JP7215081B2 - Robot and robot manufacturing method - Google Patents

Description

The present invention relates to a robot and a method for manufacturing a robot.

For example, the transport robot described in Patent Document 1 includes a housing, a first arm rotatably connected to the housing, a second arm rotatably connected to the first arm, It has a third arm rotatably connected to the second arm and a fourth arm rotatably connected to the third arm. A control device for outputting an optical signal is arranged in the housing, and a signal converter connected to an optical fiber and converting between an optical signal and an electric signal is arranged in each arm. In addition, each arm is provided with a driving motor, and the driving of the motor is controlled by an electric signal converted by a signal converter. In this way, by replacing electrical wiring with optical fiber, which is optical wiring, the number of wirings can be reduced, and the size of the robot can be reduced.

JP-A-2007-38360

However, if a connector is used to connect the signal converter and the optical fiber, a space for arranging the connector must be secured within the robot, making it difficult to reduce the size of the robot. On the other hand, there is a method of connecting the signal converter and the optical fiber without using a connector, but it is difficult to connect the signal converter and the optical fiber by this method at the site where the robot is assembled.

The robot of the present invention comprises a robot body,
a first optical transceiver and a second optical transceiver that are arranged inside the robot body and have a light emitting element that outputs an optical signal and a light receiving element that receives the optical signal and outputs an electrical signal;
an optical transmission line that transmits an optical signal between the first optical transceiver and the second optical transceiver;
a connector that connects the first optical transceiver and the optical transmission line;
The second optical transceiver and the optical transmission line are directly connected.

1 is a perspective view showing a robot according to a first embodiment of the invention; FIG. FIG. 4 is a schematic cross-sectional view showing the arrangement of transceivers included in the robot; FIG. 11 is a plan view showing a sixth arm included in the robot main body; FIG. 11 is a plan view showing a sixth arm included in the robot main body; 1 is a perspective view showing an optical transceiver; FIG. FIG. 6 is a cross-sectional view taken along the line AA in FIG. 5; FIG. 4 is a perspective view showing a connector provided on the robot; 3 is a cross-sectional view showing a structure in which an optical connector and an optical transmission line are directly connected; FIG. It is a flowchart which shows the manufacturing process of a robot. FIG. 10 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 9; FIG. 10 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 9; FIG. 10 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 9; 4 is a flow chart showing another manufacturing process of the robot; FIG. 14 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 13; FIG. 14 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 13; FIG. 14 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 13; FIG. 14 is a schematic cross-sectional view for explaining the manufacturing method shown in FIG. 13;

BEST MODE FOR CARRYING OUT THE INVENTION A robot and a method for manufacturing a robot according to the present invention will be described below in detail based on preferred embodiments shown in the accompanying drawings.

<First Embodiment>
FIG. 1 is a perspective view showing a robot according to a first embodiment of the invention. FIG. 2 is a schematic cross-sectional view showing the arrangement of transceivers provided in the robot. 3 and 4 are plan views showing the sixth arm of the robot main body, respectively. FIG. 5 is a perspective view showing an optical transceiver. FIG. 6 is a cross-sectional view taken along line AA in FIG. FIG. 7 is a perspective view showing a connector provided on the robot. FIG. 8 is a cross-sectional view showing a structure in which an optical connector and an optical transmission line are directly connected. FIG. 9 is a flow chart showing the manufacturing process of the robot. 10 to 12 are schematic cross-sectional views for explaining the manufacturing method shown in FIG. 9, respectively. FIG. 13 is a flow chart showing another manufacturing process of the robot. 14 to 17 are schematic cross-sectional views for explaining the manufacturing method shown in FIG. 13, respectively.

The robot 1 shown in FIG. 1 takes out a plurality of different types of parts C1, C2, and C3 from the parts storage section T1, creates a parts kit CK made up of a plurality of types of parts C1, C2, and C3, and prepares the parts kit CK. is supplied to the workbench T2.

The parts storage section T1 is a parts shelf having 12 storage spaces by being partitioned into four vertical stages and three horizontal rows, and a container T11 is stored in each storage space. Here, each container T11 has a tray shape or a box shape that is open upward. A plurality of parts C1 are stored in each container T11 in the left row of the parts storage part T1, a plurality of parts C2 are stored in each container T11 in the center row, and each container T11 in the right row contains a plurality of parts C3. Moreover, each container T11 is arrange|positioned so that it can draw out from the component storage part T1. Thereby, the parts C1, C2, and C3 can be easily taken out from each container T11.

The robot 1 also includes an automatic transport device 6, a robot main body 10 mounted on the automatic transport device 6, an environment recognition sensor 7 arranged on the automatic transport device 6, and an object recognition sensor 8 arranged on the robot main body 10. , a control device 9 that controls the operations of the automatic carrier device 6 and the robot main body 10 , and a placement section 61 arranged on the automatic carrier device 6 .

Based on the recognition result of the environment recognition sensor 7, the control device 9 can move the automatic transport device 6 so that the robot main body 10 is at a workable position with respect to the part storage section T1 or the workbench T2. Further, when the robot main body 10 is at a workable position with respect to the component storage section T1, the control device 9 creates a plurality of component kits CK on the placement section 61 based on the recognition result of the object recognition sensor 8. It is possible to drive the robot body 10 immediately. Further, when the robot main body 10 is in a workable position on the workbench T2, the control device 9 loads a plurality of component kits CK from the placement section 61 to the workbench T2 based on the recognition result of the object recognition sensor 8. It is possible to drive the robot main body 10 so as to replace it.

In this manner, the robot 1 can create a plurality of component kits CK on the placement section 61 and then place them on the workbench T2. As a result, the number of times the automatic transport device 6 reciprocates between the component storage section T1 and the workbench T2 can be reduced, and work efficiency can be improved. In this embodiment, a plurality of trays TR are placed on the placement section 61 before the component kit CK is created, and the component kit CK is created on the tray TR. Then, the parts kit CK together with the tray TR is transferred from the placing portion 61 to the workbench T2. Thereby, simplification of the replacement work can be achieved.

The robot body 10 is a so-called single-arm 6-axis vertical articulated robot, and has a base 11 as a base and a robot arm 12 displaceable with respect to the base 11 . The robot arm 12 also has a first arm 121 , a second arm 122 , a third arm 123 , a fourth arm 124 , a fifth arm 125 and a sixth arm 126 .

The base 11 is fixed to the automatic carrier device 6 . The first arm 121 is rotatably connected to the base 11 . The second arm 122 is rotatably connected to the first arm 121 . Also, the third arm 123 is rotatably connected to the second arm 122 . Also, the fourth arm 124 is rotatably connected to the third arm 123 . Also, the fifth arm 125 is rotatably connected to the fourth arm 124 . Also, the sixth arm 126 is rotatably connected to the fifth arm 125 .

A hand 15 is attached to a sixth arm 126 positioned at the tip of the robot arm 12 via a force detection sensor 16 . The force detection sensor 16 is, for example, a 6-axis force sensor capable of detecting 6-axis components of external force applied to the force detection sensor 16 . Here, the 6-axis components are the translational force components in the respective directions of the three mutually orthogonal axes and the rotational force components around the respective three axes. Moreover, the hand 15 has two fingers capable of gripping the components C1, C2, and C3, which are the work targets of the robot 1, respectively. For example, depending on the types of the components C1, C2, and C3, instead of the hand 15, an end effector that holds the components C1, C2, and C3 by suction or the like may be used.

Further, the robot body 10 includes a driving device 131 that rotates the first arm 121 with respect to the base 11, a driving device 132 that rotates the second arm 122 with respect to the first arm 121, and the second arm 122. A driving device 133 for rotating the third arm 123 with respect to, a driving device 134 for rotating the fourth arm 124 with respect to the third arm 123, and a driving device 134 for rotating the fifth arm 125 with respect to the fourth arm 124 and a driving device 136 for rotating the sixth arm 126 with respect to the fifth arm 125 . Each drive device 131-136 has, for example, a motor that serves as a drive source for the first to sixth arms 121-126, a controller that controls the drive of the motor, a speed reducer, an encoder, and the like.

Moreover, the environment recognition sensor 7 is provided in the front part and rear part of the automatic transport apparatus 6, respectively. An environment recognition sensor 7 provided in the front detects an object in front and outputs the information. Also, the environment recognition sensor 7 provided in the rear part detects an object in the rear side and outputs the information.

Also, the object recognition sensor 8 is provided at the tip of the robot arm 12 of the robot main body 10 . In the illustrated configuration, the object recognition sensor 8 is attached to a sixth arm 126 that is the most distal end of the arms of the robot arm 12 . The object recognition sensor 8 has a camera 81 and can output image data captured by the camera 81 . The installation position of the object recognition sensor 8 is not limited to the sixth arm 126, and may be other arms 121 to 125, for example. Also, the number of installed object recognition sensors 8 may be two or more.

2, the robot 1 includes a first optical transceiver 21 arranged inside the base 11, a second optical transceiver 22 arranged inside the first arm 121, and a second arm 122. a third optical transceiver 23 arranged inside the third arm 123; a fourth optical transceiver 24 arranged inside the third arm 123; a fifth optical transceiver 25 arranged inside the fourth arm 124; 125 and a seventh optical transceiver 27 arranged inside the sixth arm 126 . Here, "the inside of the base 11" means the inside of the housing that forms the base 11, that is, the interior space provided within the housing. The same applies to "inside the arm". Also, the first to sixth optical transceivers 21 to 26 correspond to "one optical transceiver" in this embodiment, and the seventh optical transceiver 27 corresponds to "the other optical transceiver" in this embodiment. Note that the combination of "one optical transceiver" and "the other optical transceiver" is not limited to this.

Also, the first optical transceiver 21 is electrically connected to the control device 9 . To be electrically connected means to be connected by electrical wiring that transmits an electrical signal. Also, the second optical transceiver 22 is electrically connected to the driving device 132 inside the first arm 121 . As a result, for example, a motor control signal can be transmitted from the control device 9 to the drive device 132, and conversely, the detection result of the encoder or the like can be transmitted from the drive device 132 to the control device 9. Smooth communication between them is possible.

Similarly, the third optical transceiver 23 is electrically connected with the driving device 133 in the second arm 122, the fourth optical transceiver 24 is electrically connected with the driving device 134 in the third arm 123, and the The fifth optical transceiver 25 is electrically connected with the driver 135 in the fourth arm 124 , and the sixth optical transceiver 26 is electrically connected with the driver 136 in the fifth arm 125 . As a result, for example, it is possible to transmit motor control signals from the control device 9 to the drive devices 133 to 136, and conversely, to transmit encoder detection results and the like from the drive devices 133 to 136 to the control device 9. Therefore, smooth communication is possible between them.

Also, as an example, as shown in FIG. 3, the seventh optical transceiver 27 is electrically connected to the hand 15 that the sixth arm 126 has. The hand 15 has a base 151, a pair of fingers 152 and 153 displaceable with respect to the base 151, and a driving device 154 for opening and closing the pair of fingers 152 and 153. The fingers 152 and 153 are By opening and closing, an object can be gripped and the gripped object can be released. The driving device 154 can have, for example, the same configuration as the driving devices 131 to 136 described above.

The seventh optical transceiver 27 is electrically connected to the driving device 154 via the electrical wiring 155 . Therefore, for example, a motor control signal can be transmitted from the control device 9 to the drive device 154 , and conversely, the encoder detection result or the like can be transmitted from the drive device 154 to the control device 9 . This enables smooth communication between the control device 9 and the hand 15, that is, higher speed and larger capacity communication. Further, by using optical communication, it is possible to transmit and receive more accurate signals because it is less likely to be affected by noise.

As another example, as shown in FIG. 4, the seventh optical transceiver 27 is electrically connected to the camera 81 provided on the sixth arm 126 via electrical wiring 155 . Therefore, for example, control signals can be transmitted from the control device 9 to the camera 81 , and imaging data can be transmitted from the camera 81 to the control device 9 , for example. This enables communication between the control device 9 and the camera 81 at a higher speed and with a larger capacity. Further, by using optical communication, it is possible to transmit and receive more accurate signals because it is less likely to be affected by noise. In particular, in recent years, the amount of image data tends to increase in order to acquire high-resolution images, and according to such optical communication, delays in data transmission can be effectively suppressed.

Each of the first to seventh optical transceivers 21 to 27 has a function of transmitting and receiving the optical signal LS. The configuration of the first to seventh optical transceivers 21 to 27 is not particularly limited as long as it can transmit and receive the optical signal LS. For example, as shown in FIG. 53 can be installed. Further, as shown in FIG. 6, the photoelectric conversion unit 52 includes, for example, a light receiving element 521 that receives and photoelectrically converts an optical signal LS, and a light emitting element 522 that converts an input electrical signal into an optical signal LS and emits the optical signal LS. , an amplifier circuit 523 that impedance-converts and amplifies the current signal output from the light receiving element 521 and outputs it as a voltage signal to the light emitting element 522, and a package 524 that hermetically accommodates them. The package 524 has a transparent lid 525 through which the optical signal LS can be transmitted and received. In addition, the circuit element 53 can perform, for example, electrical signal processing and control for the light emitting element 522, and includes an LDD circuit that switches the current to the light emitting element 522, a level conversion circuit that converts the signal level, and the like. is

Further, as shown in FIG. 2, the robot 1 connects a first optical transceiver 21 and a second optical transceiver 22, a first optical transmission line 31 for transmitting an optical signal LS between them, and a second optical A second optical transmission line 32 that connects the transceiver 22 and the third optical transceiver 23 and transmits an optical signal LS between them, and a third optical transceiver 23 and a fourth optical transceiver 24 are connected to each other. a third optical transmission line 33 for transmitting the optical signal LS, a fourth optical transmission line 34 for connecting the fourth optical transceiver 24 and the fifth optical transceiver 25 and transmitting the optical signal LS therebetween; The fifth optical transceiver 25 and the sixth optical transceiver 26 are connected, the fifth optical transmission line 35 for transmitting the optical signal LS therebetween, the sixth optical transceiver 26 and the seventh optical transceiver 27 are connected, and these and a sixth optical transmission line 36 for transmitting an optical signal LS between. In other words, the robot 1 has an optical transmission path connecting the first optical transceiver 21 and the seventh optical transceiver 27, and the second to sixth optical transceivers 22 to 26 are connected along the path.

Also, the first optical transmission line 31 connects the first optical transceiver 21 and the second optical transceiver 22 through the inside of the first joint 141 that connects the base 11 and the first arm 121 . The second optical transmission line 32 connects the second optical transceiver 22 and the third optical transceiver 23 through a second joint 142 that connects the first arm 121 and the second arm 122 . The third optical transmission line 33 connects the third optical transceiver 23 and the fourth optical transceiver 24 through a third joint 143 that connects the second arm 122 and the third arm 123 . The fourth optical transmission line 34 connects the fourth optical transceiver 24 and the fifth optical transceiver 25 through a fourth joint 144 that connects the third arm 123 and the fourth arm 124 . The fifth optical transmission line 35 connects the fifth optical transceiver 25 and the sixth optical transceiver 26 through a fifth joint 145 that connects the fourth arm 124 and the fifth arm 125 . The sixth optical transmission line 36 connects the sixth optical transceiver 26 and the seventh optical transceiver 27 through a sixth joint 146 that connects the fifth arm 125 and the sixth arm 126 . According to such a configuration, only one optical transmission path needs to pass through each of the first to sixth joints 141 to 146, so that the size of each of the first to sixth joints 141 to 146 can be reduced. Accordingly, the size of the robot main body 10 can be reduced.

However, the present invention is not limited to this, and for example, at least one of the first to sixth optical transmission paths 31-36 may pass outside the corresponding first to sixth joints 141-146.

The first to sixth optical transmission lines 31 to 36 are not particularly limited as long as they can transmit the optical signal LS, but in this embodiment, polymer optical waveguides (organic optical waveguides) made of polymer are used. . This product has a core/shell structure of two kinds of polymer materials having different refractive indices. As a result, the first to sixth optical transmission lines 31 to 36 can be formed relatively easily, and light can be efficiently propagated. Moreover, since the polymer optical waveguide is highly flexible, it is suitable for the robot arm 12 as in the present embodiment, which is installed so as to straddle between the rotating arms. A polymer optical waveguide means an optical waveguide formed using a polymer material, and is sometimes called a polymer optical waveguide or a plastic optical waveguide. They are distinct. However, as the first to sixth optical transmission lines 31 to 36, inorganic optical waveguides, that is, optical waveguides other than polymer waveguides may be used. In addition, polymer optical waveguides and inorganic optical waveguides may be mixed in the first to sixth optical transmission lines 31 to 36 .

Further, as shown in FIG. 2, the robot 1 includes a first connector 41 connecting the first optical transmission line 31 and the first optical transceiver 21, the first and second optical transmission lines 31 and 32 and the second optical A second connector 42 for connecting the transceiver 22, a third connector 43 for connecting the second and third optical transmission lines 32 and 33 to the third optical transceiver 23, and the third and fourth optical transmission lines 33 and 34. and the fourth optical transceiver 24; a fifth connector 45 connecting the fourth and fifth optical transmission lines 34 and 35 to the fifth optical transceiver 25; a sixth connector 46 connecting the paths 35, 36 and the sixth optical transceiver 26;

As shown in FIG. 7, the first connector 41 includes a first connector piece 411 mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the first optical transceiver 21 via the optical transmission line 59; and a second connector piece 412 connected to the base end of the first optical transmission line 31, and by connecting the first connector piece 411 and the second connector piece 412, the first optical transmission line 31 and the It can be optically connected to the first optical transceiver 21 .

The second connector 42 is mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the second optical transceiver 22 via the optical transmission line 59 in the same manner as the first connector 41 described above. It has a connector piece 421 and a second connector piece 422 connected to the distal end of the first optical transmission line 31 and the proximal end of the second optical transmission line 32, wherein the first connector piece 421 and the second connector piece 422, the first and second optical transmission lines 31, 32 and the second optical transceiver 22 can be optically connected.

Further, the third connector 43 is mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the third optical transceiver 23 via the optical transmission line 59 in the same manner as the first connector 41 described above. It has a connector piece 431 and a second connector piece 432 connected to the distal end of the second optical transmission line 32 and the proximal end of the third optical transmission line 33, wherein the first connector piece 431 and the second connector piece 432, the second and third optical transmission lines 32, 33 and the third optical transceiver 23 can be optically connected.

Further, the fourth connector 44 is mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the fourth optical transceiver 24 via the optical transmission line 59 in the same manner as the first connector 41 described above. It has a connector piece 441 and a second connector piece 442 connected to the distal end of the third optical transmission line 33 and the proximal end of the fourth optical transmission line 34, wherein the first connector piece 441 and the second connector piece 442, the third and fourth optical transmission lines 33, 34 and the fourth optical transceiver 24 can be optically connected.

The fifth connector 45 is mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the fifth optical transceiver 25 via the optical transmission line 59 in the same manner as the first connector 41 described above. It has a connector piece 451 and a second connector piece 452 connected to the distal end of the fourth optical transmission line 34 and the proximal end of the fifth optical transmission line 35, wherein the first connector piece 451 and the second connector piece 452, the fourth and fifth optical transmission lines 34, 35 and the fifth optical transceiver 25 can be optically connected.

Further, the sixth connector 46 is mounted on the substrate 51 and optically connected to the photoelectric conversion section 52 of the sixth optical transceiver 26 via the optical transmission line 59 in the same manner as the first connector 41 described above. It has a connector piece 461 and a second connector piece 462 connected to the distal end of the fifth optical transmission line 35 and the proximal end of the sixth optical transmission line 36, wherein the first connector piece 461 and the second connector piece 462, the fifth and sixth optical transmission lines 35, 36 and the sixth optical transceiver 26 can be optically connected.

These first to sixth connectors 41 to 46 are not particularly limited, and SC connectors, SCF connectors, FC connectors, ST connectors, LC connectors, MU connectors, etc. can be used, for example. By using these standard connectors, the first to sixth optical transceivers 21 to 26 and the first to sixth optical transmission lines 31 to 36 can be connected via the first to sixth connectors 41 to 46. It can be done more reliably and more easily.

Unlike the first to sixth optical transceivers 21 to 26, only the seventh optical transceiver 27 is directly connected to the sixth optical transmission line 36 without a connector. "Directly connected" means that the seventh optical transceiver 27 and the sixth optical transmission line 36 are connected without interposing detachable connecting parts such as the first to sixth connectors 41 to 46. means that there is In other words, it means that the light receiving element 521 and the light emitting element 522 of the seventh optical transceiver 27 and the sixth optical transmission line 36 are directly aligned.

By directly connecting the seventh optical transceiver 27 and the sixth optical transmission line 36, there is no need to secure a space for arranging a connector in the sixth arm 126, so the sixth arm 126 can be made smaller and lighter. can be improved. Therefore, the size and weight of the robot body 10 can be reduced. In particular, the sixth arm 126 positioned at the forefront is formed small for purposes such as weight reduction and workability in a narrow area, and its inner space is originally small. Therefore, the connectorless seventh optical transceiver 27 is suitable for being placed inside the sixth arm 126 .

In this embodiment, as shown in FIG. 8, the sixth optical transmission line 36 is fixed to the package 524 of the seventh optical transceiver 27 by a fixing member (not shown), and its tip end surface receives light through the lid 525. It faces the element 521 and the light emitting element 522 . That is, the light receiving element 521 and the light emitting element 522 of the seventh optical transceiver 27 and the sixth optical transmission line 36 are directly aligned. Thereby, the sixth optical transmission line 36 and the seventh optical transceiver 27 can be directly connected. However, the method of directly connecting the sixth optical transmission line 36 and the seventh optical transceiver 27 is not particularly limited.

Next, a method for manufacturing the robot 1 described above will be described. For example, as shown in FIG. 9, the manufacturing method of the robot 1 includes a preparation step of preparing first to seventh optical transceivers 21 to 27 and a robot main body 10, and first to seventh optical transceivers inside the robot main body 10. and a connecting step of connecting the first to seventh optical transceivers 21 to 27 to the first to sixth optical transmission lines 31 to .

≪Preparation process≫
First to sixth optical transceivers 21 to 26 provided with first connector pieces 411 to 461 are prepared. Also, a sixth optical transmission line 36 for transmitting the optical signal LS, a seventh optical transceiver 27 directly connected to the distal end of the sixth optical transmission line 36, and connected to the proximal end of the sixth optical transmission line 36. An optical transmission device 20 having a second connector piece 462 is prepared. Also, the robot body 10 is prepared. At this time, the first to fifth optical transmission lines 31 to 35 and the second connector pieces 412 to 452 are already connected to the second connector piece 462, respectively.

≪Placement process≫
As shown in FIG. 10, the first optical transceiver 21 is arranged inside the base 11, the second optical transceiver 22 is arranged inside the first arm 121, and the third optical transceiver 23 is arranged inside the second arm 122. , a fourth optical transceiver 24 is arranged inside the third arm 123 , a fifth optical transceiver 25 is arranged inside the fourth arm 124 , and a sixth optical transceiver 26 is arranged inside the fifth arm 125 Then, the optical transmission device 20 is arranged inside the sixth arm 126 .

≪Connection process≫
As shown in FIG. 11, the second connector piece 462 is moved through the sixth joint 146 and into the fifth arm 125 to connect with the first connector piece 461 . Similarly, as shown in FIG. 12, the second connector piece 452 is moved through the fifth joint 145 into the fourth arm 124 and connected to the first connector piece 451, and the second connector piece 442 is connected to the fourth joint. 144 into the third arm 123 to connect with the first connector piece 441 , and the second connector piece 432 moves through the third joint 143 into the second arm 122 to connect with the first connector piece 431 . , the second connector piece 422 is moved into the first arm 121 through the second joint 142 to connect with the first connector piece 421, and the second connector piece 412 is moved into the base 11 through the first joint 141. , is connected with the first connector piece 411 .

As described above, the robot 1 is obtained. According to this manufacturing method, since the seventh optical transceiver 27 and the sixth optical transmission line 36 are directly connected without a connector, a space for arranging the connector is secured in the sixth arm 126. Therefore, the size of the sixth arm 126 can be reduced. Therefore, the size of the robot 1 can be reduced. In particular, the sixth arm 126 positioned at the forefront is formed small for purposes such as weight reduction, and its internal space is originally small. Therefore, the connectorless seventh optical transceiver 27 can be placed in a small space, and is suitable for placement inside the sixth arm 126 .

Further, by connecting the seventh optical transceiver 27 and the sixth optical transmission line 36 before placing them in the robot main body 10, the seventh optical transceiver 27 and the sixth optical transmission line 36 can be connected with high accuracy. Alignment becomes possible, and accurate optical communication becomes possible. The first to sixth optical transceivers 21 to 26 other than the seventh optical transceiver 27 are connected to the first to sixth optical transmission lines 31 to 36 via the first to sixth connectors 41 to 46. , the first to sixth optical transceivers 21 to 26 and the first to sixth optical transmission lines 31 to 36 can be easily and reliably connected even at the assembly site of the robot 1 . As described above, according to the manufacturing method described above, the robot 1 that can achieve both miniaturization and ease of assembly can be obtained.

Further, as another manufacturing method of the robot 1, as shown in FIG. an arrangement step of arranging the optical transceivers 21 to 27; a second connection step of connecting the second connector piece 452 to the base end of the fifth optical transmission line 35 to connect the first connector piece 451 and the second connector piece 452; a third connection step of connecting the first connector piece 441 and the second connector piece 442 to the base end of the fourth optical transmission line 34; a fourth connecting step of connecting the first connector piece 431 and the second connector piece 432 to each other, connecting the second connector piece 422 to the base end portion of the second optical transmission line 32, and a fifth connecting step of connecting the second connector piece 421 and the second connector piece 422; and a sixth connecting step of connecting.

≪Preparation process≫
First to sixth optical transceivers 21 to 26 provided with first connector pieces 411 to 461 are prepared. Also, an optical transmission device 20 having a sixth optical transmission line 36 for transmitting an optical signal LS and a seventh optical transceiver 27 directly connected to the tip of the sixth optical transmission line 36 is prepared. Also, the robot body 10 is prepared.

≪Placement process≫
As shown in FIG. 14, the first optical transceiver 21 is arranged inside the base 11, the second optical transceiver 22 is arranged inside the first arm 121, and the third optical transceiver 23 is arranged inside the second arm 122. , a fourth optical transceiver 24 is arranged inside the third arm 123 , a fifth optical transceiver 25 is arranged inside the fourth arm 124 , and a sixth optical transceiver 26 is arranged inside the fifth arm 125 Then, the optical transmission device 20 is arranged inside the sixth arm 126 .

≪First connection process≫
As shown in FIG. 15, the proximal end of the sixth optical transmission line 36 is moved into the fifth arm 125 through the sixth joint 146, and the proximal end of the sixth optical transmission line 36 and the fifth optical transmission line 35 are separated. A second connector piece 462 is connected to the tip. Next, as shown in FIG. 16, the first connector piece 461 and the second connector piece 462 are connected. Thereby, the sixth optical transceiver 26 and the seventh optical transceiver 27 are connected via the sixth optical transmission line 36 .

≪Second connection process≫
As in the first connection step described above, the proximal end of the fifth optical transmission line 35 is moved into the fourth arm 124 through the fifth joint 145, and the proximal end of the fifth optical transmission line 35 and the fourth optical transmission are connected. A second connector piece 452 is connected to the distal end of channel 34 . Next, the first connector piece 451 and the second connector piece 452 are connected. Thereby, the fifth optical transceiver 25 and the sixth optical transceiver 26 are connected via the fifth optical transmission line 35 .

≪Third connection process≫
As in the first connecting step described above, the proximal end of the fourth optical transmission line 34 is moved into the third arm 123 through the fourth joint 144, and the proximal end of the fourth optical transmission line 34 and the third optical transmission are connected. A second connector piece 442 is connected to the tip of the channel 33 . Next, the first connector piece 441 and the second connector piece 442 are connected. Thereby, the fourth optical transceiver 24 and the fifth optical transceiver 25 are connected via the fourth optical transmission line 34 .

<<Fourth connection process>>
As in the first connecting step described above, the proximal end of the third optical transmission line 33 is moved into the second arm 122 through the third joint 143, and the proximal end of the third optical transmission line 33 and the second optical transmission are connected. A second connector piece 432 is connected to the distal end of channel 32 . Next, the first connector piece 431 and the second connector piece 432 are connected. Thereby, the third optical transceiver 23 and the fourth optical transceiver 24 are connected via the third optical transmission line 33 .

≪Fifth connection process≫
As in the first connecting step described above, the proximal end of the second optical transmission line 32 is moved into the first arm 121 through the second joint 142, and the proximal end of the second optical transmission line 32 and the first optical transmission are connected. A second connector piece 422 is connected to the tip of the channel 31 . Next, the first connector piece 421 and the second connector piece 422 are connected. Thereby, the second optical transceiver 22 and the third optical transceiver 23 are connected via the second optical transmission line 32 .

≪Sixth connection process≫
As shown in FIG. 17, similarly to the first connecting step described above, the proximal end of the first optical transmission line 31 is moved into the base 11 through the first joint 141, and the proximal end of the first optical transmission line 31 is connected. A second connector piece 412 is connected to the part. Next, the first connector piece 411 and the second connector piece 412 are connected. Thereby, the first optical transceiver 21 and the second optical transceiver 22 are connected via the first optical transmission line 31 .

As described above, the robot 1 is obtained. According to this manufacturing method, since the seventh optical transceiver 27 and the sixth optical transmission line 36 are directly connected without a connector, a space for arranging the connector is secured in the sixth arm 126. Therefore, the size of the sixth arm 126 can be reduced. Therefore, the size of the robot 1 can be reduced. In particular, the sixth arm 126 positioned at the forefront is formed small for purposes such as weight reduction, and its internal space is originally small. Therefore, the connectorless seventh optical transceiver 27 can be placed in a small space, and is suitable for placement inside the sixth arm 126 . Further, according to such a manufacturing method, after passing the first to sixth optical transmission lines 31 to 36 through the first to sixth joints 141 to 146, the first to sixth optical transmission lines 31 to 36 are connected. Since the second connector pieces 412-462 are connected, there is no need to pass the second connector pieces 412-462 through the first to sixth joints 141-146. Therefore, the size of the first to sixth joints 141 to 146 can be reduced, and accordingly the size of the robot 1 can be reduced.

Further, by connecting the seventh optical transceiver 27 and the sixth optical transmission line 36 before placing them in the robot main body 10, the seventh optical transceiver 27 and the sixth optical transmission line 36 can be connected with high accuracy. Alignment becomes possible, and accurate optical communication becomes possible. On the other hand, the connection of the second connector pieces 412 to 462 to the first to sixth optical transmission lines 31 to 36 can be easily performed even at the robot 1 assembly site. Therefore, the first to sixth optical transceivers 21 to 26 and the first to sixth optical transmission lines 31 to 36 can be easily and reliably connected. As described above, according to the manufacturing method described above, the robot 1 that can achieve both miniaturization and ease of assembly can be obtained.

The robot 1 and its manufacturing method have been described above. As described above, the robot 1 includes the robot main body 10, the light emitting element 522 arranged inside the robot main body 10 for outputting the optical signal LS, and the light receiving element 522 for receiving the optical signal LS and outputting an electric signal. The optical signal LS is transmitted between the first to seventh optical transceivers 21 to 27 as the first optical transceiver and the second optical transceiver having the element 521 and the first to seventh optical transceivers 21 to 27 The first to sixth optical transmission lines 31 to 36 as optical transmission lines are connected to the first to sixth optical transceivers 21 to 26 as the first optical transceivers and the first to sixth optical transmission lines 31 to 36. It has first to sixth connectors 41 to 46 as connectors for connecting. The seventh optical transceiver 27, which is the second optical transceiver, and the sixth optical transmission line 36 are directly connected. By directly connecting the seventh optical transceiver 27 and the sixth optical transmission line 36 in this manner, there is no need to secure a space for arranging a connector within the sixth arm 126. Miniaturization and weight reduction can be achieved. Therefore, the size and weight of the robot 1 can be reduced. In particular, the sixth arm 126 positioned at the forefront is formed small for purposes such as weight reduction and workability in a narrow area, and its inner space is originally small. Therefore, the connectorless seventh optical transceiver 27 is suitable for being placed inside the sixth arm 126 . Also, since the sixth optical transmission line 36 and the sixth optical transceiver 26 can be connected via the sixth connector 46, these connections can be reliably and easily made even at the assembly site of the robot 1. . Therefore, assembly of the robot 1 is facilitated. That is, according to the robot 1, it is possible to achieve both miniaturization and ease of assembly.

Further, as described above, the robot main body 10 has the base 11 as a base and the robot arm 12 displaceable with respect to the base 11 . A first optical transceiver 21 is arranged inside the base 11 , and a seventh optical transceiver 27 is arranged inside the robot arm 12 . This eliminates the need to secure a space for arranging the connector inside the robot arm 12 . Therefore, the size and weight of the robot arm 12 can be reduced, and the robot 1 has excellent driving characteristics.

In addition, as described above, the robot arm 12 includes the sixth arm 126 as the distal arm, and the sixth arm 126 positioned closer to the base 11 than the sixth arm 126 and the sixth arm 126 and the second to sixth joints 142 to 142 . It has first to fifth arms 121 to 125 as proximal arms connected via 146 . Second to sixth optical transceivers 22 to 26 are arranged inside the first to fifth arms 121 to 125 , and a seventh optical transceiver 27 is arranged inside the sixth arm 126 . As a result, the size and weight of the sixth arm 126 can be reduced, and accordingly, the size and weight of the other first to fifth arms 121 to 125 can also be reduced. Therefore, the size and weight of the robot body 10 can be reduced. In particular, the sixth arm 126 positioned at the foremost side is formed small for purposes such as weight reduction and workability in a narrow area, and its inner space is originally small. Therefore, the connectorless seventh optical transceiver 27 is suitable for being placed inside the sixth arm 126 .

Also, as described above, the sixth arm 126 has the hand 15 and the electrical wiring 155 connecting the seventh optical transceiver 27 and the hand 15 . This enables optical communication with the hand 15 .

The sixth arm 126 also has the camera 81 and the electrical wiring 155 connecting the seventh optical transceiver 27 and the camera 81, as described above. This enables optical communication with the camera 81 .

Also, as described above, the first to sixth optical transmission lines 31 to 36 are polymer waveguides. This simplifies the configuration of the first to sixth optical transmission lines 31-36. Moreover, since the polymer waveguide is highly flexible, it is suitable for installation on the deformable robot arm 12 .

Further, as described above, the manufacturing method of the robot 1 includes the sixth optical transceiver 26 having the first connector piece 461, the sixth optical transmission line 36 for transmitting the optical signal LS, and one end portion of the sixth optical transmission line 36. an optical transmission device 20 having a seventh optical transceiver 27 directly connected to and a second connector piece 462 connected to the other end of the sixth optical transmission line; and a step of connecting the first connector piece 461 and the second connector piece 462 after this step.

According to this manufacturing method, since the seventh optical transceiver 27 and the sixth optical transmission line 36 are directly connected without a connector, a space for arranging the connector is secured in the sixth arm 126. Therefore, the size of the sixth arm 126 can be reduced. Therefore, the size of the robot 1 can be reduced. Further, by connecting the seventh optical transceiver 27 and the sixth optical transmission line 36 before placing them in the robot main body 10, the seventh optical transceiver 27 and the sixth optical transmission line 36 can be connected with high accuracy. Alignment becomes possible. Further, by connecting the sixth optical transceiver 26 to the sixth optical transmission line 36 via the sixth connector 46, the robot 1 can be easily and reliably connected to the sixth optical transceiver 26 even at the assembly site of the robot 1. A sixth optical transmission line 36 can be connected. As described above, according to the manufacturing method described above, the robot 1 that can achieve both miniaturization and ease of assembly can be obtained.

In addition, as described above, another manufacturing method of the robot 1 includes the sixth optical transceiver 26 having the first connector piece 461, the sixth optical transmission line 36 for transmitting the optical signal LS, and the sixth optical transmission line 36. providing an optical transmission device 20 having a seventh optical transceiver 27 directly connected to one end and a second connector piece 462; and placing the optical transmission device 20 inside the robot body 10; , after this step, connecting the second connector piece 462 to the other end of the sixth optical transmission line 36; and after this step, connecting the first connector piece 461 and the second connector piece 462. , contains

Also by such a manufacturing method, the robot 1 that can achieve both miniaturization and ease of assembly can be obtained. In particular, according to such a manufacturing method, since the second connector piece 462 is connected to the sixth optical transmission line 36 after passing the sixth optical transmission line 36 through the sixth joint 146, the second connector piece 462 is not required to pass through the sixth joint 146 . Therefore, the size of the sixth joint 146 can be reduced, and accordingly the size of the robot 1 can be further reduced.

Although the robot and robot manufacturing method of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to this, and the configuration of each part may be any configuration having similar functions. can be replaced with Also, other optional components may be added to the present invention. Further, each of the embodiments described above may be combined as appropriate.

In the above-described embodiment, the robot body 10 is a 6-axis robot. is not limited, and may be, for example, a dual-arm robot, a SCARA robot, or the like.

Further, as described above, in the present embodiment, the seventh optical transceiver 27 arranged inside the sixth arm 126 located at the forefront is directly connected to the sixth optical transmission line 36, and the other first to sixth optical transceivers 21 to 26 are connected via first to sixth connectors 41 to 46, but not limited thereto, at least one of first to sixth optical transmission lines 31 to 36 , one end of which is connected to one optical transceiver via a connector, and the other end is directly connected to the other optical transceiver.

Also, if two of the first to seventh optical transceivers 21 to 27 are provided, the other optical transceivers may be omitted. For example, the second to sixth optical transceivers 22 to 26 may be omitted, and the first optical transceiver 21 and the seventh optical transceiver 27 may be connected by an optical transmission line. In this case, the first optical transceiver 21 and the optical transmission line may be connected via a connector, and the seventh optical transceiver 27 and the optical transmission line may be directly connected. and the optical transmission line may be directly connected, and the seventh optical transceiver 27 and the optical transmission line may be connected via a connector. In other words, the optical transceiver directly connected to the optical transmission line is not limited to the optical transceiver located on the tip side of the robot body 10 .

Further, for example, six first optical transceivers 21 are arranged in the base 11, the first optical transceiver 21 and the second optical transceiver 22 are connected via the first optical transmission line 31, and two The first optical transceiver 21 and the third optical transceiver 23 are connected via a second optical transmission line 32, and the third first optical transceiver 21 and the fourth optical transceiver 24 are connected to the third optical transmission line. 33, the fourth first optical transceiver 21 and the fifth optical transceiver 25 are connected through the fourth optical transmission line 34, and the fifth first optical transceiver 21 and the sixth optical transceiver are connected. 26 may be connected via the fifth optical transmission line 35 , and the sixth first optical transceiver 21 and the seventh optical transceiver 27 may be connected via the sixth optical transmission line 36 . That is, the second to seventh optical transceivers 22 to 27 may be independently connected to the first optical transceiver 21, respectively. At this time, each first optical transceiver 21 and the first to sixth optical transmission lines 31 to 36 are connected via connectors, and the second to sixth optical transceivers 22 to 26 and the first to sixth optical transmission lines 31 are connected. 36, the size and weight of the entire robot arm 12 can be reduced.

DESCRIPTION OF SYMBOLS 1... Robot, 10... Robot main body, 11... Base, 12... Robot arm, 121... First arm, 122... Second arm, 123... Third arm, 124... Fourth arm, 125... Fifth arm, 126 6th arm 131 to 136 drive device 141 first joint 142 second joint 143 third joint 144 fourth joint 145 fifth joint 146 sixth joint 15 Hand 151 Base 152, 153 Finger 154 Driving device 155 Electric wiring 16 Force detection sensor 20 Optical transmission device 21 First optical transceiver 22 Second optical transceiver 23 3rd optical transceiver 24 4th optical transceiver 25 5th optical transceiver 26 6th optical transceiver 27 7th optical transceiver 31 first optical transmission line 32 second optical transmission line 33... Third optical transmission line, 34... Fourth optical transmission line, 35... Fifth optical transmission line, 36... Sixth optical transmission line, 41... First connector, 411... First connector piece, 412... Second connector Strip 42...Second connector strip 421...First connector strip 422...Second connector strip 43...Third connector strip 431...First connector strip 432...Second connector strip 44...Fourth connector 441... Second connector piece 442...Second connector piece 45...Fifth connector 451...First connector piece 452...Second connector piece 46...Sixth connector 461...First connector piece 462...Second connector Piece 51 Substrate 52 Photoelectric converter 521 Light receiving element 522 Light emitting element 523 Amplifier circuit 524 Package 525 Lid 53 Circuit element 59 Optical transmission line 6 Automatic Conveying device 61 Placement unit 7 Environment recognition sensor 8 Object recognition sensor 81 Camera 9 Control device C1, C2, C3 Parts CK Parts kit LS Optical signal T1 Parts storage part, T11... Container, T2... Workbench, TR... Tray

Claims (6)

the robot body and
a first optical transceiver and a second optical transceiver that are arranged inside the robot body and have a light emitting element that outputs an optical signal and a light receiving element that receives the optical signal and outputs an electrical signal;
an optical transmission line that transmits an optical signal between the first optical transceiver and the second optical transceiver;
a connector that connects the first optical transceiver and the optical transmission line;
the second optical transceiver and the optical transmission line are directly connected ,
The robot main body is
a base;
a robot arm displaceable relative to the base;
The robot arm is
a distal arm;
Located closer to the base than the distal arm and connected to the distal arm via a joint
a proximal arm having a
the first optical transceiver is disposed inside the proximal arm;
The robot , wherein the second optical transceiver is arranged inside the distal arm . The distal arm includes a hand,
and electrical wiring connecting said second optical transceiver and said hand.
Item 1. The robot according to item 1. The distal arm includes a camera,
and electrical wiring connecting said second optical transceiver and said camera.
Item 1. The robot according to item 1. 4. The robot according to any one of claims 1 to 3 , wherein the optical transmission line is a polymer waveguide. a base and a robot arm displaceable with respect to the base;
The arm includes a distal arm and a distal arm located closer to the base than the distal arm.
A method for manufacturing a robot having a proximal end side arm connected via a joint to the arm,
,
a first optical transceiver having a first connector piece;
An optical transmission line for transmitting an optical signal, a second optical transceiver directly connected to one end of the optical transmission line, and a second connector piece connected to the other end of the optical transmission line. providing an optical transmission device;
an arrangement step of arranging the first optical transceiver on the proximal arm and arranging the optical transmission device inside the distal arm ;
and a step of connecting the first connector piece and the second connector piece after the arranging step . a base and a robot arm displaceable with respect to the base;
The arm includes a distal arm and a distal arm located closer to the base than the distal arm.
A method for manufacturing a robot having a proximal end side arm connected via a joint to the arm,
,
a first optical transceiver having a first connector piece;
an optical transmission device having an optical transmission line for transmitting an optical signal and a second optical transceiver directly connected to one end of the optical transmission line;
providing a second connector piece;
an arrangement step of arranging the first optical transceiver on the proximal arm and arranging the optical transmission device inside the distal arm ;
a step of connecting a second connector piece to the other end of the optical transmission line after the arranging step ;
and a step of connecting the first connector piece and the second connector piece after the connecting step.

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