robot

Abstract

A robot capable of suppressing a decrease in detection accuracy of a capacitance sensor due to a cable is provided. [Solution] A robot having a capacitance type sensor, comprising: a housing 20 constituting a fourth arm A4; a detection electrode 8d provided on the housing 20 and constituting the capacitance type sensor; and a shielding member 27 provided between the housing 20 and the detection electrode 8d, and having a conductive path 33 formed therein through which a cable passes that leads from the outside of the space between the housing and the detection electrode to the inside of the space.

Description

[Technical Field]

[0001] The present disclosure relates to a robot equipped with a capacitive sensor. [Background technology]

[0002] There are cases where humans and robots work together to perform tasks on a workpiece. Robots used in such cases are called collaborative robots. Collaborative robots may be equipped with capacitance sensors that can detect nearby objects, such as people.

[0003] Furthermore, cables are routed around the robot. Patent Document 1 describes that a cable routed around a cable housing is pulled out from a hole into a space outside the arm, and then routed through another hole to the wrist. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6299962 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a capacitance sensor is mounted on a robot arm, the cable may interfere with the capacitance sensor, reducing the detection accuracy of the capacitance sensor.

[0006] In view of the above-mentioned problems, the present disclosure aims to provide a robot that can suppress a decrease in the detection accuracy of a capacitance sensor due to a cable. [Means for solving the problem]

[0007] In order to solve the above problems, the robot disclosed herein is a robot having a capacitance sensor, and includes a housing that forms an arm, a detection electrode that is provided on the housing and forms the capacitance sensor, and a shielding member that is provided between the housing and the detection electrode and has a conductive path formed therein through which a cable passes that leads from outside the space between the housing and the detection electrode to inside the space.

[0008] In the robot, the detection electrode has a notch on the edge of the electrode surface, and the cable passes through the notch into the conductive path.

[0009] The robot further includes a circuit board that is provided between the shield member and the detection electrode and that constitutes the capacitance sensor.

[0010] In addition, the robot further includes a cover member that opens on the detection electrode side, covers the opening, and provides electromagnetic shielding.

[0011] In addition, in the robot, a first insulating member, an active shield, and a second insulating member are provided for the detection electrode, and are stacked in the following order from the housing side: the first insulating member, the active shield, the second insulating member, and the detection electrode.

[0012] In the robot, the housing is provided with a hole, and the cable passes through the conductive path from inside the space to outside the space through the hole. [Effects of the Invention]

[0013] According to the robot disclosed herein, it is possible to suppress a decrease in the detection accuracy of the capacitance sensor due to the cable. [Brief explanation of the drawings]

[0014] [Figure 1]1 is a perspective view showing an example of the overall configuration of a robot equipped with a capacitance type sensor according to a first embodiment. FIG. [Figure 2] 2 is an enlarged view showing an example of a specific configuration of a fourth arm in FIG. 1. FIG. [Figure 3] FIG. 3 is an exploded perspective view showing an example of the internal configuration of the fourth arm of FIG. 2. [Figure 4] 4 is an exploded perspective view showing an example of the configuration around the detection electrode in FIG. 3. FIG. [Figure 5] 4 is an exploded perspective view showing an example of a cover member in the fourth arm of FIG. 3. FIG. [Figure 6] 2. FIG. 4 is a diagram showing an example of a cable route in the fourth arm of FIG. [Figure 7] FIG. 10 is an exploded perspective view showing an example of the internal configuration of a fourth arm according to the second embodiment. [Figure 8] 8 is an exploded perspective view showing an example of the configuration around the detection electrode in FIG. 7. FIG. [Figure 9] 8 is a diagram showing an example of a cable route in the fourth arm of FIG. 7. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicate descriptions will be omitted where appropriate.

[0016] ===First Embodiment=== First, the first embodiment will be described. <Overall structure> FIG. 1 is a perspective view that schematically shows an example of the overall configuration of a robot 2 equipped with a capacitance type sensor according to a first embodiment of the present invention.

[0017] The robot 2 is an industrial robot that performs processes such as machining and transporting workpieces, and is a collaborative robot that works in the same space as humans, for example.

[0018] 1, the robot 2 is an articulated robot having multiple arms and multiple joints. Specifically, the robot 2 includes a base 3, a first arm A1, a second arm A2, a third arm A3, and a fourth arm A4. The robot 2 also includes a sensor 4 and is connected to a control device 5.

[0019] The base 3 is the foundation of the robot 2. The base 3 is fixed to the floor or a wall and supports the entire robot 2. The first arm A1 is connected to the base 3 via a rotation shaft. The first arm A1 rotates around the rotation shaft relative to the base 3 by a motor (not shown). The second arm A2, the third arm A3, and the fourth arm A4 rotate around their respective rotation shafts by their respective motors (not shown), similar to the first arm A1. An end effector is provided at the tip of the fourth arm A4. The robot 2 performs a predetermined operation by moving each joint. There is no limit to the number of arms that can be provided in the robot 2.

[0020] The sensor 4 is a capacitance sensor that detects an object such as a person. In this embodiment, the term "object" is a broad concept that includes a person, a workpiece, and other objects. Specifically, the sensor 4 detects the proximity of an object. Note that the sensor 4 may also detect the displacement of an object.

[0021] The sensor 4 is provided on an arm of the robot 2. In this embodiment, a case where the sensor 4 is provided on the fourth arm A4 will be described as an example. Note that the position where the sensor 4 is provided with respect to the robot 2 is not limited.

[0022] The control device 5 is an information processing device that controls the operation of the robot 2. The control device 5 controls the operation of each arm of the robot 2 to cause the robot 2 to perform a predetermined operation. For example, the control device 5 causes the robot 2 to perform a predetermined operation of grasping a workpiece and transporting the workpiece from one position to another.

[0023] Furthermore, the control device 5 uses the output of the sensor 4 to stop the movement of the robot 2. Specifically, the control device 5 compares the output of the sensor 4 with a threshold value, and when it determines that an object is approaching the robot 2, it stops the movement of the robot 2. For example, the control device 5 stops the movement of the robot 2 even when the robot 2 is in the middle of a predetermined movement. Note that the control device 5 is not limited to stopping the movement of the robot 2, and may also slow down the movement of the robot 2.

[0024] <Configuration example of an arm equipped with Sensor 4> Next, an example of a specific configuration in which the sensor 4 is mounted on an arm will be described. The arm of the robot 2 is the fourth arm A4 as an example.

[0025] Fig. 2 is an enlarged view showing an example of a specific configuration of the fourth arm A4 in Fig. 1. Fig. 3 is an exploded perspective view showing an example of the internal configuration of the fourth arm A4 in Fig. 2. Fig. 4 is an exploded perspective view showing an example of the configuration around the detection electrode 8d in Fig. 3. Fig. 5 is an exploded perspective view showing an example of the cover member 41 in the fourth arm A4 in Fig. 3.

[0026] 2, the exterior of the fourth arm A4 is made up of a housing 20 that constitutes the fourth arm A4 and a cover 21. In addition, a cable 22 is provided on the fourth arm A4.

[0027] As shown in FIG. 3, the housing 20 is provided therein with components such as motors 23 and wiring for operating the robot 2. Note that other components may be provided inside the fourth arm A4. The housing 20 is made of a metal material and is electrically connected to earth (reference potential). The housing 20 is provided with an opening 24. The opening 24 is provided, for example, on a side surface of the fourth arm A4. The housing 20 is also provided with a hole 25. The hole 25 penetrates from the inside to the outside of the housing 20. The hole 25 is provided at a position separated from a detection electrode 8d (described later). In other words, interference between the cable 22 passing through the hole 25 (described later) and the detection electrode 8d is suppressed. Furthermore, as shown in FIG. 2, a wrist unit 26 is provided on the housing 20. An end effector, for example, is provided on the wrist unit 26. The wrist unit 26 is provided with a hole 26a.

[0028] Cover 21 is provided facing opening 24 of housing 20, and is connected to laminated structure 8 via shielding member 27 (described later) and to housing 20 via circuit board 9. Cover 21 is made of a resin material. By making cover 21 from a resin material, cover 21 does not obstruct the electric field generated by detection electrodes 8d (described later) in laminated structure 8, allowing object detection by sensor 4 to be performed normally.

[0029] In this manner, the exterior of the fourth arm A4 is formed by the housing 20 and the cover 21.

[0030] The cable 22 is wiring or the like provided for the operation of the robot 2. Specifically, the cable 22 is wiring or the like provided for operating a tool hand or the like attached to the tip of the robot 2. For example, the cable 22 is a power supply line or a signal line. For example, the cable 22 is connected to a terminal 42 of the housing 20. Note that the cable 22 may be provided from a part other than the terminal 42. Furthermore, what is connected to the terminal 42 is not limited to a cable, and may be an air tube.

[0031] 3, a detection electrode 8d, a circuit board 9, and a shielding member 27 that constitute the sensor 4 are provided inside the fourth arm A4. The detection electrode 8d constitutes a part of a laminated structure 8 that will be described later.

[0032] The detection electrode 8d is provided on the housing 20 and is an electrode that constitutes the sensor 4. The detection electrode 8d generates an electric field and detects an object that enters the area of ​​the generated electric field. The detection electrode 8d generates an electric field toward the cover 21. The detection electrode 8d forms a capacitance between itself and the object. For example, the formed capacitance changes depending on the distance between the detection electrode 8d and the object. The capacitance formed between the object and the detection electrode 8d is detected by the circuit board 9.

[0033] The detection electrode 8d is provided between the housing 20 and the cover 21. Specifically, the detection electrode 8d is provided between the shield member 27 and the cover 21. The detection electrode 8d is protected from the external environment by the cover 21. For example, the cover 21 prevents dirt from adhering to the detection electrode 8d.

[0034] The detection electrode 8d has a first surface 29a. The first surface 29a is an electrode surface facing the cover 21.

[0035] The detection electrode 8d constitutes a part of the laminated structure 8. Specifically, as shown in FIG. 4, the laminated structure 8 includes a first insulating member 8a, an active shield 8b, a second insulating member 8c, and the detection electrode 8d stacked together. Specifically, the active shield 8b is provided on the housing 20 side of the detection electrode 8d via the second insulating member 8c. The second insulating member 8c is, for example, an insulating film (polyimide film). The second insulating member 8c prevents the detection electrode 8d from contacting other members such as the active shield 8b. The active shield 8b is given a potential equivalent to that of the detection electrode 8d, preventing the formation of electrostatic capacitance between the detection electrode 8d and other objects on the housing 20 side of the detection electrode 8d. Furthermore, the first insulating member 8a is provided closer to the housing 20 than the active shield 8b. The first insulating member 8a is, for example, an insulating film (polyimide film). The first insulating member 8a prevents the active shield 8b from contacting other members such as the shield member 27. In this manner, the first insulating member 8a, the active shield 8b, and the second insulating member 8c are provided for the detection electrode 8d. In the laminated structure 8, the first insulating member 8a, the active shield 8b, the second insulating member 8c, and the detection electrode 8d are laminated in this order from the housing 20 side (shield member 27 side) toward the cover 21. The first insulating member 8a, the active shield 8b, and the second insulating member 8c provided for the detection electrode 8d are formed to match the shape of the detection electrode 8d. The second insulating member 8c and the cover 21 may be formed integrally. In addition, in the laminated structure 8, a shield (GND shield) electrically connected to earth (reference potential) like the housing 20 may be provided closer to the housing 20 (shield member 27 side) than the first insulating member 8a.

[0036] Returning to FIG. 3, the circuit board 9 is electrically connected to the detection electrode 8d to form the sensor 4. Specifically, the circuit board 9 has a circuit for outputting a sensor value corresponding to the capacitance formed between the detection electrode 8d and an object. For example, the circuit board 9 is equipped with an arbitrary waveform generator, an RC bridge circuit, an instrumentation amplifier, a lock-in amplifier, and an A / D converter. Note that the circuit configuration mounted on the circuit board 9 may be all or part of the above configurations.

[0037] The circuit board 9 is provided between the housing 20 and the cover 21. Specifically, the circuit board 9 is provided between the shielding member 27 and the detection electrode 8d (the laminated structure 8).

[0038] In this way, the sensor 4 outputs a sensor value indicating a value corresponding to the capacitance generated depending on the state (distance) between the detection electrode 8d and the object. Note that the specific circuit configuration of the sensor 4 is not limited as long as the sensor value output corresponds to the capacitance formed in the detection electrode 8d.

[0039] The shielding member 27 is provided between the housing 20 and the cover 21. Specifically, the shielding member 27 is provided between the housing 20 and the detection electrode 8d. The shielding member 27 is made of a metal material. The shielding member 27 is preferably made of the same material as the housing 20, for example. The shielding member 27 is electrically connected to the housing 20 and has the same potential as the housing 20. In other words, the shielding member 27 is electrically connected to the earth (reference potential) like the housing 20. This allows the shielding member 27 to function as an electromagnetic shield.

[0040] Specifically, the shield member 27 includes a bottom 31 and a first wall 32. The first wall 32 extends from the surface of the bottom 31 toward the cover 21. The bottom 31 and the first wall 32 form a recess in the shield member 27, and the circuit board 9 is disposed in the recess. For example, the circuit board 9 is fixed to the bottom 31 of the shield member 27 with a gap therebetween. The shield member 27 electrically isolates the circuit board 9 from the interior of the housing 20, where the motor 23 and other components are provided. That is, the shield member 27 prevents noise generated by the motor 23 and other components inside the housing 20 from reaching the circuit board 9. The shield member 27 is also disposed so as to close the opening 24 of the housing 20. That is, the shield member 27 prevents noise generated by the motor 23 and other components inside the housing 20 from reaching the detection electrode 8d. In this way, the shielding member 27 not only shields the circuit board 9 but also has the function of shielding the detection electrode 8d.

[0041] A conductive path 33 is formed in the surface of the shield member 27 facing the detection electrode 8d. The conductive path 33 is formed by the bottom 31 and the second wall 34. The conductive path 33 forms a path for the cable 22, which will be described later. The conductive path 33 extends from a recess 35 formed in the first side surface to a hole 36 in the bottom 31. Specifically, the second wall 34 stands circumferentially from the surface of the bottom 31 toward the cover 21. One end of the second wall 34 is connected to the first wall 32 at the recess 35, and the other end extends to the hole 36.

[0042] One end (recess 35 side) of the conductive path 33 in the shield member 27 is not blocked by the detection electrode 8d when the fourth arm A4 is assembled. As a result, this one end of the conductive path 33 in the shield member 27 forms a path that communicates with the outside. Furthermore, the other end (hole 36) of the conductive path 33 in the shield member 27 and the hole 25 in the housing 20 are configured to be in the same position when the fourth arm A4 is assembled. As a result, the other end of the conductive path 33 in the shield member 27 forms a path that communicates with the outside. In other words, the conductive path 33 forms a path that connects the inside and outside of the space between the housing 20 and the detection electrode 8d (or the space between the shield member 27 and the detection electrode 8d).

[0043] Note that the conductive path 33 of the shield member 27 is formed by the bottom portion 31 and the second wall portion 34, and therefore opens on the side of the detection electrode 8d. For this reason, as shown in FIG. 5 , a cover member 41 may be provided to cover the opening of the conductive path 33 on the side of the detection electrode 8d and provide electromagnetic shielding. The cover member 41 contacts the inner wall of the conductive path 33 and covers the opening of the conductive path 33 on the side of the detection electrode 8d. The cover member 41 is inserted into the conductive path 33, for example, from a recess 35 of the shield member 27. The cover member 41 is made of, for example, a metal material similar to the shield member 27, and is electrically connected to the shield member 27. As a result, the cover member 41 shields the detection electrode 8d from the side of the conductive path 33. Note that the cover member 41 may be omitted.

[0044] <Example of cable 22 routing in the arm> Next, a specific example of the path of the cable 22 laid in the arm will be described. Note that the arm of the robot 2 is the fourth arm A4 as an example.

[0045] 6 is a diagram showing an example of a path along which the cable 22 is laid in the fourth arm A4 of FIG. 2. The cable 22 enters the conductive path 33 from one end side of the conductive path 33 formed by the recess 35 of the shielding member 27. That is, the cable 22 is laid through the conductive path 33. As a result, the cable 22 passes from the outside of the space between the housing 20 and the detection electrode 8d to the inside of the space.

[0046] Furthermore, the cable 22 passes from the conductive path 33 through the other end of the conductive path 33 formed by the hole 36 of the shield member 27, and then passes through the hole 25 of the housing 20. As a result, the cable 22 passes from the inside of the space between the housing 20 and the detection electrode 8d to the outside of the space. In this way, the cable 22 passes from the outside of the space between the housing 20 and the detection electrode 8d through the recess 35 of the shield member 27 to the inside of the space, and then passes from the inside of the space through the hole 25 to the outside of the space. The cable 22 is then arranged to pass through the hole 26a of the wrist unit 26. In this way, the fourth arm A4 has a hollow hole structure through which the cable 22 passes inside.

[0047] <Action and effect> As described above, in this embodiment, the cable 22 passes through the conductive path 33 and passes between the inside and outside of the space between the housing 20 and the detection electrode 8d. As a result, the cable 22 passes inside the active shield 8b around the detection electrode 8d. Therefore, no capacitance is formed between the detection electrode 8d, which is outside the active shield 8b, and the cable 22, which is inside the active shield 8b, via the active shield 8b. This reduces the influence of the cable 22 on the detection electrode 8d. This reduces the possibility that the sensor 4 will mistakenly detect the cable 22 as a person or the like. This means that a decrease in the detection accuracy of the sensor 4 due to the cable 22 can be reduced. Furthermore, since the cable 22 can pass through the conductive path 33, the cable 22 can be easily replaced or routed. This means that the replacement or routing of the cable 22 can be facilitated, and the influence on the operation of the sensor 4 is reduced. Furthermore, even if a force is applied to the cable 22 during, for example, a wrist movement of the robot 2, causing the cable 22 to move in the conductive path 33, the influence on the sensor 4 is reduced. Furthermore, the wiring of the cable 22 can be made more efficient, resulting in a more compact device. Furthermore, the shielding member 27 shields the detection electrode 8d from noise generated in the motor 23 and the like inside the housing 20.

[0048] Furthermore, since the circuit board 9 is disposed between the shielding member 27 and the detection electrode 8d, the shielding member 27 can shield both the circuit board 9 and the detection electrode 8d from noise generated in the motor 23 inside the housing 20, etc.

[0049] Furthermore, when the conductive path 33 is open on the side of the detection electrode 8d, the cover member 41 can be provided to shield the detection electrode 8d from noise generated by the cable 22 passing through the conductive path 33.

[0050] Furthermore, by providing the active shield 8b for the detection electrode 8d, a decrease in the detection accuracy of the detection electrode 8d is suppressed. Furthermore, by providing the first insulating member 8a and the second insulating member 8c, the insulating state of each member is maintained appropriately.

[0051] Furthermore, the cable 22 passes through the inside and outside of the space between the housing 20 and the detection electrode 8d via the conductive path 33 of the shielding member 27 and the hole 25 of the housing 20, so that the cable 22 can be arranged while suppressing the influence of the cable 22 on the sensor 4. In other words, a hollow hole structure is realized.

[0052] === Second Embodiment === Next, a second embodiment will be described.

[0053] The second embodiment will explain a case where the path along which the cable 22 is provided is different from that of the first embodiment. That is, the second embodiment differs from the first embodiment in the internal configuration of the arm. Note that a description of the same points as in the first embodiment will be omitted. The second embodiment can also be combined with the first embodiment.

[0054] <Internal configuration example> Fig. 7 is an exploded perspective view showing an example of the internal configuration of the fourth arm A4 according to this embodiment. Fig. 8 is an exploded perspective view showing an example of the configuration around the detection electrode 66d in Fig. 7. Fig. 9 is a diagram showing an example of the path of the cable 62 in the fourth arm A4 in Fig. 7.

[0055] As shown in FIG. 7 , the exterior of the fourth arm A4 is composed of a housing 60 and a cover 61 that constitute the fourth arm A4. The housing 60 of this embodiment corresponds to the housing 20 of the first embodiment, and the cover 61 corresponds to the cover 21 of the first embodiment. That is, like the housing 20, the housing 60 is made of a metal material and is electrically connected to earth (reference potential). The housing 60 also has components such as a motor 63 (corresponding to the motor 23) inside and is provided with an opening 64 (corresponding to the opening 24). The housing 60 is also provided with a hole 65 (corresponding to the hole 25) that penetrates the inside and outside of the housing 60. Like the cover 21, the cover 61 is made of a resin material and is provided facing the opening 64 of the housing 60.

[0056] Further, a detection electrode 66d, a circuit board 67, and a shielding member 68 that constitute the sensor 4 are provided inside the fourth arm A4. Note that the detection electrode 66d of the present embodiment corresponds to the detection electrode 8d of the first embodiment, the circuit board 67 corresponds to the circuit board 9 of the first embodiment, and the shielding member 68 corresponds to the shielding member 27 of the first embodiment. Note that the detection electrode 66d constitutes a part of a laminated structure 66 that will be described later.

[0057] Like the detection electrode 8d, the detection electrode 66d is provided on the housing 60 and is an electrode that constitutes the sensor 4. The detection electrode 66d is protected from the external environment by the cover 61. The detection electrode 66d has a first surface 69a (corresponding to the first surface 29a) and a second surface 69b as electrode surfaces that face the cover 61. The second surface 69b is continuous with the first surface 69a and is an electrode surface that protrudes from the first surface 69a toward the housing 60. Specifically, the second surface 69b protrudes circumferentially from an end of the first surface 69a toward the housing 60. The first surface 69a and the second surface 69b are integrally formed as an electrode. Note that in this embodiment, the detection electrode 66d can be configured with not only the first surface 69a but also the second surface 69b, thereby expanding the detection range of the detection electrode 66d.

[0058] The second surface 69b has a notch 70. The notch 70 is a portion of the second surface 69b where no electrode surface is formed in the direction in which the second surface 69b protrudes relative to the first surface 69a. In other words, the notch 70 can also be considered a recess in the second surface 69b. In this way, the detection electrode 66d has the notch 70 provided on the end side (second surface 69b) of the electrode surface (first surface 69a and second surface 69b).

[0059] The detecting electrode 66d also constitutes a part of the laminated structure 66. Specifically, as shown in FIG. 8, the laminated structure 66, like the laminated structure 8, includes a first insulating member 66a (corresponding to the first insulating member 8a), an active shield 66b (corresponding to the active shield 8b), a second insulating member 66c (corresponding to the second insulating member 8c), and the detecting electrode 66d stacked together. Specifically, in the laminated structure 66, the first insulating member 66a, the active shield 66b, the second insulating member 66c, and the detecting electrode 66d are stacked from the housing 60 side (the shielding member 68 side) toward the cover 61. The first insulating member 66a and the second insulating member 66c are, for example, insulating films (polyimide films). The first insulating member 66a prevents the active shield 66b from contacting other members. The active shield 66b is given a potential equivalent to that of the detection electrode 66d, and prevents the formation of electrostatic capacitance between the detection electrode 66d and other objects on the housing 60 side of the detection electrode 66d. The second insulating member 66c prevents the detection electrode 66d from coming into contact with other members. The first insulating member 66a, the active shield 66b, and the second insulating member 66c, which are provided for the detection electrode 66d, are formed to match the shape of the detection electrode 66d. Specifically, cutout shapes are provided in the first insulating member 66a, the active shield 66b, and the second insulating member 66c to match the cutout portion 70 of the detection electrode 66d.

[0060] Like the circuit board 9, the circuit board 67 is electrically connected to the detection electrode 66d and constitutes the sensor 4. Specifically, the circuit board 67 has a circuit for outputting a sensor value according to the electrostatic capacitance formed between the detection electrode 66d and the object.

[0061] The shielding member 68 is made of a metal material and electrically connected to the ground (reference potential), similar to the shielding member 27, and functions as an electromagnetic shield. The shielding member 68 prevents noise generated by the motor 63 and the like inside the housing 60 from reaching the detection electrode 66d.

[0062] Furthermore, a conductive path 73 is formed on the surface of the shield member 68 facing the detection electrode 66d. The conductive path 73 of this embodiment corresponds to the conductive path 33 of the first embodiment. The conductive path 73 is formed by a bottom portion 74 and a wall portion 75, and constitutes a path for a cable 62, which will be described later. When the fourth arm A4 is assembled, one end of the conductive path 73 is not blocked by the detection electrode 66d and opens to the outside through the notch portion 70 of the detection electrode 66d. As a result, one end of the conductive path 73 in the shield member 68 constitutes a path that communicates with the outside. Furthermore, the other end of the conductive path 73 in the shield member 68 leads to the hole portion 76, and is configured to be positioned flush with the hole portion 65 of the housing 60 when the fourth arm A4 is assembled. As a result, the other end of the conductive path 73 in the shield member 68 constitutes a path that communicates with the outside. That is, the conductive path 73 constitutes a path that connects the inside and outside of the space between the housing 60 and the detection electrode 66d.

[0063] Furthermore, since the conductive path 73 of the shield member 68 is open on the side of the detection electrode 66d, a cover member (corresponding to the cover member 41) may be provided to cover the opening and provide electromagnetic shielding. The cover member contacts the inner wall of the conductive path 73 and closes the opening of the conductive path 73. The cover member is made of a metal material and is electrically connected to the shield member 68, shielding the detection electrode 66d from the conductive path 73 side. In other words, the cover member serves as a GND shield. Furthermore, an active shield may be further provided on the surface of the cover member facing the detection electrode 66d.

[0064] In this embodiment, a partition plate 82 is also provided. The partition plate 82 is made of a metal material and is electrically connected to the earth (reference potential) like the housing 60. As a result, the partition plate 82 shields the circuit board 67 and the detection electrode 66d from noise generated by the motor 63 and the like inside the housing 60.

[0065] Using the above members, the fourth arm A4 is configured as shown in Fig. 7. Specifically, the partition plate 82, the circuit board 67, the shield member 68, the detection electrode 66d (laminated structure 66), and the cover 61 are attached to the housing 60 in this order.

[0066] <Example of cable 62 routing in the arm> Next, a specific example of the path of the cable 62 laid in the arm will be described. Note that the arm of the robot 2 is the fourth arm A4 as an example.

[0067] FIG. 9 is a diagram showing an example in which a cable 62 is laid in the assembled fourth arm A4 of FIG. 7. Like the cable 22, the cable 62 of this embodiment is wiring or the like provided for the operation of the robot 2, and is connected to, for example, a terminal 72 (corresponding to the terminal 42) of the housing 60. The cable 62 passes through the cutout portion 70 of the detection electrode 66d and enters the conductive path 73 of the shielding member 68. That is, the cable 62 is laid through the conductive path 73. As a result, the cable 62 passes from the outside of the space between the housing 60 and the detection electrode 66d to the inside of the space. Then, the cable 62 passes from the conductive path 73 through the hole 76 of the shielding member 68 and the hole 65 of the housing 60. As a result, the cable 62 passes from the inside of the space between the housing 60 and the detection electrode 66d to the outside of the space. In this way, the cable 62 passes from the outside of the space between the housing 60 and the detection electrode 66d through the cutout portion 70 to the inside of the space, and then passes from the inside of the space through the hole portion 65 to the outside of the space.

[0068] <Action and effect> As described above, in this embodiment, the cutout 70 is provided on the end side of the electrode surface of the detection electrode 66d, and the cable 62 passes through the cutout 70 into the conductive path 73 (the space between the housing 60 and the detection electrode 66d). Therefore, the cable 62 passes inside around the detection electrode 66d, thereby suppressing the influence of the cable 62 on the detection electrode 66d. That is, a decrease in the detection accuracy of the sensor 4 due to the cable 62 can be suppressed. Furthermore, since the cable 62 can pass through the conductive path 73, the cable 62 can be easily replaced or routed. That is, the replacement or routing of the cable 62 can be facilitated, and the influence on the operation of the sensor 4 is suppressed. Furthermore, even if a force is applied to the cable 62 during, for example, a wrist movement of the robot 2, causing the cable 62 to move in the conductive path 73, the influence on the sensor 4 is suppressed. Furthermore, since the cable 62 passes through the cutout 70 into the interior, a wide electrode surface can be provided, thereby expanding the detection range of the detection electrode 66d. For example, it is possible to provide not only the first surface portion 69a but also the second surface portion 69b, thereby making it possible to expand the detection range.

[0069] === Variations === The present disclosure is not limited to the above-described embodiments. In other words, designs obtained by appropriately modifying the above-described specific examples by a person skilled in the art are also included within the scope of the present disclosure as long as they include the features of the present disclosure. Furthermore, the elements of the above-described embodiments and the following modifications can be combined to the extent technically possible, and combinations of these can also be included within the scope of the present disclosure as long as they include the features of the present disclosure.

[0070] For example, in the above embodiment, the cover 21 (or the cover 61) is made of a resin material, but the cover 21 (or the cover 61) is not limited to being made of a resin material.

[0071] In the above embodiment, the case where the shielding member 27 (or the shielding member 68) is made of the same material as the housing 20 (housing 60) has been described as an example, but this is not limited to the above. For example, the shielding member 27 (or the shielding member 68) may be a member in which a metal coating (or a metal tape) is applied to the surface of a resin member. In other words, the specific configuration of the shielding member 27 (or the shielding member 68) is not limited as long as it has a shielding function.

[0072] In the above embodiment, the case where the sensor 4 is provided on the fourth arm A4 of the robot 2 has been described as an example, but the installation location and number of sensors are not limited. For example, the sensor 4 may be provided on each of the first arm A1, the second arm A2, the third arm A3, and the fourth arm A4. Furthermore, multiple sensors 4 may be provided on one arm.

[0073] In addition, although the second embodiment has been described as an example in which the notch portion 70 is provided, the position of the notch portion 70 is not limited to the above. In other words, as long as a notch shape is formed in the second surface portion 69b, the specific position is not limited.

[0074] Furthermore, in the above embodiment, an example was given in which the control device 5 makes a determination using the output of the sensor 4 to stop (or slow down) the movement of the robot 2, but the determination process may also be performed on the circuit board 9 (or the circuit board 67).

[0075] Furthermore, the above embodiment has been described as an example in which a cover member 41 or the like is provided for the conductive path 33 (or the conductive path 73). For example, when the cover member 41 is provided, an active shield may be provided for the cover member 41.

[0076] The above-described embodiments illustrate specific configurations of the shield member 27 and the shield member 68. The shapes of the shield member 27 and the shield member 68 are not limited to those shown above. Furthermore, the shapes of the conductive path 33 of the shield member 27 and the conductive path 73 of the shield member 68 are not limited to those shown above. [Explanation of symbols]

[0077] 2: Robot 4: Sensor (capacitive sensor) 8d, 66d: Detection electrodes 8a, 66a: First insulating member 8b, 66b: Active Shield 8c, 66c: Second insulating member 9, 67: Circuit board 20, 60: Housing 21, 61: Cover 22, 62: Cable 25, 65: Hole 27, 68: Shielding material 29a, 69a: First surface part 69b: Second surface part 70: Notch 33, 73: Conduction path 41: Cover member A1: First arm (arm) A2: Second arm (arm) A3: Third arm (arm) A4: 4th arm (arm)

Claims

1. A robot having a capacitance sensor, a housing constituting the arm; a detection electrode provided on the housing and constituting the capacitance-type sensor; a shielding member provided between the housing and the detection electrode, the shielding member having a conductive path through which a cable passes, the cable passing from the outside of a space between the housing and the detection electrode to the inside of the space; A robot comprising:

2. The detection electrode has a notch on an end side of an electrode surface, 2. The robot according to claim 1, wherein the cable passes through the notch and into the conductive path.

3. a circuit board that is provided between the shielding member and the detection electrode and that constitutes the capacitance-type sensor; 3. The robot according to claim 1, further comprising:

4. the conductive path is open on the detection electrode side, a cover member that is provided to cover the opening and provides electromagnetic shielding; 3. The robot according to claim 1, further comprising:

5. 3. The robot according to claim 1, wherein a first insulating member, an active shield, and a second insulating member are provided for the detection electrode, and the first insulating member, the active shield, the second insulating member, and the detection electrode are stacked in this order from the housing side.

6. The housing is provided with a hole, 3. The robot according to claim 1, wherein the cable is led from the inside of the space through the conductive path to the outside of the space through the hole.

Images