51. The support member 55 is fixed to the mounting part 53 by, for example, inserting two screws (not shown) into through holes 55a of the support member 55 and fastening them to screw holes 53a of the mounting part 53.

[0053] 12, the fixing device 27 of the ribbon switch 25 and the mounting portion 53 of the camera 51 are disposed at positions spaced apart by approximately 180 degrees in the circumferential direction around the rotation axis Ax6 of the flange portion 23. The angle between the fixing device 27 and the mounting portion 53 does not necessarily have to be 180 degrees, and may be, for example, an angle greater than 90 degrees and less than or equal to 180 degrees.

[0054] The configuration of the operation part of arm 13 described above is an example, and is not limited to the above. For example, ribbon switch 25 does not necessarily have to be ribbon-shaped as long as it can be operated at multiple points in the direction around the outer periphery of arm 13 and the controller 5 can achieve the same function by operating the multiple points. For example, it may be configured such that non-elongated point-like switches, such as square or circular switches, are arranged closely together or at a predetermined interval in the direction around the outer periphery of arm 13. Also, at least one of function button 41 and release button 43 may be provided on flange portion 23 on which ribbon switch 25 is provided.

[0055] <4. Controller function configuration> An example of the functional configuration of the controller 5 will be described with reference to Fig. 13. Fig. 13 is a block diagram showing an example of the functional configuration of the controller 5.

[0056] 13, the robot system 1 includes a controller 5 and a robot 3. The controller 5 includes a motion controller 57 and a multi-axis servo controller 59. The motion controller 57 and the multi-axis servo controller 59 may be configured as separate control devices rather than being integrated.

[0057] The multi-axis servo controller 59 has a servo control section 61 and a servo amplifier 63. The servo control section 61 performs servo control of each servo motor of the actuators Ac1 to Ac6 based on commands (e.g., position commands to each servo motor, etc.) input from the motion controller 57 and detection values ​​of the encoders of the actuators Ac1 to Ac6, and calculates the torque and current value of each servo motor. The servo amplifier 63 controls the drive power supplied to each servo motor based on the torque and current value of each servo motor input from the servo control section 61, and controls the operation of the robot 3. The servo amplifier 63 may be installed integrally with each actuator Ac1 to Ac6 of the robot 3 (so-called amplifier-integrated actuator).

[0058] The motion controller 57 has a first control unit 65, a second control unit 67, a third control unit 69, a fourth control unit 71, and a fifth control unit 73.

[0059] The first control unit 65 determines whether or not an external force has been applied to the robot 3 based on the physical quantity detected by the torque sensors Ts1 to Ts6 (examples of sensors). The "physical quantity" is, for example, torque, but a physical quantity other than torque may be detected as long as the external force can be determined. The "external force" is a force applied by the worker pushing the arm 13 with his or her hand when performing the above-mentioned hand guiding. Note that the "external force" also includes a force received from a person or object when the robot 3 collides with the person or object, for example.

[0060] When the first control unit 65 determines that an external force exists after the ribbon switch 25 is operated, the second control unit 67 operates the robot 3 based on the external force. For example, when the first control unit 65 determines that an external force exists after the ribbon switch 25 is operated during at least one of the execution of a teaching operation for storing the operation of the robot 3 and the execution of an emergency stop, the second control unit 67 operates the robot 3 based on the external force. Specifically, the second control unit 67 performs gravity compensation for each actuator Ac1 to Ac6 of the robot 3 so that the arm 13 does not lose its posture due to its own weight, and controls the robot 3 so that the tip 23a of the arm 13 moves in a direction according to the external force other than gravity. The second control unit 67 operates the robot 3 based on the external force only for the time when the ribbon switch 25 is operated. When the ribbon switch 25 is not operated, the second control unit 67 activates the brakes of the actuators Ac1 to Ac6 arranged at each joint to stop the robot 3. The means for stopping the robot 3 is not limited to applying the brakes as described above. For example, the robot 3 may be stopped by a so-called servo lock.

[0061] The third control unit 69 assigns a function designated by the operator to each of the function buttons 41a, 41b, and 41c. For example, the third control unit 69 may assign a function of operating the end effector 7 to at least one of the function buttons 41a, 41b, and 41c. Furthermore, for example, the third control unit may assign a function of registering, as a teaching point, the position of the tip 23a of the arm 13 when at least one of the function buttons 41a, 41b, and 41c is operated during a teaching operation for memorizing the operation of the robot 3, to at least one of the function buttons 41a, 41b, and 41c.

[0062] The path (trajectory) connecting the teaching points registered by the function switch 41 may be subjected to linear interpolation, circular interpolation, joint interpolation, or the like by the third control unit 69. Furthermore, when the camera 51 or the like mounted on the robot 3 detects that there is an obstacle between the teaching points, the third control unit 69 may automatically calculate a trajectory that avoids the obstacle (path planning) and control the robot 3 according to the trajectory thus calculated.

[0063] The fourth control unit 71 executes an emergency stop when it is detected that an external force due to a collision with a person or object has acted on the robot 3 while the ribbon switch 25 is not being operated. The emergency stop includes not only immediately stopping the operation of the robot 3 when a collision is detected, but also stopping the robot 3 after executing a predetermined escape operation, slowing down the operation speed, etc.

[0064] The fifth control section 73 (an example of a fourth control section) releases the emergency stop when the release button 43 is operated by the operator after the emergency stop is executed by the fourth control section 71.

[0065] The above-mentioned processes in the first control unit 65, second control unit 67, third control unit 69, fourth control unit 71, fifth control unit 73, etc. of the motion controller 57 are not limited to these examples of division of processes, and may be processed by a smaller number of processing units (e.g., one processing unit), or may be processed by further subdivided processing units. The above-mentioned functions of the motion controller 57 may be implemented by a program executed by a CPU 901 (see FIG. 14) described later, or some or all of them may be implemented by actual devices such as ASIC, FPGA, other electric circuits, etc.

[0066] <5. Effects of the embodiment> As described above, in the robot system 1 of the embodiment, ribbon switch 25, which causes controller 5 to make robot 3 movable based on an operation performed by an operator, is provided so as to be operable at multiple locations in a direction circling the outer periphery of arm 13 of robot 3. This allows the operator to operate ribbon switch 25 from multiple directions, making it easier for the operator to operate ribbon switch 25 even if the posture or orientation of robot 3 changes. This improves the operability of robot 3.

[0067] Furthermore, in this embodiment, ribbon switch 25 may be operated at multiple locations to cause controller 5 to realize the same function. In this case, the operator can achieve the same function no matter where in the rotational direction ribbon switch 25 is operated by the operator. This improves the operability of robot 3.

[0068] Also, in this embodiment, ribbon switch 25 may be an operation unit provided in a ribbon-like shape in a direction circling the outer periphery of arm 13. In this case, an operator can operate ribbon switch 25 from multiple directions. This improves the operability of robot 3. Also, because ribbon switch 25 is ribbon-like, an operator can directly operate robot 3 to move it away, etc., by simply applying a force in a direction in which arm 13 of robot 3 is to be moved while holding ribbon switch 25. Furthermore, the number of parts and costs can be reduced, compared to, for example, a case in which point-like operation units are continuously arranged in a circumferential direction.

[0069] Furthermore, in this embodiment, the robot 3 may be equipped with torque sensors Ts1 to Ts6, in which case the controller 5 may have a first control unit 65 that determines whether or not an external force is applied to the robot 3 based on the physical quantities detected by the torque sensors Ts1 to Ts6, and a second control unit 67 that moves the robot 3 based on the external force when the first control unit 65 determines that an external force is present after the ribbon switch 25 is operated.

[0070] Generally, when a robot is stopped, the brakes of the motors arranged at the joints are activated, and therefore the robot cannot be operated by the worker applying an external force. For this reason, the worker may operate the robot by operating a terminal device (pendant, etc.), for example. According to this embodiment, when it is determined that an external force is applied to the robot 3 after the ribbon switch 25 is operated, the robot 3 is operated so as to imitate the external force. This allows the worker to operate the robot 3 by pushing it with his or her hand after operating the ribbon switch 25. Therefore, the robot 3 can be easily operated without using a terminal device, etc.

[0071] Furthermore, in this embodiment, ribbon switch 25 may be provided on the outer periphery of flange portion 23 of arm 13, which rotates around rotation axis Ax6 along the longitudinal direction of arm 13 by joint J6.

[0072] For example, if a dot-like operating unit rather than a belt-like unit is provided on the flange portion 23, the operating unit may move to a position that is difficult for the operator to see (for example, the opposite side of the operator) as the flange portion 23 rotates about the rotation axis Ax6, which may reduce operability. According to this embodiment, a belt-like switch 25 that can be operated at multiple points in the circumferential direction of the outer periphery of the flange portion 23 is provided, so that the operator can easily operate the belt-like switch 25 even when the flange portion 23 rotates. This improves the operability of the robot 3.

[0073] Furthermore, by providing ribbon switch 25 for hand guiding on rotatable flange portion 23, when an operator applies force in the rotational direction while pressing ribbon switch 25, it is possible to rotate end effector 7. In such a configuration, ribbon switch 25 is also ribbon-shaped, so that even when flange portion 23 rotates, ribbon switch 25 is basically located on the operator's side, and a synergistic effect of ease of operation can be expected.

[0074] Also, in this embodiment, ribbon switch 25 may be provided around more than half the circumference of the outer periphery of flange portion 23. In this case, at least a portion of ribbon switch 25 can be positioned within a range visible to the operator regardless of the direction in which the operator is positioned relative to flange portion 23. This makes it easier for the operator to operate ribbon switch 25.

[0075] Furthermore, in this embodiment, robot 3 may have groove 31 that houses ribbon switch 25 on the outer periphery of flange 23. In this case, it is possible to prevent ribbon switch 25 from protruding from the outer periphery of flange 23 and becoming caught. Furthermore, by fitting ribbon switch 25 into groove 31, it is possible to prevent ribbon switch 25 from becoming misaligned in the direction of rotation axis Ax6.

[0076] In addition, in this embodiment, the robot 3 may have at least one function button 41 provided on the wrist portion 21 adjacent to the flange portion 23 on which the ribbon switch 25 is provided, and in this case, the controller 5 may have a third control unit 69 that assigns a function specified by the operator to the at least one function button 41.

[0077] In this case, convenience can be improved because the operator can assign a desired function to function button 41. Also, because function button 41 is provided on wrist portion 21 adjacent to flange portion 23 on which ribbon switch 25 is provided, the operator can easily operate ribbon switch 25 and function button 41 simultaneously. This improves operability and allows the function of ribbon switch 25 and the function assigned to function button 41 to be performed simultaneously.

[0078] Furthermore, in this embodiment, the third control unit 69 may assign a function of operating the end effector 7 to the function button 41. In this case, the operator can operate the end effector 7 while exerting a function (e.g., hand guide) of the ribbon switch 25. This can improve the operability of checking the operation of the end effector 7, etc.

[0079] Furthermore, in this embodiment, the third control unit 69 may assign to the function button 41 a function of registering the position of the tip 23a of the arm 13 when the function button 41 is operated during the execution of a teaching operation as a teaching point. In this case, when the teaching operation is performed, the operator can operate the function button 41 to register the position of the tip 23a of the arm 13 at that time as a teaching point while exerting a function of the ribbon switch 25 (for example, direct teaching by hand guide). This improves the operability of the teaching operation.

[0080] Furthermore, in this embodiment, the robot 3 may have a release button 43 provided on the wrist portion 21 adjacent to the flange portion 23 on which the ribbon switch 25 is provided, and in this case, the controller 5 may have a fifth control unit 73 that releases the emergency stop when the release button 43 is operated after an emergency stop is executed when an external force due to a collision acts on the robot 3.

[0081] In this case, when an external force due to a collision acts on the robot 3 and an emergency stop is executed, the operator can easily release the emergency stop by operating the release button 43. Furthermore, since the release button 43 is provided on the wrist portion 21 adjacent to the flange portion 23 on which the ribbon switch 25 is provided, the operator can easily operate the ribbon switch 25 and the release button 43 simultaneously. This improves operability, while allowing the function of the ribbon switch 25 (for example, evacuation from the emergency stop position by hand guide) to be exercised, and the emergency stop can be released by the release button 43 to cause the robot 3 to resume operation.

[0082] In addition, in this embodiment, when a teaching operation for memorizing the operation of the robot 3 is being performed and / or when an emergency stop is executed, if the first control unit 65 determines that an external force is present after the ribbon switch 25 is operated, the second control unit 67 may operate the robot 3 based on the external force.

[0083] In this case, by operating ribbon switch 25 during a teaching operation, the worker can push robot 3 with his / her hand to operate it and store the operation. Also, when an external force due to a collision acts on robot 3 and an emergency stop is performed, by operating ribbon switch 25, robot 3 can be pushed with his / her hand to quickly move away from the collision object. This improves the operability of robot 3 during teaching operation, emergency stop, etc. Also, when ribbon switch 25 is used as an operating unit for hand guiding both during teaching operation and emergency stop, convenience can be improved.

[0084] Furthermore, in this embodiment, the second control unit 67 may operate the robot 3 based on an external force only while the ribbon switch 25 is being operated. In this case, the worker can only operate the robot 3 by hand while operating the ribbon switch 25, which prevents the tip 23a of the robot 3 from moving to an unintended position without the worker realizing it.

[0085] Furthermore, in this embodiment, the robot 3 may have a mounting portion 53 for mounting a camera 51 for capturing images of an object to be worked on by the robot 3, at a position closer to the tip 23a of the arm 13 than the ribbon switch 25. In this case, when the worker operates the ribbon switch 25, the worker's hand can be prevented from entering the field of view of the camera 51.

[0086] Furthermore, in this embodiment, robot 3 may have fastener 27 that covers a portion of ribbon switch 25 in the longitudinal direction and fastens ribbon switch 25 to the outer periphery of arm 13. In this case, fastener 27 can firmly fasten ribbon switch 25 to the outer periphery of arm 13. Furthermore, if ribbon switch 25 has dead zone 25A in a portion of its longitudinal direction, covering dead zone 25A with fastener 27 can prevent the operator from operating dead zone 25A.

[0087] Furthermore, in this embodiment, ribbon switch 25 may have signal wire 25b that is routed from the outer periphery of arm 13 to the inside through opening 35 provided in arm 13, in which case fixture 27 may be provided so as to cover signal wire 25b. In this case, signal wire 25b of ribbon switch 25 can be protected by fixture 27. Furthermore, since fixture 27 can cover opening 35 and bushing 39 through which signal wire 25b passes, the waterproof and dustproof effects of robot 3 can be improved.

[0088] Furthermore, in this embodiment, robot 3 may have connector 29 to which cable 47 is connected between ribbon switch 25 and tip 23a of arm 13, in which case cable 47 may be connected at one end to connector 29 and at the other end to end effector 7. In this case, cable 47 can be prevented from being wired across ribbon switch 25, and therefore, a decrease in the operability of ribbon switch 25 due to cable 47 can be prevented.

[0089] Furthermore, in this embodiment, the robot 3 may have an attachment portion 53 for attaching a camera 51 for capturing an image of a work target of the robot 3. In this case, the fixture 27 and the attachment portion 53 may be disposed at positions spaced apart by approximately 180 degrees in the circumferential direction around the rotation axis Ax6 of the flange portion 23. In this case, a portion of the ribbon switch 25 other than the insensitive zone 25A, i.e., the operable sensitive zone 25B, can be disposed near the camera 51. This makes it possible to perform work using the camera 51 while pressing the ribbon switch 25, improving workability.

[0090] <6. Controller hardware configuration example> An example of the hardware configuration of the controller 5 will be described with reference to Fig. 14. In Fig. 14, the configuration related to the function of supplying power to the actuators Ac1 to Ac6 of the controller 5 (multi-axis servo controller 59) is appropriately omitted.

[0091] 14, the controller 5 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or an FPGA, an input device 913, an output device 915, a recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input / output interface 911 so as to be able to transmit signals to each other.

[0092] The program can be recorded in, for example, the ROM 903, the RAM 905, or the recording device 917 such as a hard disk.

[0093] The program may be temporarily or non-temporarily (permanently) recorded on a removable recording medium 925 such as a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a semiconductor memory. Such a recording medium 925 may be provided as a so-called package software. In this case, the program recorded on the recording medium 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, etc.

[0094] The program may be recorded, for example, on a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives the program. The program received by the communication device 923 may then be recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

[0095] The program may be recorded in, for example, an appropriate external connection device 927. In this case, the program may be transferred via an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, etc.

[0096] The CPU 901 executes various processes in accordance with the programs recorded in the recording device 917, thereby realizing processes by the first control unit 65, the second control unit 67, the third control unit 69, the fourth control unit 71, the fifth control unit 73, etc. The CPU 901 may, for example, directly read out and execute the programs from the recording device 917, or may execute the programs after first loading them into the RAM 905. When the CPU 901 receives a program via the communication device 923, the drive 919, or the connection port 921, for example, the CPU 901 may directly execute the received program without recording it in the recording device 917.

[0097] The CPU 901 may perform various processes as necessary based on signals and information input from an input device 913 such as a mouse, keyboard, and microphone (not shown).

[0098] The CPU 901 may output the results of the above-mentioned processing from an output device 915, such as a display device or an audio output device. The CPU 901 may transmit the processing results via a communication device 923 or a connection port 921, as necessary. The CPU 901 may record the processing results in the recording device 917 or recording medium 925.

[0099] In the above description, when "vertical", "parallel", "plane" and the like are used, the meanings are not strict. The terms "vertical", "parallel" and "plane" mean "substantially vertical", "substantially parallel" and "substantially plane" with allowance for design and manufacturing tolerances and errors.

[0100] In the above description, when the external dimensions, size, shape, position, etc. are described as "same", "equal", "different", etc., these descriptions are not intended to be strict. The terms "same", "equal", and "different" mean "substantially the same", "substantially the same", "substantially equal", and "substantially different", allowing for design and manufacturing tolerances and errors.

[0101] In addition to the above, the methods according to the above-mentioned embodiments and each modified example may be appropriately combined and used. Although not illustrated individually, the above-mentioned embodiments and each modified example may be implemented with various modifications without departing from the spirit thereof.

[0102] The problems and effects that the above-described embodiments and modifications are intended to solve are not limited to those described above. The embodiments and modifications may solve problems or achieve effects that are not described above, or may solve only some of the problems or achieve only some of the effects that are described. [Explanation of symbols]

[0103] 1. Robot System 3. Robot 5. Controller 7 End Effector 13 Arm 15 Lower arm (example of link) 17 Elbow (example of link) 19 Upper arm (example of a link) 21 Wrist (example of link) 23 Flange part (example of link) 23a Tip 25 Ribbon switch (an example of the first operating part) 25b signal line 27 Fixtures 29 Connectors 29a Connector 29b Connector 29c Connector 31 Groove 33 Recess 35 Aperture 41 Function button (an example of the second operation unit) 41a Function button (an example of the second operation unit) 41b Function button (an example of the second operation unit) 41c Function button (an example of the second operation unit) 43 Release button (an example of the third operation part) 47 Cable 51 Camera 53 Mounting part 65 First Control Section 67 Second Control Section 69 Third Control Section 71 4th Control Section 73 5th control section (an example of the 4th control section) Ax6 Rotation axis J1 Joint J2 joint J3 Joint J4 Joint J5 Joint J6 Joint Ts1 Torque sensor (example of a sensor) Ts2 Torque sensor (example of a sensor) Ts3 Torque sensor (example of sensor) Ts4 torque sensor (example of sensor) Ts5 torque sensor (example of sensor) Ts6 torque sensor (example of sensor)

Claims

1. Robots and A controller for controlling the robot, The robot comprises: An arm, a first operation unit that can be operated at a plurality of positions in a direction around an outer circumference of the arm, and that, when an operator performs the operation, causes the controller to make the robot movable based on the operation; A robot system having the above configuration.

2. The first operation unit is The controllers are caused to realize the same functions by the operations at the plurality of locations. The robot system of claim 1 .

3. The first operation unit is The operation unit is provided in a band shape in a direction surrounding the outer periphery of the arm. The robot system according to claim 2 .

4. The robot comprises: Equipped with a sensor, The controller: a first control unit that determines whether or not an external force is applied to the robot based on the physical quantity detected by the sensor; a second control unit that, when it is determined by the first control unit that there is an external force after the first operation unit is operated, moves the robot based on the external force; The robot system of claim 1 .

5. The arm is Multiple links and At least one joint portion rotatably connecting adjacent links, The first operation unit is Among the plurality of links, the joint portion is provided on an outer periphery of the link that rotates around a rotation axis along a longitudinal direction of the link. The robot system of claim 1 .

6. The first operation unit is The grooves are provided on the outer periphery of the link in the circumferential direction over at least half a circumference. The robot system according to claim 5 .

7. The robot comprises: A groove portion for accommodating the first operating part is provided on an outer periphery of the link. The robot system according to claim 5 or 6.

8. The arm is Multiple links and At least one joint portion rotatably connecting adjacent links, The robot comprises: at least one second operating unit provided on the same link as or adjacent to the link on which the first operating unit is provided; The controller: a third control unit that assigns a function designated by an operator to the at least one second operation unit; The robot system of claim 1 .

9. The robot comprises: The arm has an end effector at a tip thereof, The third control unit is assigning a function of operating the end effector to the at least one second operation unit; The robot system according to claim 8.

10. The third control unit is a function of registering, as a teaching point, a position of the tip of the arm when the second operation unit is operated during a teaching operation for storing a motion of the robot, to the at least one second operation unit; The robot system according to claim 8 or 9.

11. The arm is Multiple links and At least one joint portion rotatably connecting adjacent links, The robot comprises: a third operating unit provided on the same link as or adjacent to the link on which the first operating unit is provided, The controller: and a fourth control unit that releases the emergency stop when the third operation unit is operated after an emergency stop is executed when an external force due to a collision acts on the robot. The robot system of claim 1 .

12. The robot comprises: Equipped with a sensor, The controller: a first control unit that determines whether or not an external force is applied to the robot based on the physical quantity detected by the sensor; and a second control unit that, when it is determined by the first control unit that there is an external force after the first operation unit is operated during at least one of a teaching operation for storing an operation of the robot and an emergency stop is performed, moves the robot based on the external force. The robotic system of claim 11.

13. The second control unit is moving the robot based on the external force only for a period during which the first operation unit is operated; The robot system according to claim 4 or 12.

14. The robot comprises: a mounting portion for mounting a camera for photographing an object to be worked on by the robot, the mounting portion being located at a position closer to the tip end of the arm than the first operation portion; The robot system of claim 1 .

15. The first operation unit is an operation unit provided in a band shape in a direction surrounding the outer periphery of the arm, The robot comprises: a fastener for covering a portion of the first operating part in a longitudinal direction and fastening the first operating part to an outer periphery of the arm; The robot system of claim 1 .

16. The first operation unit is a signal line extending from an outer periphery of the arm to an inside thereof through an opening provided in the arm; The fixing device is A coating is provided to cover the signal line. The robotic system of claim 15.

17. The robot comprises: an end effector provided at a tip end of the arm; a connector to which a cable is connected between the first operation unit and the tip end of the arm, The cable includes: One end is connected to the connector and the other end is connected to the end effector. The robot system of claim 1 .

18. The arm is Multiple links and At least one joint portion rotatably connecting adjacent links, The robot comprises: a mounting portion for mounting a camera for photographing a work target of the robot; The fixing device and the mounting portion are The links are arranged at positions spaced apart by approximately 180 degrees in a circumferential direction around a rotation axis along a longitudinal direction of the link.

17. The robot system according to claim 15 or 16.

19. A robot controlled by a controller, An arm, a first operation unit that can be operated at a plurality of positions in a direction around an outer circumference of the arm, and that, when an operator performs the operation, causes the controller to make the robot movable based on the operation; A robot having the above configuration.

20. A method for controlling a robot, comprising: When an operator operates a first operation unit that can be operated at a plurality of positions in a direction around an outer circumference of an arm of the robot, the robot is brought into a movable state based on the operation. A method for controlling a robot comprising the steps of:

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