ROBOT SYSTEM AND METHOD FOR ASSEMBLING ROBOT SYSTEM

Abstract

To provide a robot system which can inhibit a sensor wiring from getting caught on a member disposed at its periphery during an operation of a robot arm while inhibiting hindrance of the operation of the robot arm.SOLUTION: A robot system 100 includes: a robot arm 11; a jacket part 31 which is provided so as to cover an outer surface 11a of the robot arm 11; and a jacket type sensor 30 provided at the jacket part 31 and including a detection part 32 which detects contact with the jacket part 31. A sensor wiring 40 which is connected to the detection part 32 and to which a detection result from the detection part 32 is output is disposed within the robot arm 11.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a robot system and a method for assembling a robot system, and more particularly to a robot system including a sensor for detecting contact and a method for assembling a robot system. [Background technology]

[0002] Conventionally, a robot system equipped with a sensor that detects contact has been known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a robot having a base, a plurality of link parts (robot arms), and a wrist part. In addition, in the above-mentioned Patent Document 1, an external force detection sensor is attached near each drive shaft of the link part to detect an external force acting on the link part. Furthermore, a signal from the external force detection sensor is input to a control unit. Then, when the external force detected by the external force detection sensor becomes equal to or exceeds a threshold value, the control unit stops or decelerates the operation of the robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5902664 Summary of the Invention [Problem to be solved by the invention]

[0005] Although not specified in the above Patent Document 1, a signal (detection result) from the external force detection sensor is input to the control unit via a wire (sensor wire). If this wire is fixed along the outer surface of the link, it may be pulled by the wire and hinder the movement of the link. For example, when one of two link parts connected by a joint rotates and the other is stationary, the part of the wire fixed to the rotating link part is pulled by the part of the wire fixed to the stationary link part, and the rotation of the link part is hindered. For this reason, it is necessary to provide the wire with slack so that the wire does not hinder the movement of the link part. However, if the wire has slack, a slack part of the wire will be generated, and there is a problem that the slack part of the wire will get caught on a member arranged around the robot during the movement of the link part.

[0006] The present invention has been made to solve the problems described above, and one object of the present invention is to provide a robot system and a method for assembling a robot system that can prevent the sensor wiring from getting caught on nearby components during operation of the robot arm, while preventing the operation of the robot arm from being hindered. [Means for solving the problem]

[0007] In order to achieve the above object, a robot system according to a first aspect of the present invention includes a robot arm, a jacket-type sensor including a jacket portion provided so as to cover an outer surface of the robot arm, a detection portion provided on the jacket portion and detecting contact with the jacket portion, and a sensor wiring connected to the detection portion and outputting a detection result from the detection portion, the sensor wiring being disposed inside the robot arm. and a wire insertion member that is arranged at an outlet of the sensor wire that is taken out from inside the robot arm to the outer surface of the robot arm and that guides the direction of the sensor wire in a direction along the outer surface of the robot arm. .

[0008] In the robot system according to the first aspect of the present invention, as described above, the sensor wiring connected to the detection unit of the jacket-type sensor and outputting the detection result from the detection unit is disposed inside the robot arm. As a result, since the sensor wiring is disposed inside the robot arm, even if the joint of the robot arm rotates, the part of the sensor wiring disposed at the joint only twists around the joint axis with the rotation of the joint, and the other part of the sensor wiring (the part disposed other than the joint) is not pulled. In addition, since the sensor wiring connected to the detection unit of the jacket-type sensor is disposed inside the robot arm, unlike the case where the sensor wiring is disposed outside the robot arm, it is possible to prevent the sensor wiring from getting caught on a member disposed in the vicinity. As a result, it is possible to prevent the sensor wiring from getting caught on a member disposed in the vicinity during the operation of the robot arm while preventing the operation of the robot arm from being hindered. In addition, by using the jacket-type sensor, it is possible to detect a relatively wide range of contact in the robot arm.

[0009] A robot system according to a second aspect of the present invention includes a jacket portion, a robot arm configured to be able to attach a jacket-type sensor including a detection portion provided on the jacket portion and detecting contact with the jacket portion so as to cover an outer surface of the robot arm, and a sensor wiring connected to the detection portion and outputting a detection result from the detection portion, the sensor wiring being disposed inside the robot arm. and a wire insertion member that is arranged at an outlet of the sensor wire that is taken out from inside the robot arm to the outer surface of the robot arm and that guides the direction of the sensor wire in a direction along the outer surface of the robot arm. .

[0010] In the robot system according to the second aspect of the present invention, as described above, the sensor wiring connected to the detection unit of the jacket-type sensor and outputting the detection result from the detection unit is disposed inside the robot arm. As a result, since the sensor wiring is disposed inside the robot arm, even if the joint of the robot arm rotates, the part of the sensor wiring disposed at the joint only twists around the joint axis with the rotation of the joint, and the other part of the sensor wiring (the part disposed other than the joint) is not pulled. Furthermore, since the sensor wiring connected to the detection unit of the jacket-type sensor is disposed inside the robot arm, unlike the case where the sensor wiring is disposed outside the robot arm, it is possible to prevent the sensor wiring from getting caught on surrounding members and the like. As a result, it is possible to prevent the sensor wiring from getting caught on surrounding members and the like during the operation of the robot arm while preventing the operation of the robot arm from being hindered. Furthermore, by using the jacket-type sensor, it is possible to detect contact over a relatively wide range in the robot arm.

[0011] Furthermore, by arranging the sensor wiring inside the robot arm in advance, the jacket-type sensor can be easily attached to the robot arm later (at the installation site).

[0012] A method for assembling a robot system according to a third aspect of the present invention includes the steps of: preparing a robot arm having sensor wiring arranged therein beforehand; and attaching a jacket-type sensor including a jacket portion and a detection portion provided on the jacket portion for detecting contact with the jacket portion and outputting a detection result, so as to cover an outer surface of the robot arm. The step of attaching the jacket-type sensor includes a step of attaching a jacket-type sensor to the inside of the robot arm. The direction of the sensor wiring taken out from inside the robot arm to the outer surface of the robot arm is guided in a direction along the outer surface of the robot arm by a wiring insertion member disposed at the take-out portion of the sensor wiring. This includes a step of connecting the sensor wiring to the detection unit.

[0013] In the method for assembling a robot system according to a third aspect of the present invention, as described above, the sensor wiring connected to the detection unit of the jacket-type sensor and outputting the detection result from the detection unit is disposed inside the robot arm. As a result, since the sensor wiring is disposed inside the robot arm, even if the joint of the robot arm rotates, the part of the sensor wiring disposed at the joint only twists around the joint axis with the rotation of the joint, and the other part of the sensor wiring (the part disposed other than the joint) is not pulled. Furthermore, since the sensor wiring connected to the detection unit of the jacket-type sensor is disposed inside the robot arm, unlike the case where the sensor wiring is disposed outside the robot arm, it is possible to prevent the sensor wiring from getting caught on surrounding members and the like. As a result, it is possible to prevent the sensor wiring from getting caught on surrounding members and the like during the operation of the robot arm while preventing the operation of the robot arm from being hindered. Furthermore, by using the jacket-type sensor, it is possible to detect contact over a relatively wide range in the robot arm.

[0014] Furthermore, since the sensor wiring is arranged inside the robot arm in advance, the jacket-type sensor can be easily attached to the robot arm later (at the installation site). Effect of the Invention

[0015] According to the present invention, as described above, it is possible to prevent the sensor wiring from getting caught on nearby components while the robot arm is in operation, while preventing the operation of the robot arm from being hindered. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram of a robotic system according to one embodiment. [Diagram 2] FIG. 2 is a perspective view of a robot according to an embodiment (without a jacket-type sensor); [Diagram 3] FIG. 2 is a diagram showing the front side of the jacket-type sensor. [Figure 4] FIG. 2 is a diagram showing the back side of the jacket-type sensor. [Diagram 5] FIG. 1 is a perspective view of a robot (with a jacket-type sensor provided) according to an embodiment. [Figure 6] FIG. 2 is a cross-sectional view of a robot arm according to one embodiment. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. 11 is a flow chart for explaining a method of assembling the robot system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0018] The configuration of a robot system 100 according to the present embodiment will be described with reference to FIGS.

[0019] As shown in Fig. 1, the robot system 100 includes a robot 10 and a robot control device 20 that controls the robot 10. The robot 10 and the robot control device 20 are connected via robot wiring 21. In addition, AC power is supplied to the robot control device 20 from a commercial power source 1. The robot control device 20 supplies the AC power supplied from the commercial power source 1 to the robot 10 via the robot wiring 21, and controls the operation of the robot 10.

[0020] As shown in FIG. 2, the robot 10 includes a robot arm 11. The robot arm 11 includes a plurality of link portions 12 (link portions 12a to 12e). The plurality of link portions 12 are connected to each other by joints 13. A plurality of joints 13 are provided. For example, six joints 13 are provided. That is, the robot 10 is a six-axis (J1 to J6) vertical articulated robot. A motor (not shown) is provided in each of the plurality of joints 13. The robot arm 11 is placed on a base 14. An end effector 15 (see FIG. 5) is attached to the tip of the robot arm 11. The robot 10 may be a vertical articulated robot having joint axes other than six axes, a dual-arm robot, a horizontal articulated robot, or the like.

[0021] The robot 10 is also provided with a jacket-type sensor 30. As shown in FIG. 3 and FIG. 4, the jacket-type sensor 30 includes a jacket portion 31 provided to cover the outer surface 11a of the robot arm 11, and a detection portion 32 provided inside the jacket portion 31 and detecting contact with the jacket portion 31. The jacket portion 31 is formed of, for example, resin. The detection portion 32 includes a detection wire 32a embedded inside the jacket portion 31, and a substrate 32b to which a signal from the detection wire 32a is input. The detection portion 32 is a pressure-sensitive contact sensor. The detection portion 32 may also be configured with a capacitance-type contact sensor. The detection portion 32 may also be provided in a portion (such as a surface) other than the inside of the jacket portion 31.

[0022] 5 and 6, in this embodiment, the jacket type sensor 30 is provided on each of the multiple link portions 12. The jacket type sensors 30 include jacket type sensors 30a and 30b covering link portion 12d, jacket type sensors 30c and 30d covering link portion 12c, jacket type sensors 30e, 30f, and 30g covering link portion 12b, and jacket type sensors 30h, 30i, and 30j covering link portion 12a.

[0023] 3 and 4, the jacket portion 31 has a convex shape relative to the outer surface 11a of the robot arm 11 (link portion 12) so as to cover the outer surface 11a of the robot arm 11 (link portion 12). The jacket portion 31 has a shape (size) corresponding to the shape (size) of the link portion 12 to which it is attached. The substrate 32b is disposed inside the convex jacket portion 31. In addition, a rib 32d is provided inside the convex jacket portion 31.

[0024] Here, in this embodiment, as shown in FIG. 6, the robot 10 includes a sensor wiring 40 connected to the detection unit 32 and outputting a detection result from the detection unit 32. The sensor wiring 40 is disposed inside the robot arm 11. The sensor wiring 40 connected to the detection units 32 of the jacket-type sensors 30 provided on each of the links 12 is disposed inside the robot arm 11. A portion 40a of the sensor wiring 40 disposed inside the robot arm 11 is configured with loose wiring (a wiring in which a plurality of wires are loose) so as to prevent the occupancy rate of the robot arm 11 from increasing. A portion 40b of the sensor wiring 40 taken out to the outside of the robot arm 11 is configured with a cable (a wiring in which a plurality of loose wirings are covered with an insulating coating) for waterproofing and dustproofing.

[0025] In this embodiment, as shown in FIG. 1, the multiple jacket type sensors 30 (30a to 30j) include a portion where they are daisy-chained together by the sensor wiring 40. The sensor wiring 40 that daisy-chains the multiple jacket type sensors 30 together is disposed inside the robot arm 11. Specifically, the jacket type sensor 30b and the jacket type sensor 30a are connected in series. The jacket type sensor 30a is connected to the jacket type sensor 30c via the sensor wiring 41. The jacket type sensor 30c is connected in series to the jacket type sensor 30d. The jacket type sensor 30d is connected to the jacket type sensor 30e via the sensor wiring 42. The jacket type sensor 30e is connected to the jacket type sensor 30g. The jacket type sensor 30e is also connected to the jacket type sensor 30f. The jacket type sensor 30f is connected to the jacket type sensor 30h.

[0026] The jacket type sensor 30f is connected to the jacket type sensor 30i via a sensor wiring 43. The jacket type sensor 30i is connected to the jacket type sensor 30j. In addition, the jacket type sensor 30i is connected to a sensor wiring 44.

[0027] In this embodiment, the robot system 100 is also provided with a sensor control device 45 that is connected to the sensor wiring 40 and receives a detection result from the jacket-type sensor 30. Specifically, the sensor control device 45 is connected to a sensor wiring 44 that is disposed inside the robot arm 11. When any of the jacket-type sensors 30a to 30j detects contact with the jacket portion 31, the detection result is input to the sensor control device 45 via the sensor wiring 40.

[0028] In this embodiment, the sensor wiring 40 is configured to be taken out from the jacket-type sensor 30 through the inside of the robot arm 11 and the base 14, and to be connected to the sensor control device 45. Specifically, a wiring-side connector 40c connected to an end of the sensor wiring 40 is attached to the base 14. A sensor control device-side connector 45b is provided at an end of a wiring 45a extending from the sensor control device 45. The sensor control device-side connector 45b is connected to the wiring-side connector 40c.

[0029] In this embodiment, when the sensor control device 45 receives a detection result from the jacket type sensor 30 (any of the jacket type sensors 30a to 30j) that detects contact with the jacket part 31, the sensor control device 45 transmits a trigger signal to the robot control device 20 that controls the driving of the robot arm 11. Then, the robot control device 20 stops the driving of the robot arm 11 based on the trigger signal. Specifically, the robot control device 20 controls the driving of a motor (not shown) provided in the joint 13 of the robot arm 11 to be stopped. Note that DC power is input from the robot control device 20 to the sensor control device 45. Also, the commercial power source 1 may be directly input to the sensor control device 45. Note that, the robot control device 20 may reduce the moving speed of the robot arm 11 or increase the angle of the joint of the robot arm 11 based on the trigger signal.

[0030] In this embodiment, as shown in FIG. 6, the robot system 100 (robot 10) supplies at least one of a signal and power (both in this embodiment) for driving the robot arm 11 and includes robot wiring 21 arranged inside the robot arm 11. The sensor wiring 40 is arranged inside the robot arm 11 so as to be along the robot wiring 21. The robot wiring 21 is arranged inside the link portion 12a, the link portion 12b, the link portion 12c, and the link portion 12d. The robot wiring 21 is arranged at each joint 13 so as to be along the rotation axis of the joint 13. In detail, a cylindrical member 46 is arranged at the rotation axis of the joint 13 so as to be along the rotation axis, and the robot wiring 21 is inserted into the cylindrical member.

[0031] In this embodiment, the sensor wiring 40 is disposed inside the robot arm 11 so as to be aligned with the rotation axis of the joint 13. That is, the sensor wiring 40 is inserted into the tubular member 46 together with the robot wiring 21.

[0032] 7, the robot arm 11 includes an arm hole 11b into which the sensor wiring 40 is inserted. The sensor wiring 40 is inserted into the robot arm 11 through the arm hole 11b provided in the robot arm 11. The arm hole 11b is provided so as to open to the outer surface 11a of the robot arm 11. The size of the arm hole 11b is larger than the diameter of the sensor wiring 40. That is, a gap is generated between the arm hole 11b and the sensor wiring 40.

[0033] In this embodiment, as shown in FIG. 7 and FIG. 8, the arm hole portion 11b is provided with a wire insertion member 50 through which the sensor wire 40 is inserted. The wire insertion member 50 includes a wire guide hole portion 51 that guides the direction of the sensor wire 40 taken out from inside the robot arm 11 to the outer surface 11a of the robot arm 11 in a direction along the outer surface 11a of the robot arm 11. The robot arm 11 side of the wire guide hole portion 51 is formed along a direction perpendicular to the outer surface 11a of the robot arm 11. The wire guide hole portion 51 is formed so as to bend approximately 90 degrees on the outer surface 11a of the robot arm 11 and extend in a direction along the outer surface 11a of the robot arm 11. As a result, the sensor wire 40 is guided by the wire guide hole portion 51 so as to be along the outer surface 11a of the robot arm 11. The wire insertion member 50 is provided with a groove portion 52 that engages with the outer surface 11a of the robot arm 11. The wire insertion member 50 is formed, for example, of resin.

[0034] In the present embodiment, the wire insertion member 50 is configured to suppress intrusion of foreign matter through a gap between the arm hole portion 11b and the sensor wire 40. That is, the wire insertion member 50 is provided so as to fill the gap between the arm hole portion 11b and the sensor wire 40.

[0035] 2, in this embodiment, the sensor wiring 40 is taken out from the arm hole portion 11b, and a wiring-side connector portion 40c connected to the detection unit 32 is provided at an end of the portion 40b taken out from the arm hole portion 11b. The detection unit 32 includes a detection unit-side connector portion 32c (see FIG. 1) connected to the wiring-side connector portion 40c.

[0036] Specifically, as shown in FIG. 1, the detection unit side connector 32c of the jacket type sensor 30a is connected to the wiring side connector 40c of the sensor wiring 41. The detection unit side connector 32c of the jacket type sensor 30c is connected to the wiring side connector 40c of the sensor wiring 41. The detection unit side connector 32c of the jacket type sensor 30d is connected to the wiring side connector 40c of the sensor wiring 42. The detection unit side connector 32c of the jacket type sensor 30e is connected to the wiring side connector 40c of the sensor wiring 42. The detection unit side connector 32c of the jacket type sensor 30f is connected to the wiring side connector 40c of the sensor wiring 43. The detection unit side connector 32c of the jacket type sensor 30i is connected to the wiring side connector 40c of the sensor wiring 43. Furthermore, the detection unit side connector portion 32c of the jacket-type sensor 30i and the wiring side connector portion 40c of the sensor wiring 44 are connected.

[0037] Next, a method of assembling the robot system 100 will be described with reference to FIG.

[0038] In step S1, the robot arm 11 (robot 10) in which the sensor wiring 40 is previously arranged is prepared.

[0039] Next, in step S2, the jacket-type sensor 30 including a jacket portion 31 and a detection unit 32 provided on the jacket portion 31 to detect contact with the jacket portion 31 and output a detection result is attached so as to cover the outer surface 11a of the robot arm 11. The jacket-type sensor 30 is attached to the robot arm 11, for example, by a fastening member or an adhesive. Also, in the process (S2) of attaching the jacket-type sensor, the sensor wiring 40 arranged inside the robot arm 11 is connected to the detection unit 32. Specifically, the detection unit side connector portion 32c of the detection unit 32 is connected to the wiring side connector portion 40c of the sensor wiring 40.

[0040] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0041] In this embodiment, as described above, the sensor wiring 40, which is connected to the detection unit 32 of the jacket-type sensor 30 and outputs the detection result from the detection unit 32, is disposed inside the robot arm 11. As a result, since the sensor wiring 40 is disposed inside the robot arm 11, even if the joint 13 of the robot arm 11 rotates, the part of the sensor wiring 40 disposed at the joint 13 is simply twisted around the joint axis with the rotation of the joint 13, and the other part of the sensor wiring 40 (the part disposed other than the joint 13) is not pulled. In addition, since the sensor wiring 40 connected to the detection unit 32 of the jacket-type sensor 30 is disposed inside the robot arm 11, unlike the case where the sensor wiring 40 is disposed outside the robot arm 11, it is possible to prevent the sensor wiring 40 from getting caught on a member disposed in the vicinity. As a result, it is possible to prevent the sensor wiring 40 from getting caught on a member disposed in the vicinity during the operation of the robot arm 11 while preventing the operation of the robot arm 11 from being hindered. In addition, by using the jacket-type sensor 30, it is possible to detect contact over a relatively wide range in the robot arm 11.

[0042] Furthermore, in this embodiment, as described above, the robot arm 11 includes a plurality of link sections 12, the jacket type sensor 30 is provided on each of the plurality of link sections 12, and the sensor wiring 40 connected to the detection units 32 of the plurality of jacket type sensors 30 provided on each of the plurality of link sections 12 is disposed inside the robot arm 11. As a result, since the sensor wiring 40 connected to the detection units 32 of the plurality of jacket type sensors 30 is disposed inside the robot arm 11, even when a plurality of jacket type sensors 30 are provided, it is possible to prevent the sensor wiring 40 from getting caught on surrounding members during the operation of the robot arm 11 while preventing the operation of the robot arm 11 from being hindered.

[0043] In this embodiment, as described above, the multiple jacket type sensors 30 include portions that are daisy-chained together by the sensor wiring 40, and the sensor wiring 40 that daisy-chains the multiple jacket type sensors 30 together is disposed inside the robot arm 11. This makes it possible to reduce the number of sensor wirings 40 compared to a case where a sensor wiring 40 is provided for each of the multiple jacket type sensors 30 (a case where the multiple jacket type sensors 30 are connected in parallel). As a result, it is possible to prevent the space occupied by the sensor wiring 40 inside the robot arm 11 from becoming large.

[0044] Furthermore, in this embodiment, as described above, when the sensor control device 45 receives a detection result from the jacket-type sensor 30 that detects contact with the jacket portion 31, it transmits a trigger signal to the robot control device 20, and the robot control device 20 stops driving the robot arm 11, slows down the moving speed of the robot arm 11, or increases the angle of the joint of the robot arm 11 based on the trigger signal. As a result, when the robot arm 11 (jacket-type sensor 30) comes into contact with a member or the like arranged around the robot arm 11, the robot control device 20 can easily stop driving or slow down the robot arm 11, or increase the angle of the joint of the robot arm 11.

[0045] In this embodiment, as described above, the sensor wiring 40 is configured to be taken out from the jacket-type sensor 30 through the inside of the robot arm 11 and the base 14 to the outside of the robot arm 11 and to be connected to the sensor control device 45. Here, when the sensor wiring 40 is taken out from the robot arm 11 to the outside, the sensor wiring 40 taken out from the robot arm 11 may get caught on surrounding members or the like as the robot arm 11 moves. Therefore, by taking the sensor wiring 40 out to the outside of the robot arm 11 through the inside of the base 14 as described above, since the base 14 is stationary, it is possible to prevent the sensor wiring 40 taken out through the inside of the base 14 from getting caught on surrounding members or the like.

[0046] Furthermore, in this embodiment, as described above, the robot arm 11 includes the arm hole portion 11b into which the sensor wiring 40 is inserted, and the sensor wiring 40 is inserted into the robot arm 11 through the arm hole portion 11b provided in the robot arm 11. This allows the sensor wiring 40 to be easily inserted into the robot arm 11 through the arm hole portion 11b.

[0047] In the present embodiment, as described above, the wire insertion member 50 includes the wire guide hole portion 51 that guides the direction of the sensor wire 40 taken out from inside the robot arm 11 to the outer surface 11a of the robot arm 11 in a direction along the outer surface 11a of the robot arm 11. Here, when the sensor wire 40 is taken out in a direction perpendicular to the outer surface 11a of the robot arm 11, the protruding height (protruding height) of the sensor wire 40 in the vicinity of the arm hole portion 11b becomes relatively large. Therefore, by configuring as described above, the sensor wire 40 is taken out from inside the robot arm 11 so as to be along the outer surface 11a of the robot arm 11, so that the protruding height (protruding height) of the sensor wire 40 in the vicinity of the arm hole portion 11b can be reduced. As a result, the thickness of the jacket-type sensor 30 provided so as to cover the sensor wire 40 can be reduced, so that the size of the robot 10 can be suppressed.

[0048] In the present embodiment, as described above, the wire insertion member 50 is configured to suppress intrusion of foreign matter from the gap between the arm hole portion 11b and the sensor wiring 40. This makes it possible to reduce the number of parts constituting the robot system 100, compared to a case in which a member for suppressing intrusion of foreign matter from the gap between the arm hole portion 11b and the sensor wiring 40 is provided separately from the wire insertion member 50.

[0049] In this embodiment, as described above, the sensor wiring 40 is taken out from the arm hole 11b, and the end of the portion 40b taken out from the arm hole 11b is provided with a wiring-side connector portion 40c connected to the detection unit 32, and the detection unit 32 includes a detection unit-side connector portion 32c connected to the wiring-side connector portion 40c. As a result, since the wiring-side connector portion 40c is taken out from the arm hole portion 11b, the detection unit-side connector portion 32c connected to the detection unit 32 of the jacket-type sensor 30 can be easily connected to the wiring-side connector portion 40c. Therefore, the sensor wiring 40 arranged inside the robot arm 11 and the jacket-type sensor 30 arranged outside the robot arm 11 can be easily electrically connected.

[0050] Furthermore, in this embodiment, as described above, the sensor wiring 40 is disposed inside the robot arm 11 so as to be aligned with the rotation axis of the joint 13. As a result, even if the rotation axis of the joint 13 rotates, the portion of the sensor wiring 40 that is disposed so as to be aligned with the rotation axis of the joint 13 simply twists with the rotation of the joint 13, and does not pull on other portions of the sensor wiring 40 (portions disposed other than at the joint 13). Therefore, there is no need to provide excess length in the sensor wiring 40, and the length of the sensor wiring 40 can be reduced.

[0051] Furthermore, in this embodiment, as described above, the sensor wiring 40 is disposed inside the robot arm 11 so as to be aligned with the robot wiring 21. This allows the sensor wiring 40 to be disposed in the space for disposing the robot wiring 21 inside the robot arm 11, so there is no need to provide a separate space for disposing the sensor wiring 40 inside the robot arm 11. This makes it possible to prevent the robot arm 11 from becoming large.

[0052] In the present embodiment, as described above, the detection unit 32 includes the detection wire 32a embedded inside the jacket unit 31 and the substrate 32b to which a signal is input from the detection wire 32a. This allows the substrate 32b to detect an external force input to the detection wire 32a, thereby making it possible to detect contact with the jacket unit 31.

[0053] Furthermore, in this embodiment, as described above, the sensor wiring 40 is arranged inside the robot arm 11 in advance, so that the jacket-type sensor 30 can be easily attached to the robot arm 11 later (at the installation site).

[0054] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0055] For example, in the above embodiment, an example in which a plurality of jacket-type sensors 30 are provided has been shown, but the present invention is not limited to this. For example, only one jacket-type sensor 30 may be provided.

[0056] In the above embodiment, the jacket-type sensor 30 is provided on the robot arm 11, but the present invention is not limited to this. For example, the jacket-type sensor 30 may be provided on the base 14 in addition to the robot arm 11.

[0057] In the above embodiment, the multiple jacket type sensors 30 are connected in series to each other by the sensor wiring 40, but the present invention is not limited to this. For example, the sensor wiring 40 may be connected individually to each of the multiple jacket type sensors 30. In other words, the multiple jacket type sensors 30 may be connected in parallel to the sensor control device 45.

[0058] In the above embodiment, the sensor control device 45 to which the detection result from the jacket-type sensor 30 is input and the robot control device 20 to which the driving of the robot arm 11 is controlled are provided separately, but the present invention is not limited to this. For example, the control device to which the detection result from the jacket-type sensor 30 is input and the control device to which the driving of the robot arm 11 is controlled may be a common control device.

[0059] In the above embodiment, the sensor wiring 40 is taken out from the base 14 to the outside of the robot arm 11 via the inside of the base 14, but the present invention is not limited to this. For example, the sensor wiring 40 may be taken out from the robot arm 11 to the outside of the robot arm 11.

[0060] In the above embodiment, the wire insertion member 50 is provided in the arm hole portion 11b, but the present invention is not limited to this. For example, the sensor wire 40 may be taken out from the arm hole portion 11b without providing the wire insertion member 50 in the arm hole portion 11b.

[0061] In the above embodiment, the wire insertion member 50 is configured to suppress the intrusion of foreign matter through the gap between the arm hole portion 11b and the sensor wiring 40, but the present invention is not limited to this. For example, a member that suppresses the intrusion of foreign matter through the gap between the arm hole portion 11b and the sensor wiring 40 may be provided separately from the wire insertion member 50.

[0062] In the above embodiment, the sensor wiring 40 and the detection unit 32 are connected by connectors (the wiring-side connector 40c and the detection unit-side connector 32c), but the present invention is not limited to this. For example, the sensor wiring 40 and the detection unit 32 may be connected by a method (such as soldering) other than connecting the connectors.

[0063] In the above embodiment, the sensor wiring 40 is disposed inside the robot arm 11 along the rotation axis of the joint 13, but the present invention is not limited to this. For example, the sensor wiring 40 may be disposed at a position separated from the rotation axis of the joint 13.

[0064] In the above embodiment, the sensor wiring 40 is disposed inside the robot arm 11 along the robot wiring 21, but the present invention is not limited to this. For example, the sensor wiring 40 may be disposed inside the robot arm 11 at a position separated from the robot wiring 21.

[0065] In the above embodiment, the detection unit 32 includes the detection wire 32a embedded inside the jacket portion 31 and the board 32b to which a signal from the detection wire 32a is input, but the present invention is not limited to this. For example, the detection unit 32 may be composed of components other than the detection wire 32a and the board 32b. [Explanation of symbols]

[0066] 11 Robot Arm 11a Outer surface 11b Arm hole 12 Link section 13 Joints 14 Foundation 20 Robot control device 21 Robot Wiring 30 Jacket type sensor 31 Jacket section 32 Detection unit 32a Detection line 32b board 32c Connector part on the detection unit side 40 Sensor wiring 40b (removed from arm hole) 40c Wiring side connector 45 Sensor control device 50 Wiring insertion member 51 Wiring guide hole 100 Robot System

Claims

1. A robot arm; a jacket-type sensor including a jacket portion provided to cover an outer surface of the robot arm, and a detection portion provided on the jacket portion and configured to detect contact with the jacket portion; a sensor wiring connected to the detection unit and through which a detection result from the detection unit is output; the sensor wiring is disposed inside the robot arm, The robot system further includes a wire insertion member that is arranged at an outlet of the sensor wiring that is taken out from inside the robot arm to an outer surface of the robot arm, and that guides the orientation of the sensor wiring in a direction along the outer surface of the robot arm.

2. The robot arm includes a plurality of links, the jacket-type sensor is provided on each of the plurality of link portions, The robot system according to claim 1 , wherein the sensor wiring connected to the detection units of the jacket-type sensors provided on each of the link units is disposed inside the robot arm.

3. the plurality of jacket-type sensors include portions that are daisy-chain connected to one another by the sensor wiring, The robot system according to claim 2 , wherein the sensor wiring that daisy-chains the plurality of jacket-type sensors to each other is disposed inside the robot arm.

4. a sensor control device connected to the sensor wiring and receiving a detection result from the jacket-type sensor; A robot control device for controlling the drive of the robot arm, the sensor control device transmits a trigger signal to the robot control device when receiving a detection result indicating that the jacket portion has been contacted from the jacket-type sensor; The robot system according to any one of claims 1 to 3, wherein the robot control device stops driving the robot arm, reduces the moving speed of the robot arm, or increases the angle of a joint of the robot arm based on the trigger signal.

5. The robot arm further includes a base on which the robot arm is placed.

5. The robot system according to claim 4, wherein the sensor wiring is configured to be led from the jacket-type sensor through the inside of the robot arm and the base, to the outside of the robot arm, and to be connected to the sensor control device.

6. The removal portion includes an arm hole portion into which the sensor wiring included in the robot arm is inserted, 6. The robot system according to claim 1, wherein the sensor wiring is inserted into the robot arm through the arm hole provided in the robot arm.

7. The wiring insertion member is provided in the arm hole portion, and the sensor wiring is inserted therein, The robot system according to claim 6, wherein the wiring insertion member includes a wiring guide hole portion that guides the direction of the sensor wiring that is taken out from inside the robot arm to the outer surface of the robot arm in a direction along the outer surface of the robot arm.

8. The robot system according to claim 7 , wherein the wire insertion member is configured to suppress intrusion of foreign matter through a gap between the arm hole portion and the sensor wire.

9. the sensor wiring is taken out from the arm hole portion, and a wiring side connector portion connected to the detection portion is provided at an end of the portion taken out from the arm hole portion, The robot system according to any one of claims 6 to 8, wherein the detection unit includes a detection unit side connector portion connected to the wiring side connector portion.

10. the robot arm includes a plurality of link units and a joint connecting the plurality of link units; The robot system according to any one of claims 1 to 9, wherein the sensor wiring is arranged inside the robot arm so as to be aligned with a rotation axis of the joint.

11. a robot wiring that supplies at least one of a signal and power for driving the robot arm and is disposed inside the robot arm; The robot system according to any one of claims 1 to 10, wherein the sensor wiring is arranged inside the robot arm so as to run along the robot wiring.

12. The robot system according to any one of claims 1 to 11, wherein the detection unit includes a detection wire embedded inside the jacket unit, and a substrate to which a signal from the detection wire is input.

13. a robot arm configured to be able to attach a jacket-type sensor including a jacket portion and a detection portion provided on the jacket portion and configured to detect contact with the jacket portion so as to cover an outer surface of the robot arm; a sensor wiring connected to the detection unit and through which a detection result from the detection unit is output; the sensor wiring is disposed inside the robot arm, The robot system further includes a wire insertion member that is arranged at an outlet of the sensor wiring that is taken out from inside the robot arm to an outer surface of the robot arm, and that guides the orientation of the sensor wiring in a direction along the outer surface of the robot arm.

14. preparing a robot arm having sensor wiring disposed therein in advance; and attaching a jacket-type sensor including a jacket portion and a detection portion provided on the jacket portion to detect contact with the jacket portion and output a detection result so as to cover an outer surface of the robot arm, A method for assembling a robot system, the process of attaching the jacket-type sensor including a process of connecting the sensor wiring, which is arranged inside the robot arm and guided by a wiring insertion member arranged at an outlet of the sensor wiring such that the direction of the sensor wiring taken out from inside the robot arm to the outer surface of the robot arm is along the outer surface of the robot arm, to the detection unit.

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