Holding mechanism, robot system, control method, method for manufacturing articles, control program, recording medium

Abstract

To provide a needed technology which reduces a reaction force occurring when a robot device is operated after a wire or a wire bundle is attached to the robot device regardless of a diameter of the wire or the wire bundle to extend the life of the wire.SOLUTION: A holding mechanism for holding a wire includes: a band which fastens the wire; and a holding member including a contact part which contacts the wire, a first restriction part which restricts a position of a first portion of the band, and a second restriction part which restricts a position of a second portion of the band. A distance between the first restriction part and the second restriction part is smaller than a diameter of the wire.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a technique for holding a wire.

Background Art

[0002] In recent years, in a robot device, for example, a multi-axis articulated robot whose joints are rotatable, a torque sensor for measuring the torque applied by a drive source to a link is arranged at a joint, and a device for measuring the torque generated at the joint and controlling the drive source is known. By arranging a torque sensor at the joint, it becomes easier to control the force generated at the joint and the load and force applied by an end effector arranged at the tip of the robot arm to the work object.

[0003] In such a robot device, for example, in order to drive and control an actuator of each joint, a transmission member for transmitting a control signal and drive energy is required. For example, a line for transmitting an electrical signal or an optical signal as a control signal, and a line or a pipe for supplying drive energy such as electric power, hydraulic pressure, and pneumatic pressure are provided. Specifically, in a robot that uses a rotational drive source such as a motor as a drive source (actuator) for driving a joint or an end effector, a wire such as an electric wire (cable) is used as a transmission member for transmitting a control signal and drive power to this motor and its drive circuit. When an actuator that uses hydraulic pressure, pneumatic pressure, etc. is used to drive a joint or an end effector, a wire such as a pressure pipe made of a flexible material such as rubber is used as a transmission member for transmitting a drive signal (energy).

[0004] Since these wires straddle the axes of a multi-axis articulated robot, they can be a source of frictional torque at the joint part. Specifically, a reaction force due to the vibration of the wire, a moment and tension of the self-weight of the wire that change depending on the posture are generated. These become the dominant generation factors of internal forces that are detected by the torque sensor provided at the joint.

[0005] Ideally, torque sensors should detect the torque applied externally to the end effector or each joint for drive control purposes, i.e., external forces. However, torque sensors detect a value that includes both external and internal forces, i.e., internal forces such as friction torque at the joints.

[0006] To improve the accuracy of drive control, it is necessary to improve the accuracy of measuring external forces. However, since the detected value is a combination of external and internal forces, simply increasing the resolution of the torque sensor alone will not solve the problem. For example, when attempting to have a robotic device perform assembly work with a minute load of only a few grams, the ratio of internal force to external force in the detected torque becomes large, making high-precision drive control difficult and preventing precise work from being performed. Therefore, it is desirable to minimize the generation of internal forces caused by the installed wires when the robot device is driven, and to keep fluctuations in internal forces small even when the posture (joint rotation) is changed.

[0007] Patent Document 1 proposes a wiring guide system that restricts the movement of wires and reduces the wire reaction force (bending force). [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2014-111294 [Overview of the project] [Problems that the invention aims to solve]

[0009] The technology described in Patent Document 1 has some effect, but it had the problem that the wire bundle would move depending on the operating state of the robot device. As a result, it was not sufficiently effective in reducing the absolute value of the reaction force generated by the wire bundle or in keeping the reaction force constant, and in some cases, sufficient control accuracy could not be achieved in robots engaged in assembly work with minute loads, for example.

[0010] When examining the factors in detail, the wire used in multi-axis articulated robots can vary in diameter depending on the specifications of the end effector. Furthermore, stranded wire is sometimes used to mitigate electrical noise, but the diameter of stranded wire varies from place to place. In addition, there is always variation in the wire diameter of individual components. Therefore, the wire diameter cannot be uniquely determined.

[0011] If there is variation in wire diameter, some wire bundles will be weakly constrained while others will be strongly constrained. Weakly constrained bundles are more prone to movement during operation, resulting in large variations in wire reaction forces when the robot device is operated. Furthermore, because bundles with different constraining forces exist, changes in the balance of wire reaction forces are likely to occur when the posture of the robot device is changed. As a result, the generated internal forces vary depending on the location and time, which leads to a decrease in the detection accuracy of the torque sensor. Moreover, strongly constrained bundles experience excessively high stress near the constraining point during operation, leading to the problem of shortened wire lifespan. Therefore, there was a need for a technology that could suppress the reaction force generated when the device is operated, regardless of the wire diameter, and extend the lifespan of the wire. [Means for solving the problem]

[0012] A first aspect of the present invention is a holding mechanism for holding wires using a binding member, wherein a first mechanism for regulating the position of the binding member is provided. slit And, the first slit A second method of restricting the position of the binding member at a position different from the position restricted by the first method. slit The retaining member comprises the first The first end portion opposite to the edge of the retaining member in the slit and further 2 The second end portion opposite to the edge of the retaining member in the slit to 1 distance of Smaller than the diameter of the aforementioned wire comb , The first slit and the second slit are inclined such that the second distance between the third end of the retaining member on the edge side in the first slit and the fourth end of the retaining member on the edge side in the second slit is greater than the first distance. This is a holding mechanism characterized by the following features. A second aspect of the present invention is a robot system comprising a holding mechanism for holding wires using a binding member, and a robot, wherein the holding mechanism includes a first mechanism for regulating the position of the binding member. slit And, the first slitA second that restricts the position of the binding member at a position different from the position restricted by slit A holding member including, and the first The first end portion opposite to the edge of the retaining member in the slit And the second The second end portion opposite to the edge of the retaining member in the slit Between 1 Distance of Smaller than the diameter of the wire comb , The first slit and the second slit are inclined such that the second distance between the third end of the retaining member on the edge side in the first slit and the fourth end of the retaining member on the edge side in the second slit is greater than the first distance. A robot system characterized by that. A third aspect of the present invention is a control method for controlling a robot system including a holding mechanism that holds a wire using a binding member and a robot, wherein the holding mechanism includes a first that restricts the position of the binding member slit And the first slit A second that restricts the position of the binding member at a position different from the position restricted by slit A holding member including, and the first The first end portion opposite to the edge of the retaining member in the slit And the second <00,00078>Between 1 Distance is before Smaller than the diameter of the marked wire death , The first slit and the second slit are inclined such that the second distance between the third end of the retaining member on the edge side in the first slit and the fourth end of the retaining member on the edge side in the second slit is greater than the first distance. A control signal for the control unit to control the operation of the robot is transmitted to the drive unit of the robot via the wire, which is a control method characterized by that.

Advantages of the Invention

[0013] According to the present invention, regardless of the diameter of the wire, the reaction force generated when the device is operated can be suppressed, and the life of the wire can be extended.

Brief Description of the Drawings

[0014] [Figure 1] (a) A schematic side view showing the overall configuration of a multi-joint robot device according to an embodiment. (b) A schematic view of the robot arm 1 as seen from the right side of FIG. 1(a) along the X direction. [Figure 2] A schematic block diagram for explaining the control system of a multi-joint robot device according to an embodiment. [Figure 3](a) A diagram showing the external appearance of the wire holding member 700 according to Embodiment 1. (b) A perspective view showing the state in which the cable 80 is fixed to the wire holding member 700 according to Embodiment 1 by the band 800. (c) A side view showing the state in which the cable 80 is fixed to the wire holding member 700 according to Embodiment 1 by the band 800. [Figure 4] (a) A diagram showing the external appearance of the wire holding member 701 according to Embodiment 2. (b) A perspective view showing the state in which the cable 80 is fixed to the wire holding member 701 according to Embodiment 2 by the band 800. (c) A top view showing the state in which the cable 80 is fixed to the wire holding member 701 according to Embodiment 2 by the band 800. [Figure 5] (a) A diagram showing the external appearance of the wire holding member 702 according to Embodiment 3. (b) A perspective view showing the state in which the cable 80 is fixed to the wire holding member 702 according to Embodiment 3 by the band 800. (c) A top view showing the state in which the cable 80 is fixed to the wire holding member 702 according to Embodiment 3 by the band 800. [Figure 6] (a) A diagram showing the external appearance of the wire holding member 703 according to Embodiment 4. (b) A perspective view showing a thick cable 80 with a diameter of D1 fixed to the wire holding member 703 according to Embodiment 4 by a band 800. (c) A perspective view showing a thin cable 80 with a diameter of D2 fixed to the wire holding member 703 according to Embodiment 4 by a band 800. [Figure 7] (a) A perspective view showing the state in which the cable 80 is fixed to the wire holding member 900 according to Embodiment 5 by the band 800. (b) A perspective view of the state in which the cable 80 is fixed to the wire holding member 900 according to Embodiment 5 by the band 800, viewed from a different direction than in (a). [Figure 8] A perspective view showing the state in which the cable 80 is fixed to the wire holding member 905 according to Embodiment 6 by a band 800. [Figure 9] (a) A diagram showing the external appearance of the wire holding member 901 according to Embodiment 7. (b) A diagram showing the external appearance of the wire holding member 902 according to Embodiment 7. (c) A diagram showing the external appearance of the wire holding member 903 according to Embodiment 7. (d) A diagram showing the external appearance of the wire holding member 904 according to Embodiment 7. [Figure 10] A diagram illustrating the situation where the cable thickness is different in the wire holding method according to Embodiment 8. [Modes for carrying out the invention]

[0015] The embodiments of the present invention will be described with reference to the drawings. The embodiments shown below are illustrative, and for example, those skilled in the art can modify the details of the configuration as appropriate without departing from the spirit of the present invention. In the drawings referenced in the following descriptions of embodiments and examples, elements indicated by the same reference numeral shall have the same function unless otherwise specified.

[0016] In the following explanation, wires or cables refer to flexible transmission members (wiring) used to transmit control signals and drive energy to drive and control actuators and end effectors of each joint, for example. Flexible transmission members (wiring) include, for example, lines that transmit electrical signals or optical signals as control signals, and lines and conduits that supply drive energy such as electricity, hydraulics, and pneumatics. Specifically, in robots that use a rotary drive source such as a motor for the drive unit (actuator) that drives the joints and end effectors, wires such as electric wires are used as transmission members to transmit control signals and drive power to the motor and its drive circuit. In addition, in robot devices equipped with various sensors such as torque sensors and image sensors near the arms and joints, signal lines (electric wires or optical fibers) are used as transmission members for communication between the sensors and the control unit. Furthermore, in robot devices that use actuators that utilize hydraulics, pneumatics, etc. to drive the joints and end effectors, pressure pipes made of flexible materials such as rubber are used as transmission members to transmit drive signals (energy). Thus, wire materials typically include electric wires, optical fibers, and pressure pipes, but there are no particular restrictions on their type or thickness. Furthermore, when multiple wire materials are bundled together, they are sometimes called wire bundles or wire harnesses, but there are no particular restrictions on the number or type of wire materials bundled.

[0017] [Embodiment 1] (Basic configuration of a robotic device) Figure 1(a) is a schematic side view showing the overall configuration of an articulated robot device, and Figure 1(b) is a schematic view of the robot arm 1 of the same robot device, viewed from the right side of Figure 1(a) along the X direction. The coordinate axes of the three-dimensional (XYZ) coordinate system used to control this robot device are shown in the lower left of Figure 1(a) and the lower right of Figure 1(b). For example, the posture shown in Figure 1(a) can be used as the initial posture of the robot arm 1. As shown in Figure 1(a), the robot device includes a robot arm 1 (robot body) and a control device 91 that controls the robot arm 1.

[0018] Figure 2 shows a schematic block diagram illustrating the control system of an articulated robot device according to an embodiment. As shown in Figure 2, a command device 94 is connected to the control device 91, and these control device 91 and command device 94 constitute the control system 97 of the robot arm 1 (robot body). The command device 94 is, for example, a teaching device such as a teaching pendant.

[0019] The command device 94 includes an operating unit for changing, for example, the posture (position and angle) of the joints of the robot arm 1, or the position of a reference part located at the tip of the robot arm 1. When some robot operation is performed using the operating unit of the command device 94, the control device 91 controls the movement of the robot arm 1 via the cable 80 (wire) in response to the operation of the command device 94. At that time, the control device 91 executes a robot control program, which includes a control program, thereby controlling each part of the robot arm 1.

[0020] Furthermore, the robot control program may be recorded on any recording medium that is computer-readable. For example, ROM, disks, external storage devices, etc., may be used as recording media for supplying the program. Specifically, flexible disks, optical disks, magneto-optical disks, magnetic tapes, non-volatile memory such as USB memory, SSDs, etc., can be used as recording media.

[0021] The command device 94 is equipped with an operating section that includes operating keys for moving, for example, the posture (position and angle) of the joints of the robot arm 1, or the position of a reference position located at the tip of the robot arm 1. When any robot operation is performed using the operating section of the command device 94, the control device 91 controls the movement of the robot arm 1 via the cables 80 (wires) in response to the operation of the command device 94. At that time, the control device 91 controls each part of the robot arm 1 by executing a robot control program that includes a control program.

[0022] The robot arm 1 shown in Figures 1(a) and 1(b) is a robot arm having a configuration in which multiple links are interconnected via multiple joints (6 axes), for example in a serial link format. An end effector 70 is connected to link 60 at the tip of the robot arm 1. Links 10, 20, 30, 40, 50, and 60 of the robot arm 1 are connected via, for example, rotary joints 11, 21, 31, 41, 51, and 61 as follows.

[0023] The base 100 (base portion) and link 10 of the robot arm 1 are connected by a rotary joint 11 that rotates around a rotation axis in the Z-axis direction. The rotary joint 11 is assumed to have a range of motion of approximately ±180 degrees from the initial position. Links 10 and 20 of the robot arm 1 are connected by a rotary joint 21. The rotation axis of the rotary joint 21 coincides with the Y-axis direction in the illustrated state. This rotary joint 21 is assumed to have a range of motion of approximately ±80 degrees from the initial position.

[0024] Links 20 and 30 of robot arm 1 are connected by a rotary joint 31. The axis of rotation of this rotary joint 31 coincides with the Y-axis in the illustrated state. The rotary joint 31 is assumed to have a range of motion of approximately ±70 degrees from the initial position. Links 30 and 40 of robot arm 1 are connected by a rotary joint 41. The axis of rotation of this rotary joint 41 coincides with the X-axis in the illustrated state. The rotary joint 41 is assumed to have a range of motion of approximately ±180 degrees from the initial position.

[0025] Links 40 and 50 of robot arm 1 are connected by a rotary joint 51. The axis of rotation of the rotary joint 51 coincides with the Y-axis direction in the illustrated state. This rotary joint 51 is assumed to have a range of motion of approximately ±120 degrees from the initial position. Links 50 and 60 of robot arm 1 are connected by a rotary joint 61. The axis of rotation of the rotary joint 61 coincides with the X-axis direction in the illustrated state. This rotary joint 61 is assumed to have a range of motion of approximately ±240 degrees from the initial position.

[0026] As described above, in this embodiment, the rotation axes of the rotary joints 11, 41, and 61 are arranged parallel (or coaxial) to the central axes (dotted lines) of the two links to which they are connected, so that the (relative) angle of these two links around the rotation axis can be changed. On the other hand, the rotation axes of the rotary joints 21, 31, and 51 are arranged so that the (relative) angle at which the central axes (same) of the two links to which they are connected can be changed.

[0027] Furthermore, an end effector 70, such as an (electric) hand or an (pneumatically driven) air hand, is connected to the tip of the link 60 of the robot arm 1. This end effector 70 is attached to the link 60 by (semi)fixed means (not shown), such as screws, or can be attached by detachable means (not shown), such as a latch (ratchet). In particular, if the end effector 70 is detachable, a method can be considered in which the robot arm 1 is controlled to attach, detach, or replace the end effector placed at the supply position (not shown) by the robot's own movement.

[0028] (Location of torque sensor) For example, in the case of the rotary joint 21 of the robot arm 1, as shown in Figure 1(b), a torque sensor 22 is provided to measure the driving torque of the motor (not shown) that drives the rotary joint 21, that is, the rotational driving force applied from this motor to the link 20. This torque sensor 22 is positioned at a predetermined location on the drive shaft of a drive system consisting of a motor or a reduction gear located inside the rotary joint 21. There are no particular limitations on the formula or structure of the torque sensor 22 used in this embodiment to measure the rotational driving force of the rotary joint. Furthermore, torque sensors 12, 32, 42, 52, and 62 are provided for each of the other rotary joints 11, 31, 41, 51, and 61, similar to the torque sensor 22.

[0029] (Wire path) The rotary joints 11 to 61 and the end effector 70 of the robot arm 1 illustrated in Figures 1(a) and 1(b) are driven by, for example, an electrical rotational drive source, such as a motor. In this case, in the rotary joints, a reduction gear using a harmonic drive mechanism or the like may be used in addition to the motor. In the end effector, such as a hand or gripper, a reduction gear or drive direction conversion mechanism such as a rack and pinion may be used. The motors that drive each of the rotary joints 11 to 61 and the end effector 70 are arranged at predetermined positions inside each rotary joint and end effector 70, respectively. In this embodiment, these motors are arranged inside the joints, but the motors and / or reduction gears may be arranged outside the joints.

[0030] When the driving means for the rotary joints 11 to 61 are motors, a wire or cable is required as a means of transmitting energy (driving power) or control signals, i.e., drive signals, to drive each motor. Such wires may be bundled together to form a wire harness, or multiple wires may be housed in a single sheath to form a multi-cable.

[0031] Furthermore, it is conceivable that the drive mechanisms for the rotary joints 11 to 61 and the end effector 70 may be configured using a pressure mechanism utilizing hydraulic (hydrostatic) or pneumatic pressure. In that case, it is necessary to transmit drive energy or control signals (drive signals) in the form of pressure to each of these parts of the robot arm 1, namely the rotary joints 11 to 61 and the end effector 70. In this case, a wire such as a flexible pressure tube is preferably used as the transmission means for transmitting the drive energy or control signals.

[0032] In the embodiment illustrated here, the driving means for the rotary joints 11 to 61 and the end effector 70 are motors, and therefore the wires that transmit driving energy or control signals to each of these parts are (electrical) cables 80. The cable 80 also includes, for example, multiple wires that connect the control device 91 to each rotary joint (or end effector 70), and is configured as, for example, a wire harness (bundle). The cable 80 also includes signal lines for communication between the torque sensors 12 to 62 and the control device 91. However, the embodiments of the present invention are not limited to this example.

[0033] The routing path (installation location) of cable 80 is schematically shown by dashed lines in Figures 1(a) and 1(b). Cable 80 is arranged inside or outside the base 100 and links 10 to 60 so as not to obstruct the movement of the robot arm 1 or interfere with surrounding equipment, and is held to the arm via wire holding members. Wire holding members are provided on the movable and fixed sides of each joint, and their installation locations are shown in the figures as J1 wiring fixing part (fixed side) to J5 wiring fixing part (fixed side), and J1 wiring fixing part (movable side) to J5 wiring fixing part (movable side).

[0034] (Shape of wire holding member) Figure 3(a) shows the external appearance of the wire holding member 700 according to Embodiment 1. The wire holding member 700 is provided with an opening 710 for passing a band (wire bundling band) when holding a wire, and two screw holes 711 for passing screws when fixing the wire holding member 700 to a robot device. The wire holding member 700 also has a contact portion 750 that contacts the cable 80 (wire) when holding the cable 80. The two openings 710 form a pair, and in the example of Figure 3(a), two pairs of openings 710 are provided. The pair of holes is a set of two openings 710 arranged in a direction intersecting the longitudinal direction of the wire when the wire is held in the wire holding member 700 with a strong restraining force using a band. Each of the openings forming a pair may be called a first restricting portion that restricts the position of the first portion of the band, and a second restricting portion that restricts the position of the second portion of the band. The number and position of the pairs of openings 710 are not limited to the example shown. The wire holding member 700 can be made, for example, by sheet metal processing of a metal plate.

[0035] Figure 3(b) is a perspective view showing the state in which the cable 80 is fixed to the wire holding member 700 according to Embodiment 1 by a band 800. Figure 3(c) is a side view showing the state in which the cable 80 is fixed to the wire holding member 700 according to Embodiment 1 by a band 800. Note that in Figures 3(b) and 3(c), for the sake of illustration, the state in which the wire holding member 700 is fixed to the robot device is not shown, but the wire holding member 700 is fixed to the robot device via screws that are installed through the screw holes 711. Note that in this embodiment, the wire holding member 700 is fixed to the robot device using screws in order to make the wire holding member 700 detachable from the robot device, but the fixing method is not limited to this example.

[0036] The band 800 wound around the side surface of the cable 80 is passed through a pair of openings 710 to the opposite side of the cable 80 with respect to the wire holding member 700 and fastened with a fastening portion 800A to form an annular body. In order to be able to restrain the cable 80 to the wire holding member 700 with sufficient fixing strength, for example, a band 800 provided with a ratchet-type fastening portion 800A can be preferably used. In addition, in the present embodiment, two bands 800 are used to fix the cable 80, but the number of bands 800 is not limited to this example.

[0037] In the present embodiment, when the distance (interval) between a pair of openings 710 formed in the wire holding member 700 for passing the annular band 800 at two locations is L1 and the diameter of the cable 80 is D1, it is always configured such that L1 is smaller than D1 (L1 < D1). By adopting such a configuration, the cable 80 can be restrained by abutting the band 800 against at least half or more of the circumference of the cable 80. Therefore, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable 80 is suppressed, and the cable 80 can be stably held.

[0038] According to the present embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, so that the variation in the balance of the wire reaction force hardly occurs. Therefore, the variation of the internal force generated depending on the location and time is suppressed, and as a result, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of the present embodiment is engaged in, for example, an assembly operation with a minute load, sufficient control accuracy can be achieved.

[0039] Further, according to the present embodiment, when holding the cable at a plurality of locations, a stable fixed state in which play is suppressed can be achieved at any fixed location. Therefore, compared with the conventional fixing method in which play is likely to occur, the deviation (runaway) of the cable when the posture of the robot device changes is reduced, and stress concentration on a specific location of the cable can be suppressed. Therefore, the usable period (life) of the wire can be extended.

[0040] [Embodiment 2] Embodiment 2, which employs a wire holding member of a different form from the wire holding member 700 of Embodiment 1, will be described. For the sake of clarity, matters common to Embodiment 1 (such as the configuration of the robot device) will be simplified or omitted from the description.

[0041] Figure 4(a) shows the external appearance of the wire holding member 701 according to Embodiment 2. The wire holding member 701 is provided with a slit 720 for passing a band (wire bundling band) when holding a wire, and two screw holes 711 for passing screws when fixing the wire holding member 701 to a robot device. The wire holding member 701 also has a contact portion 750 that contacts the cable 80 (wire) when holding the cable 80. Two slits 720 form a slit pair, and in the example of Figure 4(a), two slit pairs are provided. A slit pair is a set of two slits that are arranged to face each other in a direction perpendicular to the longitudinal direction of the wire when the wire is held in the wire holding member 701. Each of the slits constituting the pair may be called a first restricting portion that restricts the position of the first portion of the band, and a second restricting portion that restricts the position of the second portion of the band. Note that the number and position of the slit pairs are not limited to the example shown. When the wire holding member 701 is viewed from above, the slit 720 is provided along the radial direction of the wire being held. The wire holding member 701 can be made, for example, by sheet metal processing of a metal plate.

[0042] FIG. 4(b) is a perspective view showing a state where the cable 80 is fixed to the wire holding member 701 according to Embodiment 2. FIG. 4(c) is a top view showing a state where the cable 80 is fixed to the wire holding member 701 according to Embodiment 2. In FIGS. 4(b) and 4(c), for the sake of illustration convenience, the aspect in which the wire holding member 701 is fixed to the robot device is not shown, but the wire holding member 701 is fixed to the robot device via screws inserted through the screw holes 711. In the present embodiment, in order to make the wire holding member 701 detachable from the robot device, the wire holding member 701 is fixed to the robot device using screws, but the fixing method is not limited to this example.

[0043] The band 800 wound around the side surface of the cable 80 is passed to the opposite side of the cable 80 with respect to the wire holding member 701 through a pair of opposing slits 720 and fastened on the opposite side of the cable 80 to form an annular body. In order to be able to restrain the cable 80 to the wire holding member 701 with sufficient fixing strength, for example, a band 800 provided with a ratchet-type fastening portion can be preferably used. In the present embodiment, two bands 800 are used to fix the cable 80, but the number of bands 800 is not limited to this example.

[0044] In the present embodiment, let the distance (spacing) between a pair of slits 720 formed in the wire holding member 700 so as to face each other for passing the annular band 800 at two locations be L2, and the diameter of the cable 80 be D1. The present embodiment is characterized in that it is configured such that L2 is always smaller than D1 (L2 < D1). By adopting such a configuration, the cable 80 can be restrained by bringing the band 800 into contact with at least more than half of the circumference around the cable 80. For this reason, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable 80 is suppressed, and the cable 80 can be stably held.

[0045] Furthermore, in Embodiment 1, when holding the cable, it was necessary to wrap the band 800 around the cable 80 while passing the end of the band 800 through the opening 710 of the wire holding member 700, which made the process not necessarily easy. In contrast, in this embodiment, as can be seen from Figure 4(c), the cable 80 is placed on the wire holding member 701, the band 800 is aligned with the slit 720 and fastened on the back side of the wire holding member 701 to form an annular body. Therefore, the fixing work can be easily performed, and the manufacturing cost of the robot device can be reduced.

[0046] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, making it less likely for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on the location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is used for, for example, assembly work with minute loads, sufficient control accuracy can be achieved.

[0047] Furthermore, according to this embodiment, when holding the cable at multiple points, a stable fixing state with suppressed play can be achieved at any fixing point. Therefore, compared to conventional fixing methods that are prone to play, cable displacement (vibration) when the posture of the robot device changes is reduced, and stress concentration at specific points on the cable can be suppressed. As a result, the usable period (lifespan) of the wire can be extended. Note that this embodiment and its modifications may be combined with the first embodiment and its modifications described above.

[0048] [Embodiment 3] Embodiment 3, which employs a wire holding member of a different form from the wire holding member 701 of Embodiment 2, will now be described. For the sake of clarity, matters common to Embodiment 1 or Embodiment 2 (such as the configuration of the robot device) will be simplified or omitted from the description.

[0049] Figure 5(a) shows the external appearance of the wire holding member 702 according to Embodiment 3. The wire holding member 702 is provided with a slit 730 for passing a band (wire bundling band) when holding a wire, and two screw holes 711 for passing screws when fixing the wire holding member 702 to a robot device. The wire holding member 702 also has a contact portion 750 that contacts the cable 80 (wire) when holding the cable 80. The two slits 730 form a slit pair, and in the example of Figure 5(a), two slit pairs are provided. A slit pair is a set of two slits that are arranged to face each other in a direction intersecting the longitudinal direction of the wire when the wire is held in the wire holding member 702. In other words, when the wire holding member 702 is viewed from above, the slits are provided along a direction inclined with respect to the radial direction of the wire being held. Each of the slits constituting a pair may be called a first restricting portion that restricts the position of the first portion of the band, and a second restricting portion that restricts the position of the second portion of the band. The number and position of the slit pairs are not limited to the illustrated example. The wire holding member 702 can be made, for example, by sheet metal processing of a metal plate.

[0050] Figure 5(b) is a perspective view showing the state in which the cable 80 is fixed to the wire holding member 702 according to Embodiment 3 by the band 800. Figure 5(c) is a top view showing the state in which the cable 80 is fixed to the wire holding member 702 according to Embodiment 3 by the band 800. Note that in Figures 5(b) and 5(c), for the sake of illustration, the state in which the wire holding member 702 is fixed to the robot device is not shown, but the wire holding member 702 is fixed to the robot device via screws that are installed through the screw holes 711. Note that in this embodiment, the wire holding member 702 is fixed to the robot device using screws in order to make the wire holding member 702 detachable from the robot device, but the fixing method is not limited to this example.

[0051] The band 800 wound around the side surface of the cable 80 is passed through to the opposite side of the cable 80 with respect to the wire holding member 702 through a pair of opposing slits 730, and is fastened on the opposite side of the cable 80 to form an annular body. In order to be able to restrain the cable 80 to the wire holding member 702 with sufficient fixing strength, for example, a band 800 provided with a ratchet-type fastening portion can be preferably used. In this embodiment, two bands 800 are used to fix the cable 80, but the number of bands 800 is not limited to this example.

[0052] In this embodiment, a pair of slits 720 formed in the wire holding member 700 so as to face each other in order to pass the annular band 800 through at two locations are separated from each other by a distance L4 at the edge of the wire holding member 702. However, as the distance from the edge increases, the distance between the slits narrows, and the tips of the slits are separated from each other by a distance L3. That is, the maximum distance between the two slits forming the pair is L4, and the minimum distance is L3 (L3 < D4). Here, let the diameter of the cable 80 be D1. This embodiment is characterized in that it is configured such that L3 is always smaller than D1 (L3 < D1). By adopting such a configuration, the cable 80 can be restrained by abutting the band 800 against at least more than half of the circumference of the cable 80. For this reason, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable 80 is suppressed, and the cable 80 can be stably held.

[0053] Also, in Embodiment 1, when holding the cable, it is necessary to wind the band 800 around the cable 80 and pass the end of the band 800 through the opening 710 of the wire holding member 700, and the operation is not always easy.

[0054] In contrast, in this embodiment, as can be seen from Figure 5(c), the cable 80 is placed on the wire holding member 702, the band 800 is aligned with the slit 720 and fastened on the back side of the wire holding member 702 to form an annular structure. Moreover, in this embodiment, as the band 800 is pulled, the band 800 naturally slides in the direction in which the slit spacing narrows. Therefore, the fixing work can be easily performed, and the manufacturing cost of the robotic device can be reduced. Furthermore, by controlling the force when pulling the band 800, it is possible to fasten the band 800 in an annular shape without sliding the band 800 to the position of L3, which is the minimum spacing (minimum distance). In other words, the fixing strength of the cable 80 can be controlled.

[0055] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, making it less likely for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on the location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is used for, for example, assembly work with minute loads, sufficient control accuracy can be achieved.

[0056] Furthermore, according to this embodiment, when holding the cable at multiple points, a stable fixing state with suppressed play can be achieved at any fixing point. Therefore, compared to conventional fixing methods that are prone to play, cable displacement (vibration) when the posture of the robot device changes is reduced, and stress concentration at specific points on the cable can be suppressed. As a result, the usable period (lifespan) of the wire can be extended. Note that this embodiment and its modifications may be combined with the various embodiments and modifications described above.

[0057] [Embodiment 4] Embodiment 4, which employs a wire holding member of a different form from the wire holding member 700 of Embodiment 1, will be described. For the sake of clarity, matters common to Embodiment 1 (such as the configuration of the robot device) will be simplified or omitted from the description.

[0058] Figure 6(a) shows the external appearance of the wire holding member 703 according to Embodiment 4. The wire holding member 703 is provided with an opening 710 for passing a band (wire bundling band) when holding a wire, and two screw holes 711 for passing screws when fixing the wire holding member 700 to the robot device. The wire holding member 703 also has a contact portion 750 that contacts the cable 80 (wire) when holding the cable 80. Two openings are selected as a pair from among the multiple openings 710 according to the thickness of the wire to be held. The pair of openings is a set of two openings 710 arranged in a direction intersecting the longitudinal direction of the wire when the wire is held in the wire holding member 703. In this example, depending on the thickness of the wire, one of three pairs of openings 710 can be selected: a pair of openings 710 spaced at intervals of L5, a pair of openings 710 spaced at intervals of L6, or a pair of openings 710 spaced at intervals of L6-L5. Each of the openings constituting a pair may be called a first restricting part that restricts the position of the first part of the band, and a second restricting part that restricts the position of the second part of the band. Although at least three openings 710 are provided, the number and position are not limited to the example shown. The wire holding member 703 can be made, for example, by sheet metal processing of a metal plate.

[0059] Figure 6(b) is a perspective view showing a state in which a thick cable 80 with a diameter of D1 is fixed to the wire holding member 703 according to Embodiment 4 by a band 800. Figure 6(c) is a perspective view showing a state in which a thin cable 80 with a diameter of D2 is fixed to the wire holding member 703 according to Embodiment 4 by a band 800. Note that in Figures 6(b) and 6(c), for the sake of illustration, the state in which the wire holding member 703 is fixed to the robot device is not shown, but the wire holding member 701 is fixed to the robot device via screws that are installed through the screw holes 711. Note that in this embodiment, the wire holding member 701 is fixed to the robot device using screws in order to make the wire holding member 701 detachable from the robot device, but the fixing method is not limited to this example.

[0060] The band 800, wrapped around the side of the cable 80, is passed through a pair of openings 710, selected according to the thickness of the cable 80, to the wire holding member 701 on the opposite side of the cable 80, and fastened on the opposite side of the cable 80 to form an annular structure. To ensure that the cable 80 is restrained to the wire holding member 703 with sufficient fixing strength, a band 800 equipped with, for example, a ratchet-type fastening part can be suitably used. In this embodiment, two bands 800 are used to fix the cable 80, but the number of bands 800 is not limited to this example.

[0061] In this embodiment, as can be seen from Figures 6(b) and 6(c), pairs of openings spaced appropriately apart (distance) can be selected according to the thickness of the cable, and cables of various thicknesses can be stably held using the same wire holding member 701. Needless to say, pairs of openings are selected such that the distance between them is smaller than the thickness of the cable.

[0062] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, making it less likely for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on the location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is used for, for example, assembly work with minute loads, sufficient control accuracy can be achieved.

[0063] Furthermore, according to this embodiment, when holding the cable at multiple points, a stable fixing state with suppressed play can be achieved at any fixing point. Therefore, compared to conventional fixing methods that are prone to play, cable displacement (vibration) when the posture of the robot device changes is reduced, and stress concentration at specific points on the cable can be suppressed. As a result, the usable period (lifespan) of the wire can be extended.

[0064] In addition, according to the present embodiment, since cables of various thicknesses can be stably held using wire holding members of the same type, the manufacturing cost of the robot device can be reduced. Note that the present embodiment and the modified example may be implemented in combination with the various embodiments and modified examples described above.

[0065] [Embodiment 5] Embodiment 5 in which a wire holding member having a different form from the wire holding member 700 of Embodiment 1 is adopted will be described. For the sake of convenience of explanation, descriptions of matters common to Embodiment 1 (such as the configuration of the robot device) will be simplified or omitted. In the present embodiment, the wire holding member 900 has a configuration integrated with a main body component (for example, a frame) of the robot device.

[0066] FIGS. 7(a) and 7(b) are perspective views of a state in which the cable 80 is fixed by the band 800 to the wire holding member 900 according to Embodiment 5, viewed from different directions. The wire holding member 900 is a member in which a wire holding member similar to that of Embodiment 1 is integrated with a frame housing that is a structural component of the robot arm. The surface position of the wire holding portion for holding the wire is configured to be continuous with the inner surface of the frame housing.

[0067] Also in the present embodiment, when the distance (interval) between a pair of openings formed in the wire holding member 900 for passing the annular band 800 at two locations is L1 and the diameter of the cable 80 is D1, it is always configured such that L1 is smaller than D1 (L1 < D1). By adopting such a configuration, the cable 80 can be restrained by bringing the band 800 into contact with at least half a circumference or more around the cable 80. Therefore, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable 80 is suppressed, and the cable 80 can be stably held.

[0068] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, making it less likely for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on the location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is used for, for example, assembly work with minute loads, sufficient control accuracy can be achieved.

[0069] Furthermore, according to this embodiment, when holding the cable at multiple points, a stable fixing state with suppressed play can be achieved at any fixing point. Therefore, compared to conventional fixing methods that are prone to play, cable displacement (vibration) when the posture of the robot device changes is reduced, and stress concentration at specific points on the cable can be suppressed. As a result, the usable period (lifespan) of the wire can be extended.

[0070] Furthermore, in this embodiment, when manufacturing the structural components (e.g., the frame) of the robot device body by casting or the like, the wire holding member can be manufactured at the same time, eliminating the need to manufacture it separately and fix it to the body. By reducing the number of parts, manufacturing costs and assembly costs can be reduced. Note that this embodiment and its modifications may be combined with the various embodiments and modifications described above.

[0071] [Embodiment 6] Embodiment 6, which employs a wire holding member with a different form from the wire holding member 900 of Embodiment 5, will now be described. In this embodiment, the wire holding member 905 has a configuration that is integrated with the main body component (e.g., frame) of the robot device.

[0072] Figure 8 is a perspective view showing the state in which the cable 80 is fixed to the wire holding member 905 according to Embodiment 6 by a band 800. The wire holding member 905 is a component in which a wire holding member similar to that of Embodiment 1 is integrated into the frame housing of the robot arm. The surface position of the wire holding portion that holds the wire is configured to be continuous with the outer surface of the frame housing.

[0073] Also in this embodiment, when the distance (interval) between a pair of openings formed in the wire holding member 900 for passing the annular band 800 at two locations is L1 and the diameter of the cable 80 is D1, it is always configured such that L1 is smaller than D1 (L1 < D1). By adopting such a configuration, the band 800 can be brought into contact with at least half a circumference or more around the cable 80 to restrain the cable 80. For this reason, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable 80 is suppressed, and the cable 80 can be stably held.

[0074] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable 80 is suppressed, so that fluctuations in the balance of the wire reaction force are unlikely to occur. Therefore, variations in the internal force generated depending on the location and time are suppressed, and as a result, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is engaged in, for example, assembly work with a minute load, sufficient control accuracy can be achieved.

[0075] Further, according to this embodiment, when holding the cable at a plurality of locations, a stable fixed state in which play is suppressed can be achieved at any fixed location. For this reason, compared with the conventional fixing method in which play is likely to occur, the displacement (flailing) of the cable when the posture of the robot device changes is reduced, and stress concentration on a specific location of the cable can be suppressed. For this reason, the usable period (life) of the wire can be extended.

[0076] Also in this embodiment, when manufacturing parts (for example, a frame) of the robot device main body by casting or the like, the wire holding member can be manufactured together, and there is no need to separately manufacture and fix it to the main body. By reducing the number of parts, the manufacturing cost and the assembly cost can be reduced. Note that this embodiment and the modification example may be combined with the above-described various embodiments and modification examples and implemented.

[0077] [Embodiment 7] Figs. 9(a) to 9(d) show a wire holding member configured to be able to change the relative position of the wire holding portion with respect to the frame. The wire holding member is manufactured with a core when casting the frame.

[0078] Also in this embodiment, when the distance (interval) between a pair of holes formed in the wire holding member for passing the annular band at two locations is L1 and the diameter of the cable is D1, it is always configured such that L1 is smaller than D1 (L1 < D1). By adopting such a configuration, the cable can be restrained by abutting the band against at least more than half a circumference around the cable. For this reason, sufficient fixing strength is ensured, and when the robot device operates, the movement (play) of the cable is suppressed, and the cable can be stably held.

[0079] According to this embodiment, even when the posture of the robot device is changed, the movement (play) of the cable is suppressed, so that the variation in the balance of the wire reaction force is unlikely to occur. Therefore, the internal force generated is suppressed from varying depending on the location and time, and as a result, the detection accuracy of the torque sensor is stabilized. Therefore, if the robot device of this embodiment is engaged in, for example, an assembly operation with a minute load, sufficient control accuracy can be achieved.

[0080] Further, according to this embodiment, when holding the cable at a plurality of locations, a stable fixed state in which play is suppressed can be achieved at any fixed location. For this reason, compared with the conventional fixing method in which play is likely to occur, the displacement (runaway) of the cable when the posture of the robot device changes is reduced, and stress concentration on a specific location of the cable can be suppressed. For this reason, the usable period (life) of the wire can be lengthened.

[0081] Also, in this embodiment, in the robot device, for example, when changing the path of the wire, as shown in 901 to 904, the position of the wire holding portion can be changed, so that the implementation work becomes easy. Note that this embodiment and the modification may be implemented in combination with the above-described various embodiments and modifications.

[0082] [Embodiment 8] As Embodiment 8, a method for fixing the cable 80 when its thickness varies depending on the location in the articulated robot device shown in Figure 1 will be described. Figure 10 is a diagram that specifically illustrates the case where the thickness of the cable 80 varies depending on the location.

[0083] Cable 80 extends from the rotary joint 11 side to the end effector 70 side in Figure 1. Near the rotary joint 11, for example, all the wires for driving and controlling all the joints and end effectors are bundled together. As a result, the number (amount) of wires included in the wire harness (bundle) is large, and the diameter of cable 80 is large (J1 wiring amount in Figure 10). However, as the path extends towards the end effector 70 side, the wires for driving and controlling each joint branch out, so the number (amount) of wires included in the wire harness (bundle) decreases as you get closer to the end effector 70 side. Conversely, looking from the end effector 70 side towards the rotary joint 11 side, the wires for driving and controlling each joint merge, so the number (amount) of wires included in the wire harness (bundle) increases as you get closer to the rotary joint 11 side.

[0084] As described in Embodiment 1, the wire holding parts are installed at various locations from J1 wiring fixing part (fixed side) to J5 wiring fixing part (fixed side), and from J1 wiring fixing part (movable side) to J5 wiring fixing part (movable side). In this embodiment, at each installation location, a wire holding member corresponding to the thickness of the cable 80 at that location is used, and at every installation location, the distance between the first restricting part and the second restricting part is always smaller than the diameter of the wire.

[0085] For example, when using the wire holding member of Embodiment 1, it is preferable to use a wire holding member 700 with a smaller L1 as you move from the J1 side towards the J5 side. Similarly, when using the wire holding member of Embodiment 2, it is preferable to use a wire holding member 701 with a smaller L2 as you move from the J1 side towards the J5 side. Furthermore, when using the wire holding member of Embodiment 3, it is preferable to use a wire holding member 702 with a smaller L3 as you move from the J1 side towards the J5 side. However, if the band 800 can be fastened in a ring shape without necessarily sliding the band 800 to the position of L3, which is the minimum interval (minimum distance), by controlling the force when pulling the band 800, then the same type of wire holding member 702 may be used at all locations. Furthermore, when using the wire holding member of Embodiment 4, it is preferable to select and use a set of holes from among the multiple openings 710 of the wire holding member 703 that are suitable for the thickness of the cable 80 at the installation location. Note that it is not necessary to use the same embodiment of wire holding member at all installation locations. For example, the J1 wiring fixing part (fixing side) may be the wire holding member of Embodiment 1, and the J2 wiring fixing part (fixing side) may be the wire holding member of Embodiment 2, thus combining wire holding members from different embodiments.

[0086] According to this embodiment, even if the posture of the robot device changes due to varying cable thicknesses in different locations, the movement (play) of the cable 80 is suppressed, making it less likely for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. Therefore, if the robot device of this embodiment is used for, for example, assembly work with minute loads, sufficient control accuracy can be achieved.

[0087] Furthermore, according to this embodiment, when holding cables of different thicknesses at multiple locations, a stable fixing state with suppressed play can be achieved at every fixing point. Therefore, compared to conventional fixing methods that are prone to play, cable displacement (vibration) when the posture of the robot device changes is reduced, and stress concentration at specific points on the cable can be suppressed. As a result, the usable period (lifespan) of the wire can be extended. Note that this embodiment and its modifications may be combined with the various embodiments and modifications described above.

[0088] [Other embodiments] It should be noted that the present invention is not limited to the embodiments and examples described above, and many modifications are possible within the technical concept of the present invention.

[0089] The wire holding means (holding mechanism) of the present invention can be applied to various machines and equipment, such as industrial robots, service robots, and processing machines operated by computer numerical control. For example, it can be applied to machines and equipment that can automatically perform movements such as extension and retraction, bending and straightening, vertical movement, horizontal movement, or rotation, or combinations thereof, based on control performed by a control device via a wire.

[0090] In particular, it can be suitably used in robotic devices equipped with a torque sensor and capable of torque control. For example, it can be applied to robotic devices that perform assembly work that applies large loads of several hundred grams to several kilograms to the object, such as assembling automobile engine parts. Furthermore, it can be suitably used in robotic devices that perform assembly work that applies minute loads of several grams to the object during assembly, such as handling tiny parts weighing several grams, thin films, or sheets. In other words, by using a robotic device equipped with the wire holding means (holding mechanism) of the present invention, it is possible to carry out a method of manufacturing articles with high work precision (method of manufacturing articles).

[0091] Furthermore, in a robot device in which a wire is fixed using the wire holding means (holding mechanism) of the present invention, the control unit drives and controls actuators and end effectors via the wire, thereby providing a robot control method that controls the operation of the robot device with high precision. By changing the posture of the robot device using this control method, the movement (play) of the wire is suppressed, making it difficult for the balance of the wire reaction force to fluctuate. As a result, variations in the generated internal force depending on the location and time are suppressed, and consequently, the detection accuracy of the torque sensor becomes stable. [Explanation of symbols]

[0092] 1··Robot arm / 10, 20, 30, 40, 50, 60··Link / 12, 22, 32, 42, 52, 62··Torque sensor / 70··End effector / 80··Cable / 700, 701, 702, 703, 900, 901, 902, 903, 904, 905··Wire holder / 710··Opening / 711··Screw hole / 720··Slit / 730··Slit / 750··Contact part / 800··Band

Claims

1. In a holding mechanism that holds wires using a binding member, The retaining member comprises a first slit that restricts the position of the binding member, and a second slit that restricts the position of the binding member at a position different from the position restricted by the first slit, The first slit and the second slit are inclined such that the first distance between the first end of the retaining member in the first slit opposite to the edge of the retaining member and the second end of the retaining member in the second slit opposite to the edge of the retaining member is smaller than the diameter of the wire, and the second distance between the third end of the retaining member in the first slit on the edge side and the fourth end of the retaining member in the second slit on the edge side is larger than the first distance. A holding mechanism characterized by the following:

2. The binding member makes contact with at least half of the circumference of the wire, The holding mechanism according to feature 1.

3. The first slit and the second slit are arranged in a direction that intersects the longitudinal direction of the wire. The holding mechanism according to feature 1 or 2.

4. The first slit and the second slit are provided inclined with respect to the radial direction of the wire, which is parallel to the surface of the holding member when the holding member is viewed from above. The holding mechanism according to any one of claims 1 to 3.

5. The fastening member is fastened to the holding member on the side opposite to the wire. The holding mechanism according to any one of claims 1 to 4.

6. The fastening member is equipped with a ratchet-type fastening part. The holding mechanism according to any one of claims 1 to 5.

7. The wire is a flexible transmission member for transmitting control signals and / or drive energy to the robot's actuator. The holding mechanism according to any one of claims 1 to 6.

8. The binding member is wrapped around the wire in a ring shape. The holding mechanism according to any one of claims 1 to 7.

9. The retaining member is provided with screw holes for fixing the retaining member, The holding mechanism according to any one of claims 1 to 8.

10. In a robot system comprising a holding mechanism for holding wires using a binding member, and a robot, The aforementioned holding mechanism is The retaining member comprises a first slit that restricts the position of the binding member, and a second slit that restricts the position of the binding member at a position different from the position restricted by the first slit, The first slit and the second slit are inclined such that the first distance between the first end of the retaining member in the first slit opposite to the edge of the retaining member and the second end of the retaining member in the second slit opposite to the edge of the retaining member is smaller than the diameter of the wire, and the second distance between the third end of the retaining member in the first slit on the edge side and the fourth end of the retaining member in the second slit on the edge side is larger than the first distance. A robotic system characterized by the following features.

11. The holding member is detachably attached to the robot. The robot system according to claim 10.

12. The holding member is integrated with the structural components of the robot. The robot system according to claim 10.

13. The holding member is made of the structural components and core of the robot, and its relative position to the structural components can be changed. The robot system according to claim 10.

14. The robot comprises multiple joints and multiple links, and the wire is held at multiple locations on the robot using multiple holding members. At least two of the aforementioned locations, the thickness of the wire material is different. The first slit and / or the second slit are changed according to the thickness of the wire. The robot system according to any one of claims 10 to 13, characterized in that it is the robot system according to any one of claims 10 to 13.

15. The robot is equipped with a torque sensor, and the wire includes a signal line for the torque sensor to communicate with the control unit. The robot system according to any one of claims 10 to 14.

16. A control method for controlling a robot system comprising a holding mechanism for holding wires using a binding member, and a robot, The aforementioned holding mechanism is The retaining member comprises a first slit that restricts the position of the binding member, and a second slit that restricts the position of the binding member at a position different from the position restricted by the first slit, The first distance between the first end of the retaining member in the first slit opposite to the edge of the retaining member and the second end of the retaining member in the second slit opposite to the edge of the retaining member is smaller than the diameter of the wire, and the first and second slits are inclined such that the second distance between the third end of the retaining member in the first slit on the edge side and the fourth end of the retaining member in the second slit on the edge side is larger than the first distance. The control unit transmits control signals for controlling the robot's movement to the robot's drive unit via the wire. A control method characterized by the following:

17. A robot system according to any one of claims 10 to 15 is used to manufacture an article. A method for manufacturing an article, characterized by the following:

18. A control program for causing a computer to execute the control method described in claim 16.

19. A computer-readable recording medium that stores the control program described in claim 18.

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