Robot system and robot-system assembling method
A robot system includes a jacket-type sensor including a detector included in a jacket and configured to detect a touch on the jacket; and a sensor wiring-line set configured to transmit a detection result from the detector. The sensor wiring-line set is arranged inside the robot arm.
1 . A robot system comprising:
a robot arm;
a jacket-type sensor including a jacket arranged to cover an exterior surface of the robot arm, and a detector included in the jacket and configured to detect a touch on the jacket;
a wiring-line-set insertion part; and
a sensor wiring-line set connected to the detector and configured to transmit a detection result from the detector, wherein
the sensor wiring-line set is arranged inside the robot arm,
the robot arm has an arm opening through which the sensor wiring-line set is inserted,
the sensor wiring-line set is inserted into the robot arm through the arm opening formed in the robot arm,
the wiring-line-set insertion part is arranged in the arm opening to receive the sensor wiring-line set inserted through the wiring-line-set insertion part,
the wiring-line-set insertion part has a wiring-line-set guide hole formed to guide a direction of the sensor wiring-line set drawn from the interior of the robot arm to the exterior surface of the robot arm to a direction along the exterior surface of the robot arm, and
the wiring-line-set insertion part includes an exterior portion formed on and extending along the exterior surface of the robot arm and with a part of the wiring-line-set enclosed in and extending inside the exterior portion.
2 . The robot system according to claim 1 , wherein
the robot arm includes a plurality of link parts;
a plurality of jacket-type sensors are provided as the jacket-type sensor, which is included in each of the plurality of link parts; and
the sensor wiring-line set is connected to the detector of each of the plurality of jacket-type sensors, which is included in each of the plurality of link parts, and is arranged inside the robot arm.
3 . The robot system according to claim 2 , wherein
the plurality of jacket-type sensors include daisy-chained parts daisy-chained to each other by the sensor wiring-line set; and
the sensor wiring-line set, which daisy-chains the plurality of jacket-type sensors, is arranged inside the robot arm.
4 . The robot system according to claim 1 further comprising:
a sensor control device connected to the sensor wiring-line set, and configured to receive the detection result; and
a robot control device configured to control a function of driving of the robot arm, wherein
the sensor control device is configured to provide a trigger signal to the robot control device in response to reception of the detection result indicating that a touch on the jacket from the jacket-type sensor is detected, and
the robot control device is configured to stop the function of driving the robot arm, to reduce a moving speed of the robot arm, or to increase an angle of a joint of the robot arm in accordance with the trigger signal.
5 . The robot system according to claim 4 further comprising
a base supporting the robot arm wherein
the sensor wiring-line set is drawn from the jacket-type sensor through interiors of the robot arm and the base to an outside of the robot arm, and is connected to the sensor control device.
6 . The robot system according to claim 1 , wherein the wiring-line-set insertion part is configured to prevent a foreign substance from entering a gap between the arm opening and the sensor wiring-line set.
7 . The robot system according to claim 1 , wherein
the sensor wiring-line set is drawn from an arm opening of the robot arm, and has a wiring-line-set side connector connected to the detector at an end of a part of the sensor wiring-line set that is drawn from the arm opening; and
the detector includes a detector side connector connected to the wiring-line-set side connector.
8 . The robot system according to claim 1 , wherein
the robot arm includes a plurality of link parts and a joint inside the robot arm connecting the plurality of link parts to each other; and
the sensor wiring-line set is arranged along a rotation axis of the joint inside the robot arm.
9 . The robot system according to claim 1 further comprising a robot wiring-line set configured to supply at least one of a signal and electric power to drive the robot arm and arranged inside the robot arm, wherein
the sensor wiring-line set is arranged along the robot wiring-line set inside the robot arm.
10 . The robot system according to claim 1 , wherein the detector includes a detection line embedded in the jacket, and a board configured to receive a signal from the detection line.
11 . A robot system comprising:
a robot arm that includes a jacket-type sensor including a jacket and a detector included in the jacket and configured to detect a touch on the jacket, the robot arm having an exterior surface configured to be covered by the jacket-type sensor;
a wiring-line-set insertion part; and
a sensor wiring-line set connected to the detector and configured to transmit a detection result from the detector, wherein
the sensor wiring-line set is arranged inside the robot arm,
the robot arm has an arm opening through which the sensor wiring-line set is inserted,
the sensor wiring-line set is inserted into the robot arm through the arm opening formed in the robot arm,
the wiring-line-set insertion part is arranged in the arm opening to receive the sensor wiring-line set inserted through the wiring-line-set insertion part,
the wiring-line-set insertion part has a wiring-line-set guide hole formed to guide a direction of the sensor wiring-line set drawn from the interior of the robot arm to the exterior surface of the robot arm to a direction along the exterior surface of the robot arm, and
the wiring-line-set insertion part includes an exterior portion formed on and extending along the exterior surface of the robot arm and with a part of the wiring-line-set enclosed in and extending inside the exterior portion.
12 . A robot-system assembling method comprising:
a step of preparing a robot arm including a sensor wiring-line set that is previously arranged inside the robot arm and a wiring-line-set insertion part; and
a step of attaching, onto an exterior surface of the robot arm, a jacket-type sensor including a jacket and a detector included in the jacket and configured to detect a touch on the jacket and to provide a detection result whereby covering the robot arm with the jacket-type sensor, wherein
the step of attaching a jacket-type sensor includes a step of connecting the sensor wiring-line set, which is arranged inside the robot arm, to the detector,
the robot arm has an arm opening through which the sensor wiring-line set is inserted,
the sensor wiring-line set is inserted into the robot arm through the arm opening formed in the robot arm,
the wiring-line-set insertion part is arranged in the arm opening to receive the sensor wiring-line set inserted through the wiring-line-set insertion part,
the wiring-line-set insertion part has a wiring-line-set guide hole formed to guide a direction of the sensor wiring-line set drawn from the interior of the robot arm to the exterior surface of the robot arm to a direction along the exterior surface of the robot arm, and
the wiring-line-set insertion part includes an exterior portion formed on and extending along the exterior surface of the robot arm and with a part of the wiring-line-set enclosed in and extending inside the exterior portion.