Sensor unit and industrial robot

Abstract

To enhance certainty of mounting of a sensor unit, while widening a range of monitoring by the sensor unit.SOLUTION: A sensor unit 100 is mounted on a straight part 45b of a first upper arm part 25 constituting an arm 22 of a robot 10. The sensor unit 100 has a plurality of sensing parts 101 that can sense a contact thereof with an object and are arranged in a circumferential direction of the straight part 45b of the first upper arm part 25 to cover the straight part 45b, and a holder 120 that is attached to the straight part 45b of the first upper arm part 25 and formed with a swollen part 135 to which the plurality of sensing parts 101 are attached. The swollen part 135 of the holder 120 is configured to be positioned at a boundary part BP between a pair of sensing parts 101 adjacent to each other.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a sensor unit and an industrial robot. [Background technology]

[0002] Some industrial robots, such as articulated robots in which multiple links are connected in a series, are configured to be able to detect when a link comes into contact with an object (obstacle), such as a person. For example, the industrial robot described in Patent Document 1 has a detection function that detects contact based on the abnormal torque generated when the robot comes into contact with an object, and when contact is detected, the industrial robot is stopped (protective stop) to protect the industrial robot and the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-103674 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described detection method, abnormal torque is determined using the same threshold value regardless of the distance from the contact point with the object to the joint. This results in differences in contact detection accuracy and responsiveness depending on the contact point. For example, detection accuracy and responsiveness are lower at positions closer to the joint than at positions further away. Furthermore, if the threshold value is lowered assuming contact at positions closer to the joint, production efficiency may decrease due to an increase in unnecessary protective stoppages. In response to this, the above-described concerns about detection accuracy and responsiveness can be eliminated by using a configuration in which the surface of the arm (link) is covered with a sensor unit having a detection unit that detects contact with or approach to an object.

[0005] When using this type of sensor unit, it is preferable to minimize the area on the arm surface where the detection unit is not located, i.e., the non-detection area that does not detect contact, etc. On the other hand, minimizing the non-detection area imposes stricter restrictions on the detection unit mounting structure, potentially making the arm-side mounting structure (the mounting portion for the detection unit) difficult to see, hidden by the detection unit. In other words, it is expected that the workability of installing the detection unit will be reduced. This is undesirable because it could lead to work errors such as incomplete installation of the detection unit. Furthermore, there is a concern that the above-mentioned protective function will not be properly performed if the industrial robot operates with the detection unit incompletely installed. Thus, there is still room for improvement in the configuration of the sensor unit in order to increase the area of ​​the arm covered by the detection unit, i.e., the monitoring range of the sensor unit, while increasing the reliability of the sensor unit installation.

[0006] The present invention has been made in view of the above circumstances, and its main object is to increase the reliability of mounting a sensor unit while widening the monitoring range of the sensor unit. [Means for solving the problem]

[0007] The following describes means for solving the above problems.

[0008] First means: A sensor unit applied to an industrial robot having an arm in which a plurality of links, including a predetermined link formed so that at least a portion thereof is linear, are connected in a series, a plurality of detectors that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member attached to the predetermined link and having mounting portions to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with The attachment portion of the holder member is configured to be located at the boundary between the pair of adjacent detection portions.

[0009] According to the configuration of the first aspect, a holder member is attached to a predetermined link, and detectors are attached to the holder member, thereby covering the predetermined link. By configuring the sensor unit as a combination of multiple detectors, a wide range of the predetermined link can be comfortably covered. This is preferable for widening the monitoring range of the sensor unit and preventing missed detections. Here, adjacent pairs of detectors are attached to the mounting portion of the holder member. Because this mounting portion is located at the boundary between the detectors, when installing the detectors, the positional relationship between the detectors and the mounting portion can be visually confirmed. This reduces the likelihood of operational errors, such as incomplete installation of the detectors. In other words, the monitoring range of the sensor unit on the arm can be widened while increasing the reliability of the sensor unit installation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view of a robot according to a first embodiment. [Figure 2] Side view of the robot. [Figure 3] FIG. 10 is a perspective view showing a state in which the sensor unit is removed from the robot body. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] 5A and 5B are schematic diagrams showing the procedure for attaching and detaching the sensor unit. [Figure 7] FIG. 10 is a perspective view showing a state in which the sensor unit is removed from the robot body. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] A partial cross-sectional view taken along line AA in Figure 8. [Figure 11] 5A and 5B are schematic diagrams showing the procedure for attaching and detaching the second sensor unit. [Figure 12] 5A and 5B are schematic diagrams showing the flow of unlocking. [Figure 13] FIG. 10 is a schematic diagram showing the arrangement of cables in the second embodiment. [Figure 14] FIG. 4 is a schematic diagram showing the relationship between a holder and a cable holder. DETAILED DESCRIPTION OF THE INVENTION

[0011] First Embodiment A first embodiment will be described below with reference to the drawings. This embodiment is embodied in an industrial robot capable of working in collaboration with humans in a machine assembly factory.

[0012] As shown in Fig. 1, the robot 10 has a vertically articulated robot body 11. The robot body 11 has a base 21 fixed to the floor or the like, and an arm 22 formed by a series of connected links. Although some parts are not shown in Fig. 1, a group of sensor units 12 capable of detecting contact with an object such as a person is attached to the outer periphery of each link of the arm 22.

[0013] The arm 22 has, as the above-mentioned multiple links, a shoulder portion 23 supported by the base 21, a lower arm portion 24 supported by the shoulder portion 23, a first upper arm portion 25 supported by the lower arm portion 24, a second upper arm portion 26 supported by the first upper arm portion 25, a wrist portion 27 supported by the second upper arm portion 26, and a flange portion 28 supported by the wrist portion 27. An end effector 29 is attached to the flange portion 28. The robot 10 can be equipped with multiple types of end effectors depending on the work to be performed.

[0014] 2, a first joint J1 is formed between the base 21 and the shoulder 23, connecting the base 21 and the shoulder 23, and the shoulder 23 is rotatable in the horizontal direction around a connecting axis AX1 of the first joint J1. A second joint J2 is formed between the shoulder 23 and the lower arm 24, connecting the shoulder 23 and the lower arm 24, and the lower arm 24 is rotatable in the vertical direction around a connecting axis AX2 of the second joint J2. A third joint J3 is formed between the lower arm 24 and the first upper arm 25, connecting the lower arm 24 and the first upper arm 25, and the first upper arm 25 is rotatable in the vertical direction around a connecting axis AX3 of the third joint J3. A fourth joint J4 connecting the first upper arm 25 and the second upper arm 26 is formed on the first upper arm 25 and the second upper arm 26, and the second upper arm 26 is rotatable in a torsional direction around a connecting axis AX4 of the fourth joint J4. A fifth joint J5 connecting the second upper arm 26 and the wrist 27 is formed on the second upper arm 26 and the wrist 27, and the wrist 27 is rotatable in a vertical direction around a connecting axis AX5 of the fifth joint J5. A sixth joint J6 connecting the wrist 27 and the flange 28 is formed on the wrist 27 and the flange 28, and the flange 28 is rotatable in a torsional direction around a connecting axis AX6 of the sixth joint J6.

[0015] Motors M1 to M6 (specifically, servo motors) are provided at the joints J1 to J6, respectively, as drive units for rotating the joints J1 to J6, and the motors M1 to M6 are connected to a motion controller 33 via a servo amplifier 32. The motion controller 33 can be connected to a higher-level controller C via an external input / output terminal 34 provided on the base 21, and controls the drive of the motors M1 to M6 based on commands from the higher-level controller C.

[0016] Specifically, the motion controller 33 receives a command from the host controller C, reads an operation program corresponding to the command from the program storage unit, and identifies an operation target position from the read operation program. Thereafter, it generates a target trajectory that smoothly connects the identified operation target position and the current position of the arm 22, and sequentially transmits interpolated positions, which are positions obtained by dividing the target trajectory, to the servo amplifier 32.

[0017] The servo amplifier 32 is connected to the encoders attached to the motors M1 to M6, and detects the rotational positions of the motors M1 to M6 (i.e., the posture of the arm 22) based on the encoder values. Then, it calculates the target torque and target rotational speed of each motor M1 to M6 based on the deviation between the detected rotational position and the interpolated position included in the command received from the motion controller 33, and determines the power (current, voltage, pulses) to be supplied to each motor M1 to M6 based on the calculated target torque and target rotational speed, and supplies power to each motor M1 to M6. The servo amplifier 32, motion controller 33, and host controller C constitute a control system for the robot 10.

[0018] Incidentally, a connection terminal 28a is provided on the outer periphery of the flange portion 28, to which a cable 30 extending from the end effector 29 can be connected, and wiring connecting the connection terminal 28a and an external input / output terminal 34 of the base 21 is housed (built-in) in the robot body 11. The wiring is connected to the motion controller 33 and the external input / output terminal 34, and by connecting the cable 30 extending from the end effector 29 to the connection terminal 28a, the end effector 29 can be connected to the motion controller 33 and the higher-level controller C.

[0019] The control system shown in this embodiment has a detection function that detects contact based on abnormal torque generated when the arm 22 comes into contact with an object, such as a person. When contact is detected, the robot body 11 is stopped (protective stop) to protect the robot body 11 and the object. However, in this detection method, the same threshold value is used to determine abnormal torque regardless of the distance from the contact point with the object to the joint. This results in differences in contact detection accuracy and responsiveness depending on the contact point. For example, detection accuracy and responsiveness are lower at positions closer to the joint than at positions further away. Furthermore, if the threshold value is lowered assuming contact close to the joint, unnecessary protective stop may be more frequent, potentially reducing production efficiency. In the robot 10 shown in this embodiment, the arm 22 is covered with a sensor unit group 12 equipped with a planar detector that detects contact with an object. When the sensor unit group 12 detects contact, the robot 10 is stopped (protective stop). In other words, a protective stop is performed not only when abnormal torque is determined to have occurred, but also when contact is directly detected by the sensor unit group 12.

[0020] Here, the sensor unit group 12 shown in FIG. 1 is roughly classified into two groups depending on the shape of the link, etc. Specifically, they are classified into a sensor unit group applied to a linear portion of the link (hereinafter referred to as a linear portion) and a sensor unit group applied to a curved portion of the link (hereinafter referred to as a curved portion). In this embodiment, although some of the sensor units are not shown, the lower arm portion 24 and the first upper arm portion 25 are the targets for application of sensor units for linear portions, and the second upper arm portion 26 and the wrist portion 27 are the targets for application of sensor units for curved portions. First, with reference to FIGS. 3 and 4, a sensor unit applied to a curved portion will be described below using the sensor unit 50 for the wrist portion 27 as an example.

[0021] 3, the wrist 27 is bent at its intermediate position and has an overall L-shape. In other words, the wrist 27 is made up of a straight portion 41a connected to the second upper arm 26 and extending in the same direction as the connecting axis AX5, a straight portion 41b connected to the flange 28 and extending in the same direction as the connecting axis AX6, and a bent portion 41c connecting the straight portions 41a and 41b.

[0022] The sensor unit 50 has a planar detection section 51 that covers the bending portion 41c from the outer side of the bending. More specifically, the detection section 51 faces the bending outer side of the bending portion 41c and the straight sections 41a, 41b, and the side surface of the wrist 27 (see FIG. 4). As shown in FIG. 4, an operation button 27a that is operated by the user when performing direct teaching or the like is provided on the side surface of the wrist 27. Although the detection section 51 covers the side surface of the wrist 27, a part of an edge 55 of the detection section 51 is cut out so that the operation button 27a is outside the area covered by the detection section 51.

[0023] The detection unit 51 is formed by combining a base frame 52 made of hard resin (for example, polycarbonate) that contacts the outer surface of the wrist unit 27 with a cover 53 made of soft resin (for example, silicone) that covers the base frame 52 from the outside, and a sheet-like pressure sensor (not shown) is housed between the base frame 52 and the cover 53. When an object such as a person hits the cover 53, the cover 53 deforms, and the deformed cover 53 presses the pressure sensor. This causes a signal to be output that indicates contact with the object.

[0024] At the bending portion 41c of the wrist 27, a portion on the outer side of the bend is recessed to form a housing portion 43 for housing a connector 44 on the robot main body 11 side. This housing portion 43 is covered with a removable cover 42. When the sensor unit 50 is attached to the robot main body 11, the connector 44 on the robot main body 11 side is connected to the connector 54 on the sensor unit 50 side, and a signal indicating contact is input to the robot main body 11 side.

[0025] Next, we will explain the mounting structure of the sensor unit 50. Fasteners 70, 80 for mounting the detection unit 51 to the wrist 27 are arranged on each of the side portions 56, 57 of the detection unit 51 that face the wrist 27 from the side. These fasteners 70, 80 are both fixed to the base frame 52, and the fixing points are specified to be away from the edge 55 of the detection unit 51 (side portions 56, 57) (points closer to the center of the detection unit 51).

[0026] The fastener 70 is a long hook-and-loop fastener with one end fixed to the side portion 56 (base frame 52), and one surface is formed with a hook portion 71 and a loop portion 72 that connects to the hook portion 71. The hook portion 71 and the loop portion 72 are aligned in the longitudinal direction of the fastener 70, and a blank portion 73 where neither the hook portion 71 nor the loop portion 72 is formed is provided between the hook portion 71 and the loop portion 72.

[0027] The fastener 80 is composed of a long belt 81 having one end fixed to the side portion 57 (base frame 52) and a connecting plate 82 fixed to the other end (tip) of the belt 81. Here, a supplementary explanation of the connecting plate 82 will be provided with reference to FIG. 5.

[0028] The connecting plate 82 is provided with a ring portion 84 having a horizontally long opening 83. The belt 81 is inserted into this opening 83 and folded back from the opening 83 to form a double layer, and the doubled portion is sewn together to inseparably integrate the belt 81 and the connecting plate 82. The fastener 70 can be inserted into the opening 83 together with the belt 81. The fastener 70 inserted into the opening 83 is folded back to join the hook portion 71 and the loop portion 72, thereby joining the fasteners 70 and 80 together in a continuous manner.

[0029] A recess 86 is formed by recessing the plate surface 82a of the connecting plate 82 in a portion adjacent to the ring portion 84, specifically, in the portion where the fastener 70 is folded back during connection. Like the ring portion 84 and the opening 83, the recess 86 is also elongated horizontally, and its width is slightly larger than the width of the fastener 70. This allows a portion of the doubled portion of the fastener 70 to be accommodated in the recess 86 when the fastener 70 is folded back starting from the opening 83. By accommodating the fastener 70 in the recess 86, the side walls of the recess 86 prevent the fastener 70 from shifting laterally. The ranges in which the hook portion 71, loop portion 72, and blank portion 73 are formed are specified so that, when the sensor unit 50 is attached to the wrist 27, the hook portion 71 and loop portion 72 are joined at a position away from the connecting plate 82, and the doubled portion of the blank portion 73 is located in the recess 86.

[0030] The depth of the recess 86 is slightly larger than the thickness of the double-layered fastener 70, specifically, the thickness of the double-layered portion of the blank and the thickness of the portion where the hook portion 71 and the loop portion 72 are joined. A long, plate-shaped restricting member 90 is fixed to the connecting plate 82 to restrict the fastener 70 from slipping out of the recess 86. Specifically, the restricting member 90 covers the recess 86, and both ends of the restricting member 90 extend to the left and right from the recess 86. These extending portions abut against the plate surface 82a of the connecting plate 82. Screw holes 87 are formed in the connecting plate 82 at the portions abutting the restricting member 90 (on the left and right sides of the recess 86), and the restricting member 90 has communication holes 91 that communicate with the screw holes 87. Screws 95 are threaded into the communication holes 91 and then screwed into the screw holes 87, thereby securing the restricting member 90 to the connecting plate 82. The gap dimension between the restricting member 90 and the bottom surface 86a is smaller than the thickness dimension when the fastener 70 is doubled, and the fastener 70 housed in the recess 86 is sandwiched between the connecting plate 82 and the restricting member 90 by tightening the screw 95. It can be said that the connecting plate 82, restricting member 90, and screw 95 constitute a buckle that secures the fastener 70.

[0031] Next, with reference to FIGS. 5 and 6, the workflow for attaching and detaching the sensor unit 50 to and from the wrist 27 will be described in the order of attachment and detachment.

[0032] When attaching the sensor unit 50 to the wrist 27, as shown in FIG. 6( a), the cover 42 is removed from the wrist 27 to expose the connector 44. Next, as shown in FIG. 6( b), before placing the sensor unit 50 over the bending portion 41 c, the connector 44 on the wrist 27 side and the connector 54 on the sensor unit 50 side are connected. Thereafter, as shown in FIG. 6( c), the sensor unit 50 is assembled to the wrist 27 by placing it over the outer side of the bending portion. As a result, the portion (accommodating portion 43) that was covered by the cover 42 is now covered by the sensor unit 50. In this state, the detection portion 51 abuts against the straight portion 41 a of the wrist 27, thereby preventing the detection portion 51 from shifting toward the flange portion 28, and the detection portion 51 abuts against the straight portion 41 b of the wrist 27, thereby preventing the detection portion 51 from shifting toward the second upper arm 26.

[0033] Thereafter, the fastener 70 is passed through the connecting plate 82 of the fastener 80, and the tip of the fastener 70 is pulled to remove any slack in the fasteners 70, 80, so that the fasteners 70, 80 abut against the wrist portion 27 from the inside of the bent position. Thereafter, the hook portion 71 and the loop portion 72 (see FIG. 3) of the fastener 70 are joined together to maintain the abutting state, thereby bringing the fasteners 70, 80 into a joined state. This makes it possible to suitably prevent the detection unit 51 from shifting position or falling off the wrist portion 27 even if the fasteners 70, 80 are released (see FIG. 6(d)).

[0034] After the fasteners 70, 80 are joined, as shown in Figure 5(a), the restricting member 90 is screwed to the connecting plate 82, so that the fastener 70 is sandwiched between the connecting plate 82 and the restricting member 90. This restricts the fasteners 70, 80 from separating.

[0035] In this sensor unit 50, screws 95 are used to restrict separation of the fasteners 70, 80. Therefore, when removing the sensor unit 50 from the wrist 27, the restricting member 90 is removed from the connecting plate 82 using a tool rather than bare hands. After releasing the restriction on separation of the fasteners 70, 80 in this way, the connection between the hook portion 71 and the loop portion 72 of the fastener 70 is released, and the fastener 70 is pulled out from the connecting plate 82. Thereafter, the connectors 44, 54 are disconnected, and the cover 42 is returned to its original position, completing the procedure.

[0036] As described above in detail, if the outer portion of the bent wrist 27 (corresponding to the "predetermined link"), whose middle portion is bent, is covered with the planar detection unit 51, the wrist 27 can suitably detect contact with or approach to an object such as a person. The links constituting the arm of an industrial robot are not necessarily linear, and some are bent like the wrist 27 shown in this embodiment. Although it is expected that such links will have stronger constraints on the mounting structure of the detection unit compared to linear links, it is preferable to mount the planar detection unit 51 and expand the monitoring range of the sensor unit 50 (the monitoring range of the arm 22) to include the bent link in order to minimize the non-detection portion that does not detect contact, etc., and thereby prevent missed detections.

[0037] Furthermore, the detection unit 51 shown in this embodiment can be easily positioned by covering the wrist 27 from the outside of the bent portion. Then, the fasteners 70, 80 are abutted against the inside of the bent portion 41c and coupled together, thereby wrapping the sensor unit 50 around the wrist 27. To remove the sensor unit 50, the restricting member 90 is removed by removing the screw 95 with a tool, thereby releasing the restriction on the separation of the fasteners 70, 80. The fasteners 70, 80 are then separated (uncoupled), allowing for easy removal of the sensor unit 50. This configuration contributes to improved work efficiency during attachment and detachment. Industrial robots may be used in a variety of situations. For example, while the sensor unit 50 is desirable for enhancing safety in collaborative situations, it is desirable to remove the sensor unit 50 in non-collaborative situations to reduce loads and improve operational efficiency. In this regard, the present embodiment allows the sensor unit 50 to be attached or detached later, thereby enabling appropriate operation of the robot 10.

[0038] It cannot be denied that an object may come into contact with the fasteners 70, 80, etc. while the robot 10 is operating. Furthermore, with regard to the robot 10, there is also the possibility that a user may accidentally touch the fasteners 70, 80, etc. when performing direct teaching, maintenance, or other such work. In particular, from the viewpoint of workability, such an event is more likely to occur when the fasteners 70, 80 and the restricting member 90 are disposed outside the detection unit 51. Even if such an event occurs, the use of the fasteners 70, 80 and the restricting member 90 in combination can prevent the sensor unit 50 from easily falling off the wrist 27.

[0039] For the above reasons, the sensor unit 50 can be detached, allowing for proper operation of the robot 10, while contributing to improved reliability and workability in attaching the sensor unit 50.

[0040] Since restricting member 90 is disposed at a position where it is not covered by detecting section 51, it is possible to avoid detection section 51 interfering with the attachment and detachment of restricting member 90. This prevents sensor unit 50 from falling off by using fasteners 70, 80 and restricting member 90 in combination, while preventing restricting member 90 from becoming a factor that reduces the improvement in workability when attaching and detaching sensor unit 50.

[0041] Note that a configuration in which the regulating member 90 is located at a position on the inside of the bend allows access to the regulating member 90 during attachment and detachment work, while reducing the chance of an object hitting the regulating member 90 compared to a configuration in which the regulating member 90 is located at a position on the outside of the bend. This is preferable in terms of preventing the regulating member 90 from interfering with detection and reducing the chance of the restriction by the regulating member 90 being accidentally released.

[0042] As shown in this embodiment, by configuring the overlapping portion of blank portion 73 (corresponding to the "non-formed portion") to be pinched, crushing of hook portion 71 and loop portion 72 can be avoided even if fastener 70 is tightly pinched by restricting member 90. This is preferable in terms of improving durability when sensor unit 50 is repeatedly attached and detached.

[0043] By fixing one end of the fasteners 70, 80 to an inner part of the detection part 51 and away from the edge 55 of the side part 56, 57 of the detection part 51, distortion of the detection part 51 is unlikely to occur even if the fasteners 70, 80 are tightened when the sensor unit 50 is attached to a smaller link.

[0044] Next, with reference to FIGS. 7 to 10, a sensor unit applied to a straight section will be described using sensor unit 100 for first upper arm section 25 as an example.

[0045] 7, the first upper arm section 25 is also bent at a middle position, similar to the wrist section 27. That is, the first upper arm section 25 is made up of a straight section 45a connected to the lower arm section 24 and extending in the same direction as the connecting axis AX3, a straight section 45b connected to the second upper arm section 26 and extending in the same direction as the connecting axis AX4, and a bent section 45c connecting the straight sections 45a and 45b. However, a major difference is that while the bent section 41c accounts for most of the wrist section 27, the straight section 45b accounts for most of the first upper arm section 25.

[0046] The sensor unit 100 has a pair of left and right detection sections 101 arranged side by side in the circumferential direction of the straight section 45b. Each detection section 101 is semi-cylindrical and assembled so as to sandwich the straight section 45b from the left and right. The detection section 101 is composed of a base frame 102 made of hard resin (e.g., polycarbonate) facing the circumferential surface of the straight section 45b and a cover 103 made of soft resin (e.g., silicone) covering the outer surface of the base frame 102. A sheet-like pressure sensor (not shown) is housed between the base frame 102 and the cover 103. When an object such as a person hits the cover 103, the cover 103 deforms, and the deformed cover 103 presses the pressure sensor. This outputs a signal indicating contact with the object.

[0047] In this embodiment, the straight portion 45b is covered (surrounded) by two detectors arranged in the circumferential direction of the straight portion 45b, but the number of detectors is arbitrary. For example, the straight portion 45b may be covered (surrounded) by three detectors, or by four detectors. The detectors 101 may be combined in any direction. For example, the straight portion 45b may be covered (surrounded) by a pair of upper and lower detectors.

[0048] Here, with reference to FIG. 8 , the relationship between the pair of detection units 101 will be further explained. When the detection units 101 are attached to the linear portion 45b via the holder 120, the edge portions 108 of the detection units 101 face each other at the upper and lower sides of the linear portion 45b. In this state, a gap is formed at the boundary portion BP between the facing edge portions 108, exposing a portion of the linear portion 45b from the boundary portion BP. The boundary portion BP extends in the longitudinal direction of the linear portion 45b. Although the gap at the boundary portion BP is partially enlarged in the longitudinal direction, most of the gap is large enough that a finger cannot be inserted. In other words, even if an object such as a user's hand accidentally approaches the boundary portion BP, it is expected that the user's hand will hit one of the detection units 101, and it is expected that there will be little actual oversight. Therefore, the presence of the boundary portion BP does not significantly impair the monitoring function.

[0049] In the first upper arm portion 25 shown in this embodiment, a plurality of operation buttons 25a are arranged above the straight portion 45b to be operated by the user during direct teaching or the like. The operation buttons 25a are also arranged in a row along the longitudinal direction of the straight portion 45b, and all of them are accessible through the boundary portion BP. More specifically, by partially expanding the boundary portion BP, a decrease in operability of the operation buttons 25a is avoided, and by aligning the arrangement direction with the orientation of the boundary portion BP, an excessive widening of the boundary portion BP is avoided.

[0050] A portion of the holder 120 for attaching the detection unit 101 to the straight portion 45b is also visible through this boundary portion BP. Here, referring again to Figure 7, the attachment structure of the sensor unit 100 will be described. Both detection units 101 are attached to the straight portion 45b of the first upper arm portion 25 via annular holders 120. Specifically, the holder 120 is composed of a pair of upper and lower brackets 121 and a pair of left and right hook fasteners 122 that connect the brackets 121. The hook fasteners 122 are strip-shaped, and each end of the hook fastener 122 is formed with a hook portion and a loop portion that connects to the hook portion.

[0051] In this embodiment, straight portion 45b is formed so that a cross section perpendicular to the longitudinal direction of straight portion 45b is circular, and bracket 121 has an arc-shaped base portion 131 that curves to fit the outer periphery of straight portion 45b. As shown in Fig. 9, slits 132 through which hook-and-loop fasteners 122 are inserted are formed at both ends (left and right ends) of base portion 131. Hook-and-loop fasteners 122 are inserted into the slits 132 of upper and lower brackets 121 to span those brackets 121, and hook-and-loop fasteners 122 are folded back starting from each slit 132 to join the hook portions and loop portions, thereby forming an annular holder 120 by the pair of upper and lower brackets 121 and the pair of left and right hook-and-loop fasteners.

[0052] A bulging portion 135 that bulges outward (away from the straight portion 45b) is formed on the base portion 131 of the holder 120. A recess 109 is formed on the edge portion 108 of the detection portion 101 in correspondence with the bulging portion 135, and the boundary portion BP is partially expanded. By partially expanding the boundary portion BP with the recess 109, it is possible to prevent an increase in the portion of the entire boundary portion BP that is not covered by the detection portion 101 (see FIG. 8). Note that the amount by which the bulging portion 135 protrudes from the circumferential surface of the straight portion 45b is smaller than the amount by which the detection portion 101 protrudes, and therefore the protrusion from the recess 109 is suppressed.

[0053] The base frame 102 of the detection unit 101 has a semi-cylindrical frame main body 105, and claw portions 106 are formed at the upper and lower ends of the frame main body 105, specifically at the portions where the recesses 109 are formed, so as to protrude inward. As shown in FIG. 10 , the bulging portion 135 is formed with claw receiving portions 136 onto which the claw portions 106 of both detection units 101 are hooked from the straight portion 45b side. The base portion 131 is formed with openings 133 that allow the claw portions 106 to approach the claw receiving portions 136 when the detection unit 101 is moved toward the bulging portion 135. The claw portions 106 are hooked onto the claw receiving portions 136, preventing the detection unit 101 from falling off.

[0054] When detection unit 101 is attached to holder 120, hook and loop fastener 122 is covered by detection unit 101. This prevents the occurrence of inconveniences such as hook and loop fastener 122 being released from connection and detection unit 101 falling off due to an object accidentally hitting or getting caught on hook and loop fastener 122.

[0055] As described above, when detection section 101 is attached, the portion exposed from detection section 101 is limited to bulging section 135. In this embodiment, bulging section 135 is provided with a structure for releasing the engagement between claw section 106 and claw receiving section 136, thereby enabling sensor unit 100 to be attached and detached. Hereinafter, a structure related to detaching sensor unit 100 will be described with reference to FIG. 10.

[0056] A through-hole 137 is formed in the center of the bulge 135, and two claw receiving portions 136 are formed on either side of the through-hole 137 in the assembly direction of the detection unit 101. When the claw 106 is engaged with the claw receiving portion 136, the tip (free end) of the claw 106 protrudes into the through-hole 137. A tool can be inserted into the through-hole 137 to press the claw 106 so that the engagement between the claw 106 and the claw receiving portion 136 becomes smaller. However, as already described, since the bulge 135 is not covered by the detection unit 101, there is a possibility that an object may come into contact with the bulge 135, and there is also a possibility that the user may touch the bulge 135 during direct teaching or maintenance work. While enlarging the through-hole 137 is desirable for informing the user of the tool insertion position, it is undesirable for the user's finger to accidentally hit the claw 106. Furthermore, if two detection units 101 are detached at the same time, the detection units 101 may fall, causing damage or other inconvenience, which is undesirable. Therefore, in this embodiment, partitions 138 are formed at the back of the through-hole 137 to separate the through-hole 137 for use by each of the claws 106. In other words, at the back of the through-hole 137, tool insertion sections 139 are separated for each of the claws 106. This makes it possible to preferably prevent inconveniences caused by simultaneous release. Furthermore, the partitions 138 can prevent the user's fingers from hitting the claws 106, making it possible to preferably prevent the detection unit 101 from accidentally falling off.

[0057] Here, with reference to FIGS. 11 and 12, the workflow for attaching and detaching the sensor unit 100 to and from the first upper arm portion 25 will be described in the order of attachment and detachment.

[0058] When attaching the sensor unit 100 to the first upper arm portion 25, as shown in Figures 11(a) and 11(b), two holders 120 are set on the straight portion 45b, spaced apart in the longitudinal direction of the straight portion 45b. Specifically, each bracket 121 is positioned so that the protrusions formed on the inner surface of the bracket 121 fit into the alignment recesses formed in the straight portion 45b (see Figure 10). This aligns the bulging portions 135 of both holders 120 in the longitudinal direction of the straight portion 45b.

[0059] The straight portion 45b shown in this embodiment is slightly tapered so that the diameter decreases toward the tip of the arm 22, but by using a hook-and-loop fastener 122 to easily adjust the length, it is possible to easily share two holders 120.

[0060] After the holder 120 has been set, the detection unit 101 is attached to the holder 120. Specifically, as shown in FIGS. 11(c) and 11(d), the claw 106 is guided to the claw receiving portion 136 while visually checking the positional relationship between the target bulge 135 and the claw 106 of the detection unit 101 being held by hand. After the tip of the claw 106 enters the opening 133 leading to the claw receiving portion 136, the detection unit 101 is moved closer to the first upper arm portion 25, whereby the claw 106 bends and gets caught on the claw receiving portion 136. After one detection unit 101 is attached, another detection unit 101 is attached in the same manner. However, the bulge 135 is not hidden by the already attached detection unit 101, and visual confirmation of the positional relationship between the claw 106 and the claw receiving portion 136 is not difficult.

[0061] After the installation of both detection units 101 is completed, it is possible to visually check through the through-hole 137 whether the claw portion 106 is hooked onto the claw receiving portion 136, which makes it less likely that the robot 10 will resume work while the installation of the detection unit 101 is incomplete.

[0062] Next, to remove the detection unit 101, as shown in Fig. 12, a tool is inserted into the insertion portion 139 to push the claw portion 106. This causes the claw portion 106 to bend and move away from the claw receiving portion 136. In this way, the engagement between the claw portion 106 and the claw receiving portion 136 is released, and the detection unit 101 can be removed.

[0063] According to the configuration described above, by attaching the holder 120 to the linear portion 45b of the first upper arm portion 25 and attaching the detection units 101 to the holder 120, the linear portion 45b is covered by the detection units 101. By configuring the sensor unit 100 with a combination of multiple detection units 101, the linear portion 45b can be comfortably covered over a wide area. This is preferable for widening the monitoring range of the sensor unit 100 and reducing detection misses. Here, adjacent pairs of detection units 101 are attached to the bulging portion 135 of the holder 120. Because the bulging portion 135 is located at the boundary BP formed between the detection units 101, the installation of the detection units 101 can be performed while visually checking the positional relationship between the detection units 101 and the bulging portion 135. This reduces the likelihood of an incomplete installation of the detection units 101. That is, the range monitored by the sensor unit on the arm 22 can be widened while the reliability of the attachment of the detection unit can be increased.

[0064] Since the mounting directions of a pair of adjacent detection units 101 are opposite to each other, when mounting the detection units 101, it is possible to prevent one detection unit 101 that has been mounted first from interfering with the mounting of the other detection unit 101.

[0065] As shown in this embodiment, by forming the recess 109 by recessing the edge 108 of the detection unit 101, it is possible to minimize the gap at the boundary BP except for the portion where the bulge 135 is located. This is preferable in terms of widening the monitoring range of the sensor unit and reducing missed detections.

[0066] In a configuration in which the bulging portion 135 is disposed at the boundary portion BP of the detection unit 101, the exposed bulging portion 135 creates the possibility that an object may come into contact with the bulging portion 135. In this regard, as shown in the present embodiment, by preventing the bulging portion 135 from protruding from the boundary portion BP of the detection unit 101, it becomes easier to encourage an object heading toward the bulging portion 135 to first hit the detection unit 101. This makes it possible to prevent the presence of the bulging portion 135 from becoming a cause of missed detection.

[0067] A through hole 137, which is an insertion hole for a tool, is formed in the center of the bulge portion 135, and there is a fleshy portion between the bulge portion 135 and the through hole 137, which effectively prevents an operator who looks at the bulge portion 135 from mistakenly identifying the gap between the detection portion 101 and the bulge portion 135 as the insertion point for a tool.

[0068] Widening the entrance of through-hole 137 through which a tool is inserted is preferable in order to prevent the tip of the tool from slipping out of the entrance and hitting detection unit 101, etc. Here, there is a possibility that a user may touch the arm of the industrial robot when performing direct teaching, maintenance, etc. In the configuration shown in this embodiment, even if the fingers gripping arm 22 hit bulging portion 135, access to claw portion 106 (corresponding to "locking portion") is blocked by partition portion 138, and accidental release of locking can be prevented.

[0069] <Second embodiment> In the first embodiment, the flange 28 of the robot body 11 is provided with a plurality of connection terminals 28a for the end effector. Since there is a limit to the number of connection terminals 28a that can be prepared in advance on the flange 28, it is assumed that the connection terminals 28a may not be compatible with certain types of end effectors. Even if the connection terminals 28a are not compatible, the end effector can be used by passing the cable outside the arm 22 rather than inside the arm 22. In this case, the arm 22 holds the middle portion of the cable extending from the end effector, thereby preventing the cable from flapping. One of the features of this embodiment is that, when used in combination with the configuration in which the outer periphery of the arm 22 is covered with the sensor unit group 12 as shown in the first embodiment, the sensor unit and the cable holding structure are devised to optimally coexist. This devise will be described below with reference to FIGS. 13 and 14 .

[0070] 13, a boundary portion BP extending in the longitudinal direction of the first upper arm portion 25 (straight portion) is formed on the first upper arm portion 25 by the sensor unit 100 attached to the first upper arm portion 25, more specifically, by a pair of left and right detectors 101. The boundary portion BP is an area not covered by the detectors 101, and is formed into a groove by the edge 108 of the detectors 101. A plurality of cable holders 140 are arranged along the boundary portion BP on the first upper arm portion 25. The cable holders 140 are fixed to a holder 120 that attaches the detectors 101 to the first upper arm portion 25. Specifically, the cable holders 140 are fixed to bulges 135 of the holder 120 that are located at the boundary portion BP.

[0071] 14, cable holder 140 has a base portion 141 that covers bulging portion 135 from the side opposite first upper arm portion 25, and a clamp portion 142 that stands upright from base portion 141, and is screwed to bulging portion 135 with base portion 141 and bulging portion 135 overlapping each other. In other words, base portion 141 prevents access to claw portion 106.

[0072] Clamping portion 142 has a ring-shaped cable insertion portion into which cable 145 is inserted, and holds cable 145 inserted into this cable insertion portion. The central axis direction of the cable insertion portion is specified to be oriented in the longitudinal direction of first upper arm portion 25, i.e., the same direction as the extension direction of boundary portion BP, and cable 145 held by clamping portions 142 with deflection between these clamping portions 142 suppressed extends along boundary portion BP (see FIG. 13).

[0073] The cable holder 140 specifies the offset of the cable 145 from the circumferential surface of the first upper arm portion 25 so that the held cable 145 passes at a position away from the boundary portion BP, thereby increasing the distance from the detection unit 101 in both the vertical and horizontal directions.

[0074] If both the sensor unit 100 and the cable 145 (corresponding to a "linear member") are attached to the first upper arm section 25, the following inconvenience may occur. Specifically, the cable 145 may swing due to the operation of the robot 10 and come into contact with the detection unit 101. Such movement of the cable 145 may cause detection of contact with an object, which may lead to unnecessary protection stops and hinder productivity improvement. In this regard, in the configuration shown in this embodiment, the edges 108 of the pair of detection units 101 face each other across a gap, forming a boundary portion BP extending in the longitudinal direction of the first upper arm section 25. Multiple cable holders 140 that hold the cables 145 are arranged along the boundary portion BP. By arranging the cables 145 in accordance with the cable holders 140, the cables 145 can be aligned along the boundary portion BP. This prevents the cables 145 from coming into contact with the detection unit 101, even if the cables 145 swing due to the operation of the robot 10. In this way, by expanding the monitoring range of the sensor unit while suppressing contact between the detection unit 101 and the cable 145, it is possible to preferably achieve both safety and productivity of the robot 10.

[0075] According to the configuration of this embodiment, the distance between the cable 145 and the detection unit 101 can be increased not only in the width direction of the boundary portion BP but also in the height direction of the boundary portion BP. This makes it possible to suitably reduce the chance of contact between the cable 145 and the detection unit 101.

[0076] Furthermore, since the cable 145 is held outside the gap at the boundary portion BP, the width of the gap (at the boundary portion BP) can be made as small as possible to avoid the cable holder 140. This is preferable for reducing missed detections.

[0077] By disposing the cable holder 140 on the holder 120 for attaching the detection unit 101 to the first upper arm unit 25, it becomes easy to align the detection unit 101 and the cable holder 140, for example.

[0078] If the hooking portion between the claw portion 106 and the claw receiving portion 136 is covered by the cable holder 140, it is possible to easily prevent the detection portion 101 from falling off due to an object hitting the claw portion 106, etc.

[0079] The boundary portion BP extends in the same direction as the longitudinal direction of the first upper arm portion 25 (straight portion). With this configuration, the number of cable holders 140 can be minimized, and the monitoring range of the sensor unit 100 can be increased.

[0080] Arranging the operation button 25a and the cable holder 140 along the boundary portion BP is preferable in terms of widening the monitoring range of the sensor unit.

[0081] <Other embodiments> The present invention is not limited to the contents of the above-described embodiments, and may be implemented, for example, as follows. The following configurations may be applied individually to the above-described embodiments, or may be applied in combination with some or all of them to the above-described embodiments. It is also possible to arbitrarily combine all or some of the various configurations shown in the above-described embodiments. In this case, it is preferable that the technical significance (effects to be exerted) of each configuration to be combined is ensured. The following configurations may be applied individually to a new configuration formed by combining the embodiments, or may be applied in combination with some or all of them.

[0082] In the above embodiments, the contact of an object is detected by a pressure sensor, but this is not limited to this. Alternatively, or in addition, the approach of an object can be detected by a capacitance sensor or the like.

[0083] In the above embodiments, the fasteners 70, 80 are fixed to the base frame 52 at positions away from the edge 55 on the side portions 56, 57 of the detection unit 51, but it is also possible to fix the fasteners 70, 80 to the base frame 52 at the edge 55 on the side portions 56, 57 of the detection unit 51.

[0084] In the above embodiments, fastener 70 is connected to fastener 80 using connecting plate 82, but it is also possible to use hook-and-loop fasteners for both fastener 70 and fastener 80 and connect these fasteners 70, 80 directly.

[0085] In the above embodiments, the boundary portion BP of the detection unit 101 has a wide portion and a narrow portion, but this is not limited to this. The width of the boundary portion BP may be constant. Furthermore, although the boundary portion BP extends in the longitudinal direction of the straight portion 45b, this does not exclude a configuration in which the boundary portion BP extends in a direction intersecting the longitudinal direction of the straight portion 45b.

[0086] In the above embodiments, the double-layered blank portion 73 is sandwiched between the connecting plate 82 and the restricting member 90, but this is not limiting. It is also possible to use a configuration in which the connecting plate 82 and the restricting member 90 sandwich the double-layered portion formed by joining the hook portion 71 and the loop portion 72.

[0087] In each of the above embodiments, if it is possible to prevent the fasteners 70, 80 from being released from their connection, it is not necessarily necessary to sandwich the fasteners 70 between the connecting plate 82 and the restricting member 90. For example, it is also possible to form a long hole extending in the longitudinal direction of the fasteners 70, 80 and insert a pin or the like into the long hole as a restricting member to prevent the connection from being released or to prevent the fasteners 70 from coming loose.

[0088] In each of the above embodiments, the detection unit 101 is held by the holder 120, but it is also possible to attach the detection unit 101 directly to the circumferential surface of the first upper arm portion 25 using a hook-and-loop fastener.

[0089] In the above embodiments, the tool insertion portions 139 for the claw portions 106 are separated so that the engagement between the claw portions 106 and the claw receiving portions 136 can be released one by one using a tool, but this is not limited to this. As long as the engagement of each claw portion 106 can be released at least with a tool, the engagement of both claw portions 106 may be released with a single operation.

[0090] In the above embodiments, the sensor units 50 and 100 are both hollow to absorb impacts when an object comes into contact with them, but this is not limiting. For example, the detection unit may be sheet-shaped.

[0091] In the second embodiment, the cable 145 for transmitting electrical signals is used as the "linear member" extending from the end effector 29, but the present invention is not limited to this. For example, the holding structure using the cable holder 140 described above may be applied to a tube extending from the end effector for transmitting a fluid such as air or oil.

[0092] In the second embodiment, the cable 145 is arranged along the boundary portion BP, but is not located within the boundary portion BP. However, this does not negate the possibility of accommodating the cable 145 within the boundary portion BP.

[0093] In the second embodiment, the object to which the cable holder 140 is fixed is the holder 120 for mounting the detection unit 101. However, this may be changed so that the cable holder 140 is fixed to the peripheral surface of the first upper arm portion 25.

[0094] <Inventions extracted from the above embodiments> The following describes the features of the inventions extracted from the above embodiments, while indicating, as necessary, their effects, etc. Note that, for ease of understanding, the corresponding configurations in the above embodiments are indicated in parentheses as appropriate, but the invention is not limited to the specific configurations indicated in parentheses.

[0095] <Feature A Group> Sensor unit for bending parts and its mounting structure The following feature group A is a description of the background technology that states, "Some industrial robots, such as articulated robots in which multiple links are connected in a series, are configured to be able to detect when a link comes into contact with an object (obstacle), such as a person. For example, the industrial robot described in Patent Document 1 (JP 2005-103674 A) has a detection function that detects contact based on the abnormal torque generated when it comes into contact with an object, and when contact is detected, the industrial robot is stopped (protective stop) to protect the industrial robot and the object." The description states, "In the detection method described above, the same threshold value is used to determine abnormal torque regardless of the distance from the point of contact with the object to the joint. This results in differences in the accuracy and responsiveness of contact detection depending on the point of contact. For example, the detection accuracy and responsiveness are lower at positions close to the joint compared to positions farther away. Note that if the threshold value is lowered assuming contact at a position close to the joint, the number of unnecessary protective stops increases, which may reduce production efficiency. In contrast, Covering the surface of the arm (link) with a sensor unit having a detectable detection section can eliminate the aforementioned concerns about detection accuracy and responsiveness. When using this type of sensor unit, it is preferable to minimize the area on the arm surface where the sensor unit is not located, i.e., the non-detecting area that does not detect contact, etc. Furthermore, industrial robots may be used in a variety of situations, and enabling the sensor unit to be attached or detached after the fact allows for appropriate operation of the industrial robot. For example, while using a sensor unit to enhance safety in collaborative situations is desirable, removing the sensor unit in non-collaborative situations is preferable to reduce load and improve operational efficiency. Here, the links constituting the arm are not necessarily linear; some are bent in the middle to form an L-shape (e.g., bent portions). Links with bent portions are expected to be subject to stricter constraints regarding the sensor unit mounting structure, etc., compared to linear links.In other words, while making the sensor unit detachable to enable proper operation of the industrial robot, there is still room for improvement in the configuration of the sensor unit and its mounting structure in order to improve the reliability and workability of mounting the sensor unit." This was made in consideration of the background and issues.

[0096] Feature A1. A sensor unit (sensor unit 50) applicable to an industrial robot having an arm (arm 22) in which a plurality of links (shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, flange portion 28) are connected in a series, including a predetermined link (e.g., wrist portion 27) having a bent portion (bent portion 41c) formed in the middle portion, a planar detection unit (detection unit 51) capable of detecting at least one of contact with an object and approach to an object, the planar detection unit covering the outer side of the bent portion; fasteners (fasteners 70, 80) that are provided on the sides of the bent portion of the detection unit and that face each other across the bent portion (side portions 56, 57), and that allow the detection unit to be attached to and detached from the predetermined link; Equipped with At least one of the fasteners abuts on a portion of the bent portion that is on the inner side of the bent portion, and the fasteners are connected to each other, thereby preventing the detection unit from falling off the predetermined link, A sensor unit having a regulating section (regulating member 90 and screw 95) configured to regulate the separation of the fasteners in the coupled state and to release the regulation when a specified release operation (removal operation using a tool) is performed.

[0097] As shown in this feature, if a planar detection unit is configured to cover the outer side of the bend of a specific link whose middle portion is bent, contact with or approach of a person or other object can be suitably detected at the specific link. The links constituting the arm of an industrial robot are not necessarily linear, and some are bent like the specific link shown in this feature. Although it is expected that such links will have stronger constraints on the mounting structure of the sensor unit (detection unit) compared to linear links, being able to mount a planar detection unit and expanding the monitoring range of the sensor unit (monitoring range of the arm) to include the bent link is preferable in terms of minimizing the non-detection portion that does not detect contact, etc., and preventing missed detections.

[0098] Furthermore, with this configuration, the detection unit can be easily positioned by covering the outer side of the bent portion of a specific link. Then, the fastener is abutted against the inner side of the bent portion and engaged, resulting in the sensor unit being wrapped around the specific link. To remove the sensor unit, the restriction on the fastener separation imposed by the restricting unit is released through a specific release operation, and the fastener is separated (uncoupled), allowing for easy removal of the sensor unit. This configuration contributes to improved work efficiency during attachment and detachment. Industrial robots may be used in a variety of situations. For example, while a sensor unit is desirable for enhancing safety in collaborative situations, it is preferable to remove the sensor unit in non-collaborative situations to reduce load and improve operational efficiency. In this regard, the configuration with this configuration allows the sensor unit (detection unit) to be attached or detached later, enabling appropriate operation of the industrial robot.

[0099] It cannot be denied that an object may come into contact with a fastener or the like while the industrial robot is operating. Furthermore, with regard to industrial robots, there is also the possibility that a user may accidentally touch a fastener or the like during tasks such as direct teaching or maintenance. This is particularly likely to occur when, for example, fasteners or restricting units are located outside the sensor unit from the viewpoint of workability. Even if such an event does occur, the use of both a fastener and a restricting unit prevents the sensor unit from easily falling off the designated link.

[0100] For the above reasons, the sensor unit can be detached, enabling appropriate operation of the industrial robot, while contributing to improved reliability and workability in attaching the sensor unit.

[0101] Feature A2: The detection unit is configured not to cover at least a part of the inner side of the bending portion, The sensor unit according to feature A1, wherein the restricting portion is disposed at a position on the inner side of the bent portion and not covered by the detecting portion.

[0102] Since the restricting portion is positioned so as not to be covered by the detecting portion, the restricting portion does not interfere with the attachment and detachment of the restricting portion. This prevents the sensor unit from falling off by using the fastener and the restricting portion together, while preventing the restricting portion from becoming a factor that reduces the improvement in workability when attaching and detaching the sensor unit.

[0103] In addition, a configuration in which the restricting portion is located at a position on the inside of the bend allows access to the restricting portion during attachment and detachment work, while reducing the chance of an object hitting the restricting portion compared to a configuration in which the restricting portion is located at a position on the outside of the bend. This is preferable in terms of preventing the restricting portion from interfering with detection and reducing the chance of the restriction by the restricting portion being accidentally released.

[0104] Feature A3. The predetermined link has a first straight portion (straight portion 41a) continuing to one end of the bent portion and a second straight portion (straight portion 41b) continuing to the other end of the bent portion, and is an L-shaped link as a whole; The sensor unit according to Feature A1 or Feature A2, wherein the detection section is formed so as to cover at least a part of the first straight section and at least a part of the second straight section from the outer side of the bend.

[0105] In a configuration in which the detection unit is secured after being placed over a predetermined link, the detection unit may shift position during the securing operation using a fastener, requiring the work to be redone. Furthermore, if the detection unit is secured while still misaligned, there is a concern that the detection function may not function properly. In this regard, with this characteristic configuration, the detection unit contacts the first linear portion of the predetermined link, thereby suppressing misalignment toward the second linear portion, and the detection unit contacts the second linear portion of the predetermined link, thereby suppressing misalignment toward the first linear portion. Thus, providing the detection unit with the ability to suppress its own misalignment contributes to improving the workability and reliability of the securing operation. Furthermore, by using a restricting unit to realize a configuration that more reliably prevents the sensor unit from falling off, the time required for attaching and detaching the sensor unit can be reduced.

[0106] Feature A4. The fastener is composed of a belt-shaped first fastener (fastener 70) and a second fastener (fastener 80) having an insertion portion (opening 83) through which the first fastener is inserted, and in the coupled state, the first fastener is folded back from the insertion portion to form a double fastener. A sensor unit according to any one of features A1 to A3, wherein the regulating portion regulates the separation by pinching the doubled portion of the first fastener in the overlapping direction.

[0107] If the belt-shaped first fastener is configured to sandwich the doubled portion that is folded back starting from the insertion portion, it is possible to suitably prevent the first fastener from slipping out of the insertion portion.

[0108] Feature A5. The first fastener is a hook-and-loop fastener having a first coupling portion (hook portion 71) and a second coupling portion (loop portion 72) that can be coupled to the first coupling portion formed on the surface thereof, When the first fastener is inserted into the insertion portion, the first coupling portion and the second coupling portion are coupled together, so that both fasteners are in the coupled state, The overlapping portion includes an overlapping portion of a non-formed portion (blank portion 73) in which neither the first connecting portion nor the second connecting portion is formed in the first fastener, The sensor unit according to Feature A4, wherein the restricting portion is configured to sandwich the overlapping portion of the non-formed portion.

[0109] As shown in this feature, by configuring the overlapping portion of the non-forming portion to be pinched, even if the restricting portion pinches the first fastener tightly, the first connecting portion and the second connecting portion are prevented from being crushed, which is preferable for improving durability when the sensor unit is repeatedly attached and detached.

[0110] Feature A6. The first fastener is a hook-and-loop fastener having a first coupling portion (hook portion 71) and a second coupling portion (loop portion 72) that can be coupled to the first coupling portion formed on the surface thereof, When the first fastener is inserted into the insertion portion, the first coupling portion and the second coupling portion are coupled together, so that both fasteners are in the coupled state, The sensor unit according to Feature A4, wherein the regulating portion is configured to sandwich the overlapping portion of the first connecting portion and the second connecting portion.

[0111] If the overlapping portion (joining point) of the first and second joining portions is sandwiched by the restricting portion, the restricting portion can support the joining. Even if the joining strength weakens due to repeated attachment and detachment, the support provided by the restricting portion can prevent the members from easily separating.

[0112] Feature A7. The restriction portion can be fixed to the second fastener, A sensor unit described in any one of features A4 to A6, which is configured to sandwich the double portion of the first fastener between the second fastener and the regulating portion fixed to the second fastener.

[0113] A configuration in which the first fastener is clamped between the regulating portion and the second fastener reduces the amount of work required compared to a configuration in which the first fastener is clamped by the regulating portion alone and then the regulating portion is fixed to a second fastener, etc.

[0114] Feature A8. The second fastener and the restriction portion are fixed with a screw, The sensor unit according to feature A7, wherein the restriction is released by removing the screw through the predetermined release operation.

[0115] As mentioned above, in industrial robots, there is a possibility that an operator may touch the arm during direct teaching, maintenance, etc. Since such work is often performed with bare hands, even if an operator touches the restricting portion, the possibility of the screw accidentally coming loose is low. Therefore, it is possible to effectively prevent the sensor unit from falling off.

[0116] Feature A9. A sensor unit described in Feature A8, in which the regulating portion and the second fastener have a hole portion for the screw formed therein so as to communicate with the second fastener and the regulating portion when the regulating portion and the fastener are overlapped in the overlapping direction.

[0117] According to this characteristic configuration, the belt can be pressed by the restricting portion by tightening the screw. With this configuration, the belt can be suitably prevented from slipping through between the restricting portion and the second fastener.

[0118] Feature A10. At least one of the fasteners comprises a belt; The sensor unit according to any one of Features A1 to A9, wherein one end of the belt is fixed to an inner portion of the detection unit, away from the edge of the opposing portion of the detection unit.

[0119] If the fastener is a belt, it is possible to tolerate a certain degree of size difference in the bending links. Here, as shown in this feature, by fixing one end of the belt to a part inside the detection unit that is away from the edge of the opposing part of the detection unit, distortion of the detection unit is unlikely to occur even if the fastener is tightened when the link is small.

[0120] Feature A11. At least one of the fasteners comprises a belt; The sensor unit according to any one of Features A1 to A9, wherein one end of the belt is fixed to an edge of the opposing portion of the detection unit.

[0121] If the fastener is a belt, it is possible to allow for a certain degree of size difference in the bending links. Here, as shown in this feature, if one end of the belt is fixed to the edge of the opposing part of the detection unit, it becomes easier to make the detection unit follow the surface of the link when the fastener is fastened.

[0122] Feature A12: An industrial robot equipped with the sensor unit according to any one of Features A1 to A11.

[0123] The sensor unit is detachable, which allows for proper operation of the industrial robot, and contributes to improving the reliability and workability of attaching the sensor unit.

[0124] <Feature B group> Sensor unit for straight sections and its mounting structure The following feature B group is related to the background art that states, "Some industrial robots, such as articulated robots in which multiple links are connected in a series, are configured to be able to detect when a link comes into contact with an object (obstacle), such as a person. For example, the industrial robot described in Patent Document 1 (JP 2005-103674 A) has a detection function that detects contact based on the abnormal torque generated when it comes into contact with an object, and when contact is detected, the industrial robot is stopped (protective stop) to protect the industrial robot and the object." The group states, "In the detection method described above, the same threshold value is used to determine abnormal torque regardless of the distance from the point of contact with the object to the joint. This results in differences in the accuracy and responsiveness of contact detection depending on the point of contact. For example, the detection accuracy and responsiveness are lower at positions close to the joint compared to positions farther away. Note that if the threshold value is lowered assuming contact at a position close to the joint, the number of unnecessary protective stops increases, which may result in a decrease in production efficiency. In response to this, If the sensor unit covers the surface of the arm (link), the above-mentioned concerns about detection accuracy and responsiveness can be eliminated. When using this type of sensor unit, it is preferable to minimize the area on the arm surface where the detection unit is not located, i.e., the non-detecting area that does not detect contact, etc. On the other hand, minimizing the non-detecting area imposes strict restrictions on the mounting structure of the detection unit, and it is expected that the mounting structure on the arm (mounting portion for the detection unit) will be hidden by the detection unit and become difficult to see. In other words, it is expected that the workability of installing the detection unit will be reduced. This is undesirable because it could lead to work errors such as incomplete installation of the detection unit. Furthermore, there is a concern that the above-mentioned protective function will not be properly performed if the industrial robot operates with the detection unit incompletely installed. As such, there is still room for improvement in the configuration of the sensor unit in order to increase the area covered by the detection unit on the arm, i.e., the monitoring range of the sensor unit, while increasing the reliability of the sensor unit installation. This was developed in consideration of the background and issues described above.

[0125] Feature B1. A sensor unit (sensor unit 100) applicable to an industrial robot having an arm (arm 22) in which a plurality of links (shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, flange portion 28) are connected in a series, including a predetermined link (first upper arm portion 25) formed so that at least a portion thereof is a straight portion (straight portion 45b), a plurality of detecting units (detecting units 101) that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member (holder 120) attached to the predetermined link and having mounting portions (bulges 135) to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with The sensor unit is configured so that the attachment portion of the holder member is positioned at a boundary portion (boundary portion BP) between the pair of adjacent detection portions.

[0126] According to this feature, by attaching a holder member to a predetermined link and attaching a detection unit to the holder member, the predetermined link is covered by the detection unit. By configuring the sensor unit with a combination of multiple detection units, the predetermined link can be comfortably covered over a wide area. This is advantageous for expanding the monitoring range of the sensor unit and reducing detection misses. Here, adjacent pairs of detection units are attached to mounting portions of the holder member. Because these mounting portions are located at the boundary between the detection units, when installing the detection units, the positional relationship between the detection units and the mounting portions can be visually confirmed. This reduces the likelihood of operational errors, such as incomplete installation of the detection units. In other words, the monitoring range of the sensor unit on the arm can be expanded while increasing the reliability of the sensor unit installation.

[0127] Feature B2: The sensor unit according to Feature B1, wherein the pair of adjacent detection units are attached in opposite directions.

[0128] According to this characteristic configuration, when a pair of adjacent detection units are attached, it is possible to prevent one detection unit that is attached first from interfering with the attachment of the other detection unit.

[0129] Feature B3: A sensor unit according to Feature B1 or Feature B2, in which a recess (recess 109) is formed by recessing a portion of the edge (edge ​​108) facing each other across the boundary portion in the pair of adjacent detection units, and when the detection units are attached, the attachment unit is located at a position surrounded by the recess.

[0130] By setting back the edge to form a recess as shown in this feature, it is possible to minimize the gap at the boundary except for the area where the mounting part is located. This is preferable for widening the monitoring range of the sensor unit and preventing missed detections.

[0131] For example, the mounting portion may be located at a position surrounded by a recess formed in one detecting portion and a recess formed in another detecting portion.

[0132] Feature B4. A sensor unit described in any one of Features B1 to B3, wherein the mounting portion is formed so that the amount of protrusion from the outer surface of the straight portion is smaller than the amount of protrusion of the detection portion from the outer surface.

[0133] As shown in Feature B1, in a configuration in which the attachment portion is disposed at the boundary of the detection unit, the exposed attachment portion creates the possibility of an object coming into contact with the attachment portion. In this regard, as shown in this feature, by preventing the attachment portion from protruding from the boundary of the detection unit, it becomes easier to encourage an object approaching the attachment portion to first hit the detection unit. This prevents the presence of the attachment portion from becoming a cause of missed detection. Note that the configuration shown in this feature reduces the chance of contact with the attachment portion, which is preferable for preventing the detection unit from being accidentally released.

[0134] Feature B5. The holder member includes a bracket (bracket 121) on which the attachment portion is formed, and a band (hook-and-loop fastener 122) that prevents the bracket from falling off the link, The sensor unit according to any one of Features B1 to B4, wherein the band is covered by the detection section when the detection section is attached to the attachment section.

[0135] As shown in this feature, by configuring the band so that it is covered (hidden) by the detection unit, the chances of a user accidentally touching the band can be reduced, which is preferable for preventing the band from accidentally coming off and the detection unit from falling off.

[0136] Feature B6. The band is a hook-and-loop fastener; The sensor unit according to Feature B5, wherein when the detection section is attached to the attachment section, the detection section faces the connecting portion of the hook-and-loop fastener in the connecting direction.

[0137] With this characteristic configuration, the detection unit can prevent the hook and loop fastener from separating. For example, the frame of the detection unit (base frame 102) may be brought into contact with the fastening point of the hook and loop fastener.

[0138] Feature B7. The boundary portion between the pair of adjacent detection units extends in the same direction as the longitudinal direction of the linear portion, a plurality of the attachment portions are arranged along the boundary portion, The sensor unit according to any one of Features B1 to B6, wherein the pair of adjacent detection units are both attached to the attachment portions.

[0139] While a configuration in which each detector is attached to a plurality of attachment portions is preferable in terms of preventing the detector from falling off or shifting position, there is a concern that the increased number of attachment portions may make the installation work more difficult. In this regard, as shown in this feature, by configuring the boundary portions to extend in the same direction as the longitudinal direction of the linear portion of a given link and arranging the attachment portions along the boundary portions, the installation work can be performed while visually checking each attachment portion. Therefore, the above-mentioned effects can be achieved while minimizing the decrease in workability.

[0140] Feature B8. A sensor unit described in any one of Features B1 to B7, in which an insertion hole (through hole 137) is formed in the central part of the mounting portion, into which a removal tool is inserted when performing removal work to remove the detection unit from the mounting portion.

[0141] When removing the detection unit, a tool is inserted into the insertion hole. By arranging this insertion hole in the center of the attachment part, it is possible to prevent the tool from coming into contact with the detection unit, thereby contributing to protecting the detection unit.

[0142] Feature B9. The detection unit has a locking portion (claw portion 106) formed thereon, A sensor unit according to feature B8, in which the detection unit is attached to the mounting portion by the engaging portion hooking onto a flesh portion (claw receiving portion 136) between the insertion hole and the detection unit in the mounting portion.

[0143] According to the configuration shown in this feature, an insertion hole for a tool is formed in the central portion and there is a fleshy portion between the mounting portion and the insertion hole, which effectively prevents an operator looking at the mounting portion from mistakenly identifying the gap between the detection portion and the mounting portion as the insertion point for a tool.

[0144] Feature B10: A sensor unit described in Feature B8 or Feature B9, in which the insertion hole has a hole portion (insertion portion 139) for one of the pair of adjacent detection portions and a hole portion (insertion portion 139) for the other detection portion, and the entrance to the insertion hole is formed across these hole portions, and a partition portion (partition portion 138) separating the two hole portions prevents difficulty in inserting a finger into each hole portion.

[0145] Widening the entrance of the insertion hole is preferable in order to prevent the tool tip from slipping out of the entrance and hitting the detection unit, etc. Here, there is a possibility that the user may touch the arm of the industrial robot when performing direct teaching, maintenance, etc. In this configuration, even if the fingers grasping the arm hit the mounting unit, the partition prevents access to the locking unit, thereby preventing accidental release of the lock.

[0146] Feature B11: An industrial robot equipped with the sensor unit according to any one of Features B1 to B11.

[0147] This increases the area of ​​the arm that is covered by the detection unit, while also increasing the reliability of attachment of the detection unit (sensor unit).

[0148] Feature B12 (Claim Up Main Claim Mounting Structure) This is an attachment structure that is applied to an industrial robot having an arm (arm 22) in which a plurality of links (shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, flange portion 28) are connected in a series, including a predetermined link (first upper arm portion 25) formed so that at least a portion thereof is a straight portion (straight portion 45b), and that attaches a sensor unit (sensor unit 100) to the straight portion of the predetermined link. the sensor unit includes a plurality of detection units (detection units 101) that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member (holder 120) attached to the arm and having mounting portions (bulges 135) to which a pair of adjacent detection units among the plurality of detection units is attached; The mounting structure is configured so that the mounting portion of the holder member is positioned at a boundary portion (boundary portion BP) between the pair of adjacent detection portions.

[0149] According to this characteristic configuration, the area of ​​the arm that is covered by the detection unit can be increased, while the reliability of attachment of the detection unit (sensor unit) can be improved.

[0150] <Feature C Group> End effector cable retention structure The following feature C group is related to the background art that states, "Some industrial robots, such as articulated robots in which multiple links are connected in a series, are configured to be able to detect when a link comes into contact with an object (obstacle), such as a person. For example, the industrial robot described in Patent Document 1 (JP 2005-103674 A) has a detection function that detects contact based on the abnormal torque generated when it comes into contact with an object, and when contact is detected, the industrial robot is stopped (protective stop) to protect the industrial robot and the object." The group states, "In the detection method described above, the same threshold value is used to determine abnormal torque regardless of the distance from the point of contact with the object to the joint. This results in differences in the accuracy and responsiveness of contact detection depending on the point of contact. For example, the detection accuracy and responsiveness are lower at positions close to the joint compared to positions farther away. Note that if the threshold value is lowered assuming contact at a position close to the joint, the number of unnecessary protective stops increases, which may reduce production efficiency. In contrast, a sensor unit having a detection unit that detects contact with or approaching an object By using a sensor unit that covers the surface of the arm (link), the above-mentioned concerns about detection accuracy and responsiveness can be eliminated. When using this type of sensor unit, it is preferable to minimize the area on the arm surface where the detection unit is not located, i.e., the non-detecting area that does not detect contact, etc. Here, an end effector such as a hand is attached to the tip of the arm, and by making the end effector interchangeable depending on the type of work, the convenience of industrial robots is improved. One end of a member such as a tube or cable (hereinafter referred to as a linear member) is connected to the end effector. The end effector is driven by sending fluid or signals through this linear member. When the linear member is arranged along the surface (outer surface) of the arm, holding the linear member with the arm reduces the chance of a worker or the like getting caught on the linear member. Incidentally, locating the holding portion on the surface of the arm is advantageous in that it makes it easy to attach and detach the linear member when replacing the end effector. However, when both the sensor unit and the linear member described above are attached to the arm, the following inconveniences may occur.In other words, there is a possibility that the linear member swinging due to the operation of the industrial robot may come into contact with or approach the detection unit. If contact with an object is detected due to the movement of such a linear member, it is feared that this could cause unnecessary protection stops and hinder productivity improvements. As such, there is still room for improvement in the holding structure (mounting structure) of the sensor unit and linear member in order to achieve both safety and productivity in industrial robots. This was made in consideration of the background and issues mentioned above.

[0151] Feature C1. This holding structure is applicable to an industrial robot having an arm (arm 22) in which a plurality of links (shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, flange portion 28) including a predetermined link (first upper arm portion 25) are connected in a series, and in which a sensor unit capable of detecting at least one of contact with and approach to an object is attached to the predetermined link, and in which a linear member (cable 145) extending from an end effector (end effector 29) attached to the tip of the arm is held by the arm, The sensor unit has a plurality of detecting units (detecting units 101) arranged in a circumferential direction of the predetermined link, and the predetermined link is covered by the detecting units. The edges (edges 108) of a pair of adjacent detection units among the plurality of detection units face each other across a gap, thereby forming a boundary portion (boundary portion BP) extending in the longitudinal direction of the predetermined link, A holding structure in which a plurality of holding portions (cable holders 140) for holding the linear members are arranged along the boundary portion.

[0152] An end effector, such as a hand, attached to the tip of an industrial robot's arm is connected to a linear member such as a tube or cable. By holding this linear member with the arm, the chances of a worker or other person getting caught on the linear member can be reduced.

[0153] Furthermore, by configuring the sensor unit by combining a plurality of detecting units, it is possible to cover a wide area of ​​a predetermined link without difficulty, which is preferable for widening the monitoring range of the sensor unit and reducing missed detections.

[0154] However, if both the sensor unit and the linear member are attached to an arm (a specific link), the following inconvenience may occur. Specifically, the linear member may swing due to the operation of the industrial robot and come into contact with or approach the detection unit. Such movement of the linear member may cause unnecessary protection stops and hinder productivity improvement. In this regard, in this configuration, the edges of a pair of adjacent detection units face each other across a gap, forming a boundary extending in the longitudinal direction of the specific link. Multiple holding units for holding the linear member are arranged along the boundary. By aligning the linear member with the holding units, the linear member can be aligned with the boundary. This prevents the linear member from hitting the detection unit even if it swings due to the operation of the industrial robot. In this way, by expanding the monitoring range of the sensor unit while preventing contact between the detection unit of the sensor unit and the linear member, both safety and productivity of the industrial robot can be achieved.

[0155] Feature C2. The holding structure according to Feature C1, wherein the holding portion holds the linear member at a position offset from the surface of the predetermined link.

[0156] This configuration allows the distance between the linear member and the detector to be increased not only in the width direction of the boundary but also in the height direction of the boundary, thereby effectively reducing the chance of contact between the linear member and the detector.

[0157] Feature C3: A holding structure according to Feature C1 or Feature C2, wherein the holding portion is capable of holding the linear member outside the gap in the boundary portion.

[0158] As shown in this feature, if the linear member is held outside the gap, the width of the gap (boundary portion) can be made as small as possible to avoid the holding portion, which is preferable for reducing missed detections.

[0159] Feature C4. The sensor unit has a holder member (holder 120) that is attached by wrapping around the predetermined link, and the detection unit is attached to this holder member; The holding structure according to any one of Features C1 to C3, wherein the holding portion is disposed in a portion of the holder member that is located at the boundary portion.

[0160] As shown in this feature, by providing the holding portion on the holder member for the mounting portion, it becomes easy to align the detection portion and the holding portion.

[0161] Feature C5. The holder member is formed with a receiving portion (claw receiving portion 136) to which a locking portion (claw portion 106) provided on the detection unit is locked, and the detection unit is attached to the holder member by the locking portion being locked to the receiving portion. The holding structure according to feature C4, wherein the engaging portion between the engaging portion and the receiving portion is covered by the holding portion.

[0162] As shown in this feature, if the retaining portion is configured to cover the engaging portion between the engaging portion and the receiving portion, it is possible to easily prevent the detection portion from falling off due to an object hitting the engaging portion, etc.

[0163] Feature C6. An industrial robot having a holding structure according to any one of Features C1 to C5.

[0164] This makes it possible to favorably achieve both safety and productivity of the industrial robot.

[0165] Feature C7. An arm (arm 22) in which a plurality of links (shoulder portion 23, lower arm portion 24, first upper arm portion 25, second upper arm portion 26, wrist portion 27, flange portion 28) including a predetermined link (first upper arm portion 25) are connected in a series, a sensor unit (sensor unit 100) attached to the arm and capable of detecting at least one of contact with an object and proximity to an object; a holding portion (cable holder 140) that holds, with the arm, a linear member (cable 145) extending from an end effector (end effector 29) attached to the tip of the arm; An industrial robot comprising: The sensor unit has a plurality of detecting units (detecting units 101) arranged in a circumferential direction of the predetermined link, and the predetermined link is covered by the detecting units. The edges of a pair of adjacent detection units among the plurality of detection units face each other across a gap, thereby forming a boundary portion (boundary portion BP) extending in the longitudinal direction of the predetermined link, The holding portion is disposed at the boundary portion, and the linear member is held by the holding portion so as to be positioned along the boundary portion.

[0166] According to this characteristic configuration, the monitoring range of the sensor unit is expanded while preventing contact between the detection part of the sensor unit and the linear member, thereby making it possible to optimally achieve both safety and productivity of the industrial robot.

[0167] Feature C8. The industrial robot according to Feature C7, wherein the boundary portion extends in the same direction as the longitudinal direction of the straight portion of the predetermined link.

[0168] According to this characteristic configuration, the number of holders can be minimized, and the monitoring range of the sensor unit can be increased.

[0169] Feature C9. The predetermined link has a linear portion (linear portion 45b) that is linear, The industrial robot according to feature C8, wherein the boundary portion extends across both ends of the straight portion.

[0170] According to this characteristic configuration, the boundary portion extends across both ends of the straight portion. This configuration allows the length of the boundary portion to be kept short. This reduces the number of holding portions required to position the linear member along the boundary portion. Furthermore, compared to a configuration in which the boundary portion changes three-dimensionally, for example, by being curved, this configuration is advantageous in reducing the number of holding portions required to position the linear member.

[0171] Feature C10: The predetermined link has an operation button (operation button 25a) that is operated by the user, The industrial robot according to any one of Features C7 to C9, wherein the operation button and the holding portion are located in the boundary portion and are arranged along the boundary portion.

[0172] Arranging the operation button and the holder along the boundary portion is preferable in terms of widening the monitoring range of the sensor unit. [Explanation of symbols]

[0173] 10...robot, 11...robot body, 12...sensor unit group, 22...arm, 25-28...links, 29...end effector, 41c...bent portion, 45b...straight portion, 50...sensor unit, 51...detection portion, 56, 57...side portion, 70...first fastener, 80...second fastener, 82...connecting plate, 90...regulating member, 95...screw, 100...sensor unit, 101...detection portion, 106...claw portion, 108...edge portion, 109...recess, 120...holder, 121...bracket, 122...hook and loop fastener, 135...mounting portion, 136...receiving portion, 137...through hole, 138...partition portion, 139...insertion portion, 140...cable holder, 145...cable, BP...boundary portion.

Claims

1. A sensor unit applied to an industrial robot having an arm in which a plurality of links, including a predetermined link formed so that at least a portion thereof is a straight line, are connected in a series, a plurality of detectors that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member attached to the predetermined link and having mounting portions to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with the attachment portion of the holder member is configured to be located at a boundary portion between the pair of adjacent detection portions, In the pair of adjacent detection parts, a recess is formed in the edge parts facing each other across the boundary part, by retracting a part of the edge part, and when the detection parts are attached, the attachment part is located at a position surrounded by the recess.

2. A sensor unit applied to an industrial robot having an arm in which a plurality of links, including a predetermined link formed so that at least a portion thereof is a straight line, are connected in a series, a plurality of detectors that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member attached to the predetermined link and having mounting portions to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with the attachment portion of the holder member is configured to be located at a boundary portion between the pair of adjacent detection portions, The sensor unit is configured such that the amount of protrusion of the mounting portion from the outer peripheral surface of the linear portion is smaller than the amount of protrusion of the detection portion from the outer peripheral surface.

3. A sensor unit applied to an industrial robot having an arm in which a plurality of links, including a predetermined link formed so that at least a portion thereof is a straight line, are connected in a series, a plurality of detectors that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member attached to the predetermined link and having mounting portions to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with the attachment portion of the holder member is configured to be located at a boundary portion between the pair of adjacent detection portions, the holder member includes a bracket on which the attachment portion is formed and a band that prevents the bracket from falling off the link, The sensor unit has a detection section attached to the attachment section, whereby the band is covered by the detection section.

4. A sensor unit applied to an industrial robot having an arm in which a plurality of links, including a predetermined link formed so that at least a portion thereof is a straight line, are connected in a series, a plurality of detectors that are capable of detecting at least one of contact with an object and approach to an object, and that are arranged in a circumferential direction of the straight portion of the predetermined link and cover the straight portion; a holder member attached to the predetermined link and having mounting portions to which a pair of adjacent detection units among the plurality of detection units is attached; Equipped with the attachment portion of the holder member is configured to be located at a boundary portion between the pair of adjacent detection portions, an insertion hole into which a removal tool is inserted when performing a removal operation to remove the detection unit from the mounting part is formed in a central part of the mounting part; The insertion hole has a hole portion for one of the pair of adjacent detection units and a hole portion for the other detection unit, and the entrance to the insertion hole is formed across these hole portions, and a partition portion separating the two hole portions prevents difficulty in inserting a finger into each hole portion.

5. A sensor unit as described in any one of claims 2 to 4, wherein a recess is formed in the edge portions of the pair of adjacent detection units facing each other across the boundary portion by recessing a portion of the edge portion, and when the detection units are attached, the attachment portion is located at a position surrounded by the recess.

6. the boundary portion between the pair of adjacent detection units extends in the same direction as the longitudinal direction of the linear portion, a plurality of the attachment portions are arranged along the boundary portion, 6. The sensor unit according to claim 1, wherein each of the pair of adjacent detecting portions is attached to each of the attachment portions.

7. An industrial robot comprising the sensor unit according to any one of claims 1 to 6.

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