JP2023061648A - Robot system, robot system control method, article manufacturing method using robot system, shielding plate, control program and recording medium - Google Patents

Abstract

To suppress a wire rod provided in a robot from influencing a sensor that obtains force information.SOLUTION: A robot system comprises a robot main body having a rotating or oscillating link, a wire rod and a member, where the member is arranged between the link and the wire rod so that the member does not contact the link with the wire rod contacting the member.SELECTED DRAWING: Figure 7

Description

The present invention relates to robots.

In recent years, among robots with links, attention has been focused on robots that can perform control based on force information by arranging sensors for acquiring information on the forces applied to the links at joints of the robot. . In particular, by arranging a torque sensor that can acquire torque information as force information at the joint, control of the force generated at the joint of the robot and control of the load or force applied to the part by the end effector arranged at the tip of the robot made it easier to do.

Here, in a robot that uses a rotary drive source such as a motor as a drive source (actuator) for driving joints and end effectors, a wire (cable) is used as a transmission member for transmitting control signals and drive power to the motor and its drive circuit. Use a wire such as Also, when actuators that use hydraulic pressure or pneumatic pressure are used to drive joints or end effectors, wires such as pressure tubes made of flexible materials such as rubber are used to transmit drive signals (energy). It is sometimes used as a member.

Although it depends on the configuration and scale of the robot, the reaction force when the wires of various cables and pressure pipes as described above are deformed, and when the wires of various cables and pressure pipes come into contact with the robot when the robot is operated can measure hundreds of grams. Therefore, such a reaction force becomes a very large disturbance in the case of highly accurate force (or torque) control of a robot with an accuracy of several grams, and affects the control accuracy of the robot.

In the technique described in Patent Document 1, the position of the fastener that fixes the wire to the link is on the input side and the output side of the torque sensor, thereby reducing the influence of the deformation force of the wire on the strain-generating portion of the torque sensor. is decreasing.

JP 2015-123570 A

However, in Patent Literature 1, there is a possibility that the force information generated in the robot cannot be accurately estimated due to the following problems. For example, when the wire is deformed or swayed due to a change in the posture of the robot, if the wire touches a link near the torque sensor other than the fastener, force is generated at the contact part and the measured value of the torque sensor is affected. affect.

SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to reduce the influence of a wire provided in a robot on a sensor that acquires force information.

In order to solve the above-mentioned problems, the present invention includes a robot body having a link that rotates or swings, a wire, and a member, and the member is configured such that the wire is in contact with the member. The robot system is characterized in that it is arranged between the link and the wire so as not to come into contact with the link.

ADVANTAGE OF THE INVENTION According to this invention, the wire provided in the robot can reduce the influence of the sensor which acquires the force information.

1 is a schematic diagram of a robot system (robot device) 1000 in an embodiment; FIG. 2 is a control block diagram showing the control system of the robot system 1000 according to the embodiment; FIG. 1 is a schematic diagram of a conventional joint J2; FIG. It is a figure showing fasteners 800, 801, and 802 in an embodiment. It is a figure showing fasteners 800, 801, and 802 in an embodiment. It is a figure showing fasteners 800, 801, and 802 in an embodiment. It is a figure at the time of arrange|positioning the shielding board 700 to the joint J2 in embodiment. It is a figure at the time of arrange|positioning the shielding board 700 to the joint J2 in embodiment. It is a figure at the time of arrange|positioning the shielding board 700 to the joint J2 in embodiment. FIG. 7 is a diagram showing a fixing member 900 and a mounting portion 701 for fixing a shielding plate 700 in the embodiment; It is the figure which showed the shielding board 700 in embodiment. It is the figure which showed the shielding board 700 in embodiment. It is the figure which showed the shielding board 700 in embodiment. It is a figure at the time of arrange|positioning the shielding board 700 to the joint J2 in embodiment.

DETAILED DESCRIPTION OF THE INVENTION Embodiments for carrying out the present invention will now be described with reference to the embodiments shown in the accompanying drawings.

It should be noted that the embodiment shown below is merely an example, and, for example, details of the configuration can be changed as appropriate by those skilled in the art without departing from the scope of the present invention. Further, the numerical values taken up in the present embodiment are reference numerical values and do not limit the present invention. In the drawings below, arrows X, Y, and Z indicate the coordinate system of the entire robot system. In general, the XYZ three-dimensional coordinate system represents the world coordinate system of the entire installation environment. In addition, there are cases where the local coordinate system is appropriately used for robot hands, fingers, joints, etc., depending on convenience of control.

(First embodiment)
FIG. 1 is a schematic diagram of a robot system (robot device) 1000 in this embodiment. FIG. 1 shows a robot system 1000 of this embodiment, for example, from the side (XZ plane). FIG. 1(b) shows the robot arm body 200 of the robot system 1000, for example, from the rear (right side of the paper surface of FIG. 1(a)). For example, the posture of the robot arm body 200 shown in FIG. 1A is set as the initial posture.

As shown in FIG. 1(a), the robot system 1000 includes a robot arm main body 200, which is a robot main body, and an end effector main body 300, which is a robot main body. Further, a control device 400 and an external input device 500 for controlling the robot arm body 200 and the end effector body 300 are provided. An external input device 500 is connected to the controller 400 , and the controller 400 and the external input device 500 constitute a control system for the robot arm body 200 . The external input device 500 is, for example, a teaching device such as a teaching pendant, and is used by the operator to specify the positions of the robot arm body 200 and the end effector body 300 . In this embodiment, a robot hand is provided as an end effector at the tip of the robot arm body 200, but the end effector is not limited to this, and may be a tool or the like.

A robot arm main body 200 shown in FIG. 1 is a robot arm having a configuration in which a plurality of links are interconnected via a plurality of joints (six axes), for example, in a serial link format. An end effector body 300 is connected to the link 206 at the tip of the robot arm body 200 . The links 201, 202, 203, 204, 205, and 206 of the robot arm body 200 are connected, for example, through joints J1, J2, J3, J4, J5, and J6 in this embodiment, as follows. ing.

Each of the joints J1 to J6 has a plurality (six) of arm motors 211 to 216, a speed reducer, and a transmission mechanism as drive sources for rotationally driving each joint about each rotation axis. The arm motors 211-216 are provided with encoders 221-226 (FIG. 2) for detecting the rotational positions of the motor output shafts, respectively. Furthermore, the joints J1-J6 are provided with torque sensors 231-236 capable of detecting torque as information on the force generated in each of the links 201-206.

The base 210 (base) of the robot arm body 200 and the link 201 are connected by a joint J1 that rotates around a rotation axis in the Z-axis direction. It is assumed that the joint J1 has a movable range of approximately ±180 degrees from the initial posture, for example. The link 201 and the link 202 of the robot arm body 200 are connected by a joint J2 that rotates around a rotation axis in the Y-axis direction. The joint J2 shall have a movable range of, for example, about ±80 degrees from the initial posture.

The link 202 and the link 203 of the robot arm main body 200 are connected by a joint J3 that rotates around the rotation axis in the Y-axis direction. The joint J3 shall have a movable range of, for example, about ±70 degrees from the initial posture. The link 203 and the link 204 of the robot arm body 200 are connected by a joint J4 that rotates around the rotation axis in the X-axis direction. The joint J4 shall have a movable range of about ±180 degrees from the initial posture, for example.

The link 204 and the link 205 of the robot arm body 200 are connected by a joint J5 that rotates around the rotation axis in the Y-axis direction. The joint J5 shall have a movable range of, for example, about ±120 degrees from the initial posture. The links 205 and 206 of the robot arm body 200 are connected by a joint J6 that rotates around the rotation axis in the X-axis direction. The joint J6 shall have a movable range of, for example, about ±240 degrees from the initial posture.

As described above, in this embodiment, the rotation axes of the joints J1, J4, and J6 are arranged in parallel (or coaxially) with the central axes (one-dot chain lines) of the two links that are coupled to each other. It is arranged so that the (relative) angle around the axis of rotation of the link can be changed. On the other hand, the rotation axes of the joints J2, J3, and J5 are arranged so that the intersecting (relative) angle of the central axes (same) of the two links to which they are coupled can be changed.

An end effector body 300 such as an (electric) hand or a (pneumatically driven) air hand is connected to the tip of the link 206 of the robot arm body 200 for performing assembly work and movement work in a production line. The end effector body 300 is attached to the link 206 by (semi)fixed means (not shown) such as screwing, or by attaching/detaching means (not shown) such as latch (ratchet). It shall be possible. In particular, when the end effector body 300 is detachable, the robot arm body 200 is controlled to detach or replace the end effector body 300 arranged at the supply position (not shown) by the operation of the robot arm body 200 itself. method is also conceivable.

Here, the tip of the robot arm main body 200 is the end effector main body 300 in this embodiment. When the end effector body 300 grips an object, the end effector body 300 and the gripped object (for example, parts, tools, etc.) are referred to as the end of the robot arm body 200 . In other words, regardless of whether the end effector body 300 is gripping an object or not gripping an object, the robot hand, which is the end effector body 300, is called the hand.

The external input device 500 is provided with, for example, an operation unit including operation keys for moving the posture (position and angle) of the joints of the robot arm body 200 or the hand of the robot arm body 200 . When some operation is performed on the operation unit of the external input device 500, the control device 400 transmits a signal to the drive source of each joint via the cable 80 (wire material) according to the operation of the external input device 500, and the robot arm is operated. It controls the operation of the main body 200 . At that time, each part of the robot arm main body 200 is controlled by the control device 400 executing a robot control program including a control program described later.

With the above configuration, the end effector body 300 can be moved to any position by the robot arm body 200 to perform desired work. For example, by using a predetermined work and another work as materials and performing a process of assembling the predetermined work and the other work, an assembled work can be manufactured as a product. As described above, the article can be manufactured by the robot arm body 200 .

FIG. 2 is a block diagram showing the detailed configuration of the control system of the robot system 1000 of FIG. The control device 400 is configured by a computer and includes a CPU (Central Processing Unit) 401 as a processor. It also has a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, a HDD (Hard Disc Drive) 404, and a recording disc drive 405 as storage units. It also has interfaces 406, 407, 408, 409, 410, and 411 for communicating with each device. The CPU 401, ROM 402, RAM 403 and interfaces 406 to 412 are connected via a bus 411 so as to be able to communicate with each other.

Among them, the RAM 403 is used for temporary storage of data such as teaching points and control commands by operating the external input device 500 . The ROM 402 stores a basic program 430 such as BIOS for causing the CPU 401 to execute various kinds of arithmetic processing. The CPU 401 executes various arithmetic processes based on control programs recorded (stored) in the HDD 404 . The HDD 404 is a storage unit that stores various data and the like that are results of arithmetic processing by the CPU 401 . The recording disk drive 405 can read various data, control programs, and the like recorded on the recording disk 431 . Furthermore, the interfaces 407 and 408 are connected to a monitor 511 on which various images are displayed and an external storage device 512 such as a rewritable non-volatile memory or an external HDD.

The external input device 500 can be, for example, an operating device such as a teaching pendant (TP), but may be another computer device (PC or server) capable of editing a robot program. The external input device 500 can be connected to the control device 400 via wired or wireless communication connection means, and has user interface functions such as robot operation and status display. The target joint angles of the joints J1 to J6 input by the external input device 500 are output to the CPU 401 via the interface 406 and the bus 411. FIG.

The CPU 401 receives teaching point data input from the external input device 500, for example, from the interface 406. FIG. Also, the trajectory of each axis of the robot arm body 200 can be generated based on the teaching point data input from the external input device 500, and transmitted to the arm motors 211 to 216 via the interface 409 using the arm motor driver 230. can. The CPU 401 outputs drive command data indicating the control amount of the rotation angle of each of the arm motors 211 to 216 to the arm motor driver 230 via the bus 412 and the interface 409 at predetermined intervals.

The arm motor driver 230 calculates the amount of current to be output to each arm motor 211 to 216 based on the drive command received from the CPU 401, supplies the current to each arm motor 211 to 216, and Joint angle control of J6 is performed. It also outputs detection signals from the encoders 221 to 226 and the torque sensors 231 to 236 to the CPU 401 via the interface 409 and the bus 412 . That is, the CPU 401 performs feedback control of the arm motors 211 to 216 via the arm motor driver 230 so that the joint angle current values of the joints J1 to J6 detected by the encoders 221 to 225 become the target joint angles. Execute. Similarly, the arm motors 211-216 are feedback-controlled so that the current torque values of the joints J1-J6 detected by the torque sensors 231-236 become the target torques. Although one arm motor driver 230 is provided in this embodiment, an arm motor driver may be provided for each of the arm motors 211-216.

Furthermore, the control device 400 is also connected to a hand motor 311 via an interface 410 and a hand motor driver 330 . The hand motor driver 330 calculates the amount of current output to the hand motor 311 based on the drive command received from the CPU 401 , supplies current to the hand motor 311 , and controls the speed of the hand motor 311 . It also outputs a pulse signal from the encoder 321 to the CPU 401 via the interface 410 and bus 412 . That is, the CPU 401 performs feedback control of the hand motor 311 via the hand motor driver 330 so that the current values of the position and/or speed of the hand motor 311 detected by the encoder 321 become the target position and/or target speed. do.

Here, the torque sensor 232 (which detects (acquires) the driving torque (rotational driving force) of the arm motor 212 (FIG. 2) that drives the joint J2 in FIG. 1, that is, the driving torque applied from the arm motor 212 to the link 202 2) is provided. The torque sensor 232 may be arranged at a predetermined position on the drive shaft of the drive system composed of, for example, the arm motor 212 arranged inside the joint J2 or a speed reducer (not shown).

In this embodiment, the joint J2 is taken as an example, and the details of the structure and arrangement position of the torque sensor 232 will be described in detail below with reference to the drawings. A known structure may be used for the torque sensor 232 that measures the driving torque of such a joint. Torque sensors 231, 233, 234, 235, and 236 similar to the torque sensor 232 are also arranged for the other joints J1, J3, J4, J5, and J6, respectively.

The joints J1 to J6 of the robot arm body 200 in FIG. 1, or the arm motors 211 to 216 and the hand motor 311 provided in the end effector body 300 are driven by electric motors, for example. In that case, a speed reducer using a strain wave gear mechanism or the like may be used in addition to the motor. In addition, end effectors such as hands and grippers may use a deceleration or driving direction conversion mechanism such as a rack and pinion. Motors for driving the joints J1 to J6 (or the end effector body 300) are arranged at predetermined positions inside the respective joints J1 to J6 (or the end effector body 300). In this embodiment, these motors (or reduction gears) are arranged inside, but the motors (or reduction gears) may be arranged outside.

When the driving means of the joints J1 to J6 and the end effector body 300 are motors as described above, cables are used as transmission means for transmitting energy (driving power) or control signals for driving the respective motors, that is, driving signals. and wires such as wires. Such wires include a form of a wire harness in which a plurality of wires are bundled, or a form in which a plurality of wires are housed in one coating to form a multi-cable.

Further, it is conceivable that the joints J1 to J6 and the driving means of the end effector body 300 are configured by a pressure mechanism using oil (liquid) pressure or air pressure. In that case, it is necessary to transmit driving energy or control signals (driving signals) composed of pressure signals to each part of the robot arm body 200, ie, the joints J1 to J6 and the end effector body 300. FIG. In this case, wires, such as flexible pressure tubes, are preferably used as transmission means for transmission of drive energy or control signals.

In this embodiment, for ease of explanation, the driving means for the joints J1 to J6 (or the end effector body 300) is a motor. (Electrical) Cable 80 is assumed. Also, the cable 80 is made up of a plurality of wire rods connecting the joints J1 to J6 (or the end effector main body 300) from the control device 400, for example, and has a wire harness (bundled wire) configuration.

A schematic wiring (routing) route of the cable 80 is indicated by a solid line in FIG. The cable 80 (or its harness) is arranged inside and outside the robot arm body 200 at the base 210 and each link 201 to 206 so as not to interfere with the operation of the robot arm body 200 or interfere with peripheral devices. It shall be fixed at any place.

Here, FIG. 3 shows a schematic diagram for explaining a conventional fixing method of the cable 80 at the joint J2. An arm motor 212 that drives the joint J2 is connected to the link 201 on the side of the robot arm body 200 near the base 210 . The rotating shaft of the arm motor 212 is connected to the input shaft of a speed reducer 242 that includes an input shaft, a reduction section, and an output shaft. The rotation of the arm motor 212 that rotates at high speed is converted to low speed rotation and high torque in the speed reducer 242 and output from the output shaft of the speed reducer 242 .

The link 201 and the link 202 are connected via a bearing (cross roller bearing) 262, and the motor 212 and the speed reducer 242 rotate the link 202 relative to the link 201 around the axis A2. The speed reducer 242 and the torque sensor 232 are connected by an output frame 252 in which the positions of the mounting holes are free in order to secure the degree of freedom of the mutual mounting holes. If the speed reducer 242 and the torque sensor 232 can be directly connected, the output frame 252 may not be provided. The output frame 252 is connected to a driving device having an arm motor 212 and a speed reducer 242 and serves as an output member that rotates or swings with respect to the link 201 together with the link 202 . In this embodiment, when the first link is the link 201, the link 202 that rotates relative to the link 201 may be called the second link.

The torque sensor 232 has an input portion 232 a connected to the output frame 252 , a strain-generating portion 232 b deformed by driving torque, and an output portion 232 c connected to the link 202 . Further, a strain sensor, an optical encoder, and the like (not shown) for detecting deformation of the strain-generating portion 232b are provided. In the torque sensor 232, the input section 232a and the output section 232c are expressions for convenience, and the positional relationship between the input section 232a and the output section 232c may be interchanged.

Also, the link 201 and the link 202 may be interchanged with each other. The torque sensor 232 in this embodiment is a spoke-type torque sensor, the input part 232a and the output part 232c are ring-shaped elastic bodies, and the strain-generating part 232b is a beam-shaped elastic body. do not have.

Next, the positions of cable 80 and fasteners 800, 811, 822 will be described. Fasteners 800 , 801 and 802 are used to fix the cable 80 laid between the links 201 and 202 . A deformed cable 81 shows a state in which the cable 80 is swung and deformed by the rotation of the joint J2 and the movement of the robot arm main body 200 . Fasteners 800 , 801 , 802 function as retention mechanisms to retain cable 80 .

There are two patterns for fixing the fasteners 800 , 801 , 802 . The first is to fix directly to the links 201, 203, and output frame 252, and the second is to fix to parts such as sheet metal connected to the links 201, 203, and output frame 252. be. In this embodiment, each fastener 800, 801, 802 is secured using a first pattern. The fasteners 800, 801, and 802 for fixing the cable 80 are cable ties or resin gate-shaped clamps, and fixing frames and metal plates are formed with holes through which the cable ties pass and screw holes for fixing the gate-shaped clamps. and

The cable 80 is fixed at 2 and 3 locations per joint J2. A first fixing location is to fix the cable 80 to the link 201 with a fastener 800 . The second fixing location is to fix to the output frame 252 arranged on the link 201 side with respect to the strain-flexing portion 232b with a fastener 801 . The third place of fixation is the link 202 connected to the output portion 232c on the opposite side of the link 201 with respect to the strain-flexing portion 232b with a fastener 802 . Depending on the space of the joint J2, it is possible to omit the fastener 802, which is the third fixing point.

FIG. 4 shows examples of fasteners 800, 801, and 802 in this embodiment. In FIG. 4( a ), a binding band 803 is used as a holding mechanism for holding the cable 80 . In FIG. 4B, a portal clamp 804 is used as a holding mechanism for holding the cable 80 . 4(a) and 4(b), the edge portions of the fasteners 800, 801 and 802 are bent 807 to reduce damage to the cable 80 due to edge contact.

In FIG. 4A, fasteners 800, 801, and 802 are provided with holes 803a through which binding bands 803 are inserted. It is assumed that four holes 803a are provided in the same manner in the depth direction of the paper surface. Two binding bands 803 are inserted through the holes 803a to bind and hold the cables 80. FIG. The mounting portion 805 is provided with two holes 805a through which bolts are inserted and fixed to the links 201 and 202 and the output frame 252 .

In FIG. 4( b ), the fasteners 800 , 801 , 802 are provided with portal clamps 804 . The cable 80 is held by inserting the cable 80 through the portal portion of the portal clamp 804 . The mounting portion 805 is provided with two holes 805a through which bolts are inserted and fixed to the links 201 and 202 and the output frame 252 .

FIG. 5 is a diagram showing variations of the fasteners 800, 801, 802 in this embodiment. FIG. 5(a) shows an example in which a hole 805a and an arcuate slide groove 805b for changing the attitude of the fasteners 800, 801, 802 are provided in the mounting portion 805 of the fasteners 800, 801, 802. . FIG. 5(b) shows a fixing member 900 for fixing the fasteners 800, 801, 802 shown in FIG. 5(a).

5A and 5B, screw holes 900a and 900b with female threads are provided on the surface of the fixing member 900 on the back side of the paper surface. The diameter of the screw holes 900a and 900b shall be equal to or less than the diameter of the hole 805a and the width of the arcuate slide groove 805b. Also, the distance between the center of the screw hole 900a and the center of the screw hole 900b is the same as the radius r from the center of the hole 805a to the arc slide groove 805b.

By inserting a bolt through the hole 805a and the arc slide groove 805b, overlapping the screw hole 900a and the hole 805a, overlapping the screw hole 900b and the arc slide groove 805b, and fastening with bolts, the fixing member 900 and the fasteners 800 and 801 are fixed. , 802 are fixed. It is assumed that the head of the bolt is larger than the diameter of the hole 805a and the width of the arcuate slide groove 805b.

A bolt is temporarily fixed in the hole 805a, and while adjusting the angles of the fasteners 800, 801, and 802, the overlapping bolt is inserted through the predetermined position of the arc slide groove 805b and the screw hole 900b and fastened. This makes it possible to adjust the angles at which the fasteners 800, 801, and 802 are fixed along the arcuate slide groove 805b (angles inclined with respect to the robot arm body 200) according to how the cable 80 is routed. be possible.

Moreover, as shown in FIG. 5(c), a set of a plurality of screw holes 900a and 900b may be provided in the fixing member 900 while keeping the distance r from each center. This makes it possible to adjust the mounting position of the mounting portion 805 by adjusting the spacing between the screw holes 900a and the spacing between the screw holes 900b.

FIG. 6 shows further variations in fasteners 800, 801, 802. FIG. FIG. 6(a) is a diagram of the fasteners 800, 801, 802 shown in FIG. 4(a) in which two slide grooves 805c are provided in the mounting portion 805. FIG. FIG. 6(b) is a diagram of the fasteners 800, 801, 802 shown in FIG. 6(a) with rounded edges 808. FIG. FIG. 6(c) shows the fixing member 900 when the fasteners 800, 801, 802 of FIGS. 6(a) and 6(b) are fixed.

6(a), 6(b) and 6(c), two slide grooves 805c are provided in the mounting portion 805 of the fasteners 800, 801, 802. As shown in FIG. The diameters of the screw holes 900a and 900b are equal to or less than the width of the slide groove 805c. Also, the distance between the centers of the two slide grooves 805c is r. It is fixed to the fixing member 900 by inserting bolts through the two slide grooves 805c and overlapping the screw holes 900a and 900b of the fixing member 900 and tightening them. Assume that the head of the bolt is larger than the width of the slide groove 805c. While adjusting the position of the mounting portion 805 in the Z direction, bolts are inserted into predetermined positions of the two slide grooves 805c, and the screw holes 900a and 900b are overlapped and tightened.

By doing so, it is possible to adjust the fixing positions of the fasteners 800, 801, 802 along the two slide grooves 805c. Therefore, it is possible to adjust the positions of the fasteners 800, 801, and 802 according to how the cable 80 is routed. Further, as shown in FIG. 6B, the edges of the fasteners 800, 801, 802 are R-processed 808 to reduce damage to the cable 80 due to the edges.

Here, the positional relationship between the link 201 and the link 202 changes greatly due to the rotation of the joint J2. At that time, the strain generating portion 232b of the torque sensor 232 is slightly deformed. As shown in FIG. 3, the cable 80 is in the state of the cable 80 in the initial posture of the robot arm body 200, and the deformed cable 81 is in the state where the cable 80 is deformed by the movement of the robot arm body 200 and collides with the link 202. is shown. This contact generates an impact and/or vibrational force (contact force) between cable 80 and link 202 .

As described above, the cable 80 has a harness structure in which wires for a plurality of joints of the robot arm body 200 are bundled. Such a harness may accommodate an encoder for detecting the operation of a motor that drives the joints, and a wire for feeding back the signal from the torque sensor to the control system. A gripping device such as a hand or a gripper is attached to the tip of the robot arm body 200 as an end effector body 300 . It is necessary to input/output (transmit) the drive signal to the end effector body 300 as well. A wire rod to be output may be accommodated.

Therefore, the cable 80 that transmits the drive signal is deformed when each joint of the robot arm body 200 rotates (same for translational motion), and the dynamic movement of the robot arm body 200 causes the cable 80 to swing. and when it contacts the link 202, it generates a large force. Then, as shown in FIG. 3, the contact/non-contact state is repeated with respect to the link 202, which affects the measurement accuracy of the torque sensor 232 arranged at the joint J2. In particular, when assembling parts weighing only a few grams or manipulating thin films or sheets using force control using a torque sensor, torque sensor measurement errors occur due to the force generated when the cable contacts the link. The decrease in force controllability due to Specific methods for solving the above-described problems will be described in detail below.

FIG. 7 shows a diagram in which the shielding plate 700 in this embodiment is arranged at the joint J2. The shielding plate 700 is fixed to the output frame 252 and extends in directions (Z direction, X direction) perpendicular to the axis A2 of the joint J2 and is arranged between the cable 80 and the link 202 . Further, the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. As a result, the cable 80 contacts the link 202 as shown by the deformed cable 81 in FIG. When the cable 80 comes into contact with the shielding plate 700 , force is generated in the shielding plate 700 , but the fixing position of the shielding plate 700 is the input portion 232 a side of the torque sensor 232 . Therefore, the force generated in the shielding plate 700 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232. Therefore, the reaction force generated by the contact of the cable 80 with the shielding plate 700 is transmitted to the torque sensor 232. can be reduced.

[Modification 1]
FIG. 8 shows variations of fixing positions (mounting positions) on the shielding plate 700 . If the position of the shielding plate 700 is on the side of the input portion 232a of the torque sensor 232, the effect is exhibited. Therefore, the structures shown in FIGS. 8A, 8B, and 8C can exhibit similar effects. FIG. 8(a) shows a case where a shielding plate 700 is connected to the input portion 232a of the torque sensor 232. FIG. FIG. 8(b) shows a case where the shielding plate 700 and the fastener 800 are integrated with the fastener 801. FIG. FIG. 8(c) shows a case where the output frame 252 is fixed and the shielding plate 700 and the output frame 252 are integrated.

8A, the shielding plate 700 is fixed to the input portion 232a of the torque sensor 232 and extends in directions (Z direction and X direction) perpendicular to the axis A2 of the joint J2. are placed in Further, the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. As a result, the cable 80 contacts the link 202 as shown by the deformed cable 81 in FIG. When the cable 80 comes into contact with the shielding plate 700 , force is generated in the shielding plate 700 , but the fixing position of the shielding plate 700 is the input portion 232 a side of the torque sensor 232 . Therefore, the force generated in the shielding plate 700 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232. Therefore, the reaction force generated by the contact of the cable 80 with the shielding plate 700 is transmitted to the torque sensor 232. can be reduced.

8B, the shielding plate 700 is fixed to the fastener 801 and extends in the direction (Z direction, X direction) perpendicular to the axis A2 of the joint J2 to be integrated with the fastener 801, so that the cable 80 and the link 202 are connected. is placed between. Further, the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. As a result, the cable 80 contacts the link 202 as shown by the deformed cable 81 in FIG. When the cable 80 comes into contact with the shielding plate 700 , force is generated in the shielding plate 700 , but the fixing position of the shielding plate 700 is the input portion 232 a side of the torque sensor 232 . Therefore, the force generated in the shielding plate 700 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232. Therefore, the reaction force generated by the contact of the cable 80 with the shielding plate 700 is transmitted to the torque sensor 232. can be reduced. In the present embodiment, the shielding plate 700 and the fastener 801 are integrated with each other, but they may be separate.

8(c), the shielding plate 700 is fixed to the output frame 252, extends in directions (Z direction, X direction) perpendicular to the axis A2 of the joint J2, and is integrated with the output frame 252. is placed between. Further, the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. As a result, the cable 80 contacts the link 202 as shown by the deformed cable 81 in FIG. When the cable 80 comes into contact with the shielding plate 700 , force is generated in the shielding plate 700 , but the fixing position of the shielding plate 700 is the input portion 232 a side of the torque sensor 232 . Therefore, the force generated in the shielding plate 700 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232. Therefore, the reaction force generated by the contact of the cable 80 with the shielding plate 700 is transmitted to the torque sensor 232. can be reduced. In this embodiment, the shielding plate 700 and the output frame 252 are integrated with each other, but they may be separated.

[Modification 2]
FIG. 9 shows variations in the shape of the shielding plate 700. FIG. The behavior of the cables 80 fixed by the fasteners 800, 801, and 802 changes depending on factors such as the length between fixings of the cables 80 and how they are bundled. Therefore, the shielding plate 700 is fastened to the fixing member 900 so that the position and/or posture of the shielding plate 700 can be changed, and the position and/or posture of the shielding plate 700 is changed according to the behavior of the cable 80 . By doing so, the function of the shielding plate 700 can be sufficiently exhibited. Further, the shielding plate 700 is given rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. do.

FIG. 9A shows an example in which a mounting portion 701 of a shielding plate 700 is provided with a hole 701a and an arcuate slide groove 701b for changing the posture of a contact portion 702 with which a cable contacts. 9(b) shows an XZ plan view when the shielding plate 700 shown in FIG. 9(a) is attached using the fixing member 900 connected to the output frame 252. FIG. FIG. 9(c) shows a YZ plan view when the shield plate 700 shown in FIG. 9(a) is attached using a fixing member 900 connected to the output frame 252. FIG. Two shielding plates 700 are used in FIGS. 9B and 9C. In this embodiment, the contact portion 702 extending toward the link 201 may be referred to as a first contact portion, and the shield plate 700 extending toward the link 201 may be referred to as a first member. Further, the contact portion 702 extending toward the link 202 may be referred to as a second contact portion, and the shielding plate 700 extending toward the link 202 may be referred to as a second member. As shown in FIG. 9D, the contact portion 702 may extend beyond the output frame 252 and the torque sensor 232 to the link 201 side. 9B, 9C, and 9D show the torque sensor 232 in a simplified manner.

FIG. 10 is a diagram showing the details of the fixing member 900 and the mounting portion 701 for fixing the shielding plate 700 in this embodiment. FIG. 10(a) shows a fixing member 900 for fixing the shield plate 700, and FIG. 10(b) shows a mounting portion 701. As shown in FIG. As shown in FIGS. 10A and 10B, a fixing member 900 is provided with threaded holes 900a and 900b. The diameter of the screw holes 900a and 900b shall be less than the diameter of the hole 701a and the width of the arcuate slide groove 701b. Also, the distance between the center of the screw hole 900a and the center of the screw hole 900b is the same as the radius r from the center of the hole 701a to the circular slide groove 701b.

A bolt is passed through the hole 701a and the arcuate slide groove 701b, the screw hole 900a is overlapped with the hole 701a, the screw hole 900b is overlapped with the arcuate slide groove 701b, and the fixing member 900 and the shielding plate 700 are fastened by bolts. Fixed. It is assumed that the head of the bolt is larger than the diameter of the hole 701a and the width of the arcuate slide groove 701b.

A bolt is temporarily fixed in the hole 701a, and while adjusting the angle of the contact portion 702, the bolt is inserted and fastened by overlapping the predetermined position of the arcuate slide groove 701b and the screw hole 900b. This makes it possible to adjust the angle at which the shielding plate 700 is fixed along the arcuate slide groove 701b (the angle of inclination with respect to the robot arm body 200). Therefore, the posture of the shielding plate 700 can be changed according to the behavior of the cable 80, and the function of the shielding plate 700 can be sufficiently exhibited. Further, the edge of the contact portion 702 is R-processed 702a to reduce damage to the cable 80 due to the edge.

Also, as shown in FIG. 10(c), a set of a plurality of screw holes 900a and 900b may be provided in the fixing member 900 while keeping the distance r from each center. This makes it possible to adjust the mounting position of the mounting portion 701 by adjusting the spacing between the screw holes 900a and the spacing between the screw holes 900b.

[Modification 3]
FIG. 11 shows a further variation on shielding plate 700 . The shield plate 700 shown in FIG. 11 is also attached as shown in FIGS. 9B and 9C by the fixing member 900 shown in FIG. 10A. Further, the shielding plate 700 is given rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. do.

In FIG. 11A, two slide grooves 701c are provided in the mounting portion 701 of the shielding plate 700. In FIG. The diameters of the screw holes 900a and 900b are equal to or less than the width of the slide groove 701c. Also, the distance between the centers of the two slide grooves 701c is r. It is fixed to the fixing member 900 by inserting bolts through the two slide grooves 701c and overlapping the screw holes 900a and 900b of the fixing member 900 and tightening them. Assume that the head of the bolt is larger than the width of the slide groove 701c. While adjusting the position of the contact portion 702 (or mounting portion 701) in the Y direction, a bolt is inserted into a predetermined position of the two slide grooves 701c, and tightened by overlapping the screw holes 900a and 900b.

By doing so, it is possible to adjust the fixing position of the shielding plate 700 along the two slide grooves 701c. Therefore, the position of the shielding plate 700 can be changed according to the behavior of the cable 80, and the function of the shielding plate 700 can be exhibited sufficiently. Further, the edge of the contact portion 702 is R-processed 702a to reduce damage to the cable 80 due to the edge.

In FIG. 11(b), in the shielding plate 700 of FIG. 9(a), the edge of the contact portion 702 is bent 702b. This makes it possible to further reduce damage to the cable 80 due to the edge.

In FIG. 11(c), the mounting portion 701 of the shielding plate 700 is provided with an arc slide groove 701b and a slide groove 701c. Here, it is assumed that the width of the slide groove 701c in the Z direction is equal to or greater than the width L from end point to end point of the circular arc slide groove 701b. The distance from the center line of the slide groove 701c to the center line of the width L of the circular arc slide groove 701b is r or less. It is fixed to the fixing member 900 by inserting a bolt through the arcuate slide groove 701b and the slide groove 701c and overlapping the screw holes 900a and 900b and tightening them. While adjusting the position of the contact portion 702 (or mounting portion 701) in the Y direction, a bolt is inserted into a predetermined position of the slide groove 701c and temporarily fixed to the screw hole 900a. Then, while adjusting the angle of the contact portion 702, a bolt is inserted into a predetermined position of the arcuate slide groove 701b and fastened to the screw hole 900b. By doing so, the fixing position of the shielding plate 700 is adjusted along the slide groove 701c, and the fixing angle of the shielding plate 700 (the angle of inclination with respect to the robot arm main body 200) is adjusted along the arcuate slide groove 701b. it becomes possible to While adjusting the angle of the contact portion 702 along the arcuate slide groove 701b first, the fixing position of the shielding plate 700 may be adjusted along the slide groove 701c.

As described above, by providing the slide groove 701c as the position adjustment mechanism and the arcuate slide groove 701b as the attitude adjustment mechanism, the position and attitude of the shielding plate 700 can be changed according to the behavior of the cable 80, and the function of the shielding plate 700 can be fully demonstrated. Further, the edge of the contact portion 702 is R-processed 702a to reduce damage to the cable 80 due to the edge. Of course, the edge of the contact portion 702 may be bent 702b.

Although the arcuate slide groove 701b and the slide groove 701 have been described as extending in the Y direction, they may be grooves extending in the X and Z directions.

[Modification 4]
12A and 12B are diagrams showing variations when the shielding plate 700 is given the function of a fastener for the cable 80 (the function of the holding mechanism). The shielding plate 700 shown in FIG. 12 is also attached to the fixing member 900 shown in FIG. 10(a) as shown in FIGS. 9(b) and 9(c). It is also assumed that the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to deformation of the cable 80 while the robot arm body 200 is operating. Here, deformation of the cable 80 often occurs in the vicinity of the fastener. Therefore, when arranging the shielding plate 700, by arranging it near the fastener, the influence of the deformation of the cable 80 can be effectively reduced. Further, by providing the shielding plate 700 with the function of a fastener, it is possible to obtain effects such as cost reduction due to a reduction in the number of parts and an assembly cost reduction when manufacturing a robot.

FIG. 12(a) shows a case where a binding band 703 is used for the shielding plate 700 shown in FIG. 9(a) as a fastener for the cable 80. FIG. The contact portion 702 is provided with a hole 703a through which the binding band 703 is inserted. The holes 703a are similarly provided in the depth direction of the paper surface, and a total of four holes 703a are provided. Two binding bands 703 are inserted through the holes 703a to bind the cable 80 to the contact portion 702 and hold it. As a result, the cable 80 can be fixed by the shielding plate 700, and the influence of deformation of the cable 80 can be effectively reduced. Further, by providing the shielding plate 700 with the function of a fastener, it is possible to obtain effects such as cost reduction due to a reduction in the number of parts and an assembly cost reduction when manufacturing a robot.

FIG. 12(b) shows the shielding plate 700 shown in FIG. 9(a) in which a portal clamp 704 made of resin is used as a fastener for the cable 80. FIG. The cable 80 is held by inserting the cable 80 through the portal portion of the portal clamp 704 . As a result, the cable 80 can be fixed by the shielding plate 700, and the influence of deformation of the cable 80 can be effectively reduced. Further, by providing the shielding plate 700 with the function of a fastener, it is possible to obtain effects such as cost reduction due to a reduction in the number of parts and an assembly cost reduction when manufacturing a robot. Alternatively, the resin portal clamp 704 may be made of metal, and the cable 80 may be wrapped with a cushioning material such as a silicon sheet to hold it.

FIG. 13 is a diagram showing a further variation when the shielding plate 700 is provided with the function of a fastener for the cable 80 (function of the holding mechanism). FIG. 13(a) is a diagram in which the shielding plate 700 shown in FIG. 12(a) is provided with a spring portion 702c and a mounting portion 701 is changed, and FIG. 13(b) is a diagram of the shielding plate shown in FIG. 12(b). 700 is provided with a spring portion 702c and the mounting portion 701 is changed. FIG. 13(c) is a YZ plan view when the shield plate 700 shown in FIGS. 13(a) and 13(b) is provided at the joint J2. FIG. 13(d) is a detailed view of the fixing member 900 in FIG. 13(c).

13(a) and 13(b), the mounting portion 701 is provided with two holes 701a. is the same as r. The diameters of the screw holes 900a and 900b are smaller than the diameter of the two holes 701a, and the head of the bolt is larger than the diameter of the holes 701a. The shielding plate 700 is fixed to the fixing member 900 as shown in FIG. be done.

As shown in FIGS. 13(a) and 13(b), the contact portion 702 deforms according to the reaction force generated when the cable 80 is deformed by the spring portion 702c serving as the deformation portion. As a result, the force generated by the cable 80 can be reduced, and the influence of the deformation of the cable 80 on the measurement value of the torque sensor 232 can be reduced.

As described above, according to the present embodiment, even if the cable 80 is deformed or oscillated due to the posture change of the robot arm main body 200, the effect of the deformation of the cable 80 on the torque sensor 232 can be reduced by the shield plate 700. can be done. Further, the shielding plate 700 has rigidity so that the shielding plate 700 does not come into contact with the link 202 due to the impact of the cable 80 when the cable 80 contacts the shielding plate 700 while the robot arm body 200 is operating. As a result, the cable 80 contacts the link 202 as shown by the deformed cable 81 in FIG.

In addition, by changing the position and/or attitude of the shielding plate 700 in accordance with the behavior of the cable 80, it is possible to sufficiently exhibit the function of the shielding plate 700. FIG. Furthermore, by providing the shielding plate 700 with the function of a fastener, the cable 80 can be fixed by the shielding plate 700, and the influence of deformation of the cable 80 can be effectively reduced. In addition, it is possible to obtain effects such as cost reduction due to reduction in the number of parts and reduction in assembly cost when manufacturing the robot.

Therefore, the shielding plate receives the force (contact force) generated by the deformation of the wire such as the cable 80 and/or when the wire contacts the link or the like. can be reduced. Therefore, it is possible to improve the measurement accuracy of the torque sensor and improve the accuracy of the load applied to the part by the end effector provided on the robot arm.

Therefore, even in a robot arm having a general-purpose configuration, for example, joint force control can be performed accurately, and it is possible to assemble parts as small as several grams that require delicate force control. In addition, in a production line that assembles micro-weight parts, it is possible to use a robot arm with a general-purpose configuration without requiring a dedicated device or manual work by human power. Therefore, effects such as the design of dedicated equipment, reduction in manufacturing costs, and further reduction in manufacturing period, which have conventionally been required, can be expected, and it is also possible to reduce the start-up costs of the production line. In addition, in a predetermined robot, the present embodiment and modified examples may be combined with the various embodiments and various modified examples described above.

(Second embodiment)
As shown in FIG. 7, in the first embodiment, the link 201 is arranged on the right side of the paper surface, and the elements such as the arm motor 212, the speed reducer 242, and the output frame 252 are arranged so as to be sequentially stacked in the direction of the axis A2. Then, the cable 80 is fastened with fasteners 800, 801, and 802. In this embodiment, the case where the shape of the output frame 252 is hollow, and the cable 80 is passed through the hollow portion and the cable 80 is fastened with fasteners 800, 801, and 802 will be described in detail. In the following, hardware and control system configurations that are different from those of the first embodiment will be illustrated and explained. Also, the same parts as those of the first embodiment can have the same configurations and functions as those described above, and detailed descriptions thereof will be omitted.

FIG. 14 shows a schematic diagram of the joint J2 in this embodiment. As shown in FIG. 14, the link 201 on the side of the robot arm body 200 closer to the base 210 is provided with an arm motor 212 that drives the joint J2. The rotating shaft of the arm motor 212 is connected to the input shaft of a speed reducer 242 composed of an input shaft, a reduction section, and an output shaft. output from the machine 242 . Also, the output shaft of the speed reducer 242 is connected to the output frame 252 . The output frame 252 and the link 201 are connected by a bearing 262, and the motor 212 and the reduction gear 242 rotate the link 202 relative to the link 201 through the output frame 252 around the axis A2.

The torque sensor 232 includes an input portion 232 a connected to the output frame 252 , a strain generating portion 232 b deformed by the torque output from the speed reducer 242 , and an output portion 232 c connected to the link 202 . Furthermore, a strain sensor or an optical encoder (not shown) for detecting deformation of the strain-generating portion 232b is provided.

The output frame 252 has a hollow portion 252a. As shown in FIG. 14, the hollow portion 252a is provided in the output frame 252 and has a cylindrical shape with an L-shaped cross section in the YZ plane (predetermined direction). The cable 80 passes through the hollow portion 252 a and is held by a fastener 801 provided on the output frame 252 . A fastener 801 is provided at an exit for the cable 80 to exit from the hollow portion 252a toward the link 202 side. Also, two shielding plates 700 are provided in a displaced state in the direction of the axis A2 so as to be arranged between the cable 80 and the link 202 .

This reduces the contact of the cable 80 with the link 202 as shown by the deformed cable 81 in FIG. When the cable 80 comes into contact with the shielding plate 700 , force is generated in the shielding plate 700 , but the fixing position of the shielding plate 700 is the input portion 232 a side of the torque sensor 232 . Therefore, the force generated in the shielding plate 700 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232. Therefore, the reaction force generated by the contact of the cable 80 with the shielding plate 700 is transmitted to the torque sensor 232. can be reduced.

In addition, the output frame 252 receives the deformation of the cable 80 arranged in the hollow portion 252a. Therefore, force is generated in the output frame 252 , but the fixed position of the output frame 252 is the input portion 232 a side of the torque sensor 232 . Therefore, since the force generated in the output frame 252 is not transmitted across the input portion 232a and the output portion 232c of the torque sensor 232, the reaction force generated by the contact of the cable 80 with the output frame 252 is transmitted to the torque sensor 232. can be reduced.

As described above, according to this embodiment, the direction in which the fastener 800 projects and the direction in which the fasteners 801 and 802 project can be folded back. Therefore, the width in the direction of the axis A2 from the link 201 to the fasteners 801 and 802 can be narrowed, and space saving of the robot arm body 200 can be achieved.

In addition, in the torque sensor 232, the input part 232a and the output part 232c are expressions for convenience, and the positional relationship between the input part 232a and the output part 232c may be interchanged. Also, the link 201 and the link 202 may be interchanged. Also, although the output frame 252, the shielding plate 700, and the fastener 801 have been described separately, they may be integrated as shown in FIG. 5 of the first embodiment. In addition, in a predetermined robot, the present embodiment and modified examples may be combined with the various embodiments and various modified examples described above.

(Other embodiments)
The processing procedure of the embodiment described above is specifically executed by the CPU 401 of the control device 400 . Therefore, it is also possible to read and execute a recording medium recording a software program capable of executing the functions described above. In this case, the program itself read from the recording medium implements the functions of the above-described embodiments, and the program itself and the recording medium recording the program constitute the present invention.

In each embodiment, the computer-readable recording medium is each ROM, each RAM, or each flash ROM, and the case where the program is stored in the ROM, RAM, or flash ROM has been described. However, the present invention is not limited to such a form. A program for carrying out the present invention may be recorded on any computer-readable recording medium. For example, an HDD, an external storage device, a recording disk, or the like may be used as a recording medium for supplying the control program.

Further, in the various embodiments described above, the robot arm main body 200 uses a multi-joint robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration is shown as the type of robot arm, the configuration equivalent to the above can also be implemented for different types of joints such as a horizontal articulated type, a parallel link type, and an orthogonal robot. In addition, the present invention may be applied to an artificial hand or artificial leg equipped with a force detecting sensor such as a torque sensor, or a powered suit (power assist suit).

Further, the various embodiments described above are applicable to machines capable of automatically performing operations such as expansion, contraction, bending and stretching, vertical movement, horizontal movement, turning, or a combination of these operations, based on information stored in a storage device provided in the control device. It is possible.

The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. Moreover, the effects described in the embodiments of the present invention are merely enumerations of the most suitable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

80 cable 81 deformation cable 200 robot arm body 201, 202, 203, 204, 205, 206 link 210 base 211, 212, 213, 214, 215, 216 arm motor 221, 222, 223, 224, 225, 226, 321 Encoder 231, 232, 233, 234, 235, 236 Torque sensor 232a Input part 232b Strain generating part 232c Output part 242 Reduction gear 252 Output frame 252a Hollow part 262 Bearing (cross roller bearing)
300 End Effector Main Body 311 Hand Motor 400 Control Device 500 External Input Device 700 Shield Plate 701, 805 Mounting Portion 701a, 703a, 803a, 805a Hole 701b, 805b Circular Slide Groove 701c, 805c Slide Groove 702 Contact Portion 702a, 808 R Processing 702 b , 807 bending 703, 803 binding band 704, 804 portal clamp 800, 801, 802 fastener 900 fixing member 900a, 900b screw hole 1000 robot system (robot device)
J1, J2, J3, J4, J5, J6 Joints

Claims (34)

a robot body having a link that rotates or swings;
a wire;
comprising a member and
The member is arranged between the link and the wire so that the member does not contact the link when the wire is in contact with the member,
A robot system characterized by: The robot system according to claim 1,
When the wire rod is deformed by operating the robot body, the wire rod and the member come into contact with each other.
A robot system characterized by: In the robot system according to claim 1 or 2,
The robot body includes a sensor that detects force,
The member is provided so that the wire and the sensor do not come into contact when the robot body is operated.
A robot system characterized by: In the robot system according to claim 3,
The member is provided so that a contact force between the wire rod and the member is not transmitted to the link when the robot body is operated.
A robot system characterized by: In the robot system according to claim 3 or 4,
The sensor includes an input section to which the force is input and an output section to which the force is output,
The member is provided on the side of the input unit,
A robot system characterized by: In the robot system according to claim 5,
The member is provided at a position that does not come into contact with the output unit,
A robot system characterized by: In the robot system according to any one of claims 1 to 6,
The member is
a mounting portion for mounting to the robot main body;
and a contact portion that contacts the wire,
A robot system characterized by: In the robot system according to claim 7,
The mounting portion is provided with a position adjustment mechanism that adjusts the position of the member,
A robot system characterized by: In the robot system according to claim 8,
The position adjustment mechanism can adjust the mounting position of the mounting portion with respect to the robot body.
A robot system characterized by: In the robot system according to claim 8 or 9,
The position adjustment mechanism is a slide groove,
A robot system characterized by: In the robot system according to any one of claims 7 to 10,
The mounting portion is provided with an attitude adjustment mechanism that adjusts the attitude of the member.
A robot system characterized by: The robot system according to claim 11, wherein
The tilting angle of the contact portion with respect to the robot body can be adjusted by the posture adjustment mechanism.
A robot system characterized by: The robot system according to claim 12, wherein
The posture adjustment mechanism is an arc slide groove,
A robot system characterized by: In the robot system according to any one of claims 8 to 13,
The edge of the contact portion is R-processed,
A robot system characterized by: In the robot system according to any one of claims 8 to 13,
The edge of the contact portion is subjected to a bending process,
A robot system characterized by: In the robot system according to any one of claims 8 to 15,
The contact portion is provided with a holding mechanism for holding the wire at the contact portion,
A robot system characterized by: 17. The robot system of claim 16, wherein
The holding mechanism is a binding band and a hole through which the binding band is inserted,
A robot system characterized by: 17. The robot system of claim 16, wherein
The holding mechanism is a portal clamp,
A robot system characterized by: In the robot system according to any one of claims 7 to 18,
The contact portion includes a deformed portion,
A robot system characterized by: In the robot system according to any one of claims 1 to 19,
the robot body includes an output member connected to a driving device that rotates or swings the link and rotates or swings together with the link;
The member is integrated with the output member,
A robot system characterized by: In the robot system according to any one of claims 3 to 6,
The member is integrated with the sensor,
A robot system characterized by: In the robot system according to claim 5,
The member is integrated with the input unit,
A robot system characterized by: In the robot system according to any one of claims 1 to 15,
The robot body includes a holding mechanism that holds the wire,
The member is integrated with the holding mechanism,
A robot system characterized by: In the robot system according to any one of claims 1 to 15,
the robot body includes an output member connected to a driving device that rotates or swings the link and rotates or swings together with the link;
The output member is provided with a hollow portion,
The wire rod is arranged in the hollow part,
A robot system characterized by: 25. The robotic system of claim 24, wherein
A cross-sectional view from a predetermined direction of the hollow portion is L-shaped,
A robot system characterized by: In the robot system according to claim 24 or 25,
A holding mechanism for holding the wire is provided at an outlet in the hollow portion for the wire to come out to the link side,
A robot system characterized by: In the robot system according to any one of claims 7 to 19,
The link has a first link and a second link, and the second link swings or rotates by a joint with respect to the first link,
the contact portion extends across the joint;
A robot system characterized by: In the robot system according to any one of claims 7 to 19,
The link has a first link and a second link, and the second link swings or rotates by a joint with respect to the first link,
The member is
a first member having a first contact portion extending toward the first link;
a second member having a second contact portion extending toward the second link;
A robot system characterized by: 29. The robot system according to any one of claims 1 to 28,
The member is a shielding plate,
A robot system characterized by: A method for manufacturing an article, comprising manufacturing an article using the robot system according to any one of claims 1 to 29. a robot body having a link that rotates or swings;
a wire;
A control method for a robot system comprising a member,
The member is arranged between the link and the wire so that the member does not contact the link when the wire is in contact with the member,
a control device using the wire to control a driving device provided in the robot body to control the robot body;
A control method characterized by: A control program capable of executing the control method according to claim 31. A computer-readable recording medium storing the control program according to claim 32. A shielding plate provided on a robot body having a rotating or swinging link and a wire rod,
The shielding plate is arranged between the link and the wire so that the shielding plate does not contact the link when the wire is in contact with the shielding plate,
A shielding plate characterized by:

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