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Robot, control device, and robot system

一种机器人、部件的技术，应用在程序控制机械手、机械手、制造工具等方向，能够解决断线等问题

Active Publication Date: 2018-01-05
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For this reason, there is a problem that the inner line body with a sufficient length and the outer line body with a short length interfere with each other, and the line bodies cannot move smoothly without being bound to each other.
In addition, the inner line body may be broken due to bending, and the outer line body may be broken due to stretching

Method used

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  • Robot, control device, and robot system
  • Robot, control device, and robot system
  • Robot, control device, and robot system

Examples

Experimental program
Comparison scheme
Effect test

no. 2 approach ＞

[0131] Figure 13 It is a figure which shows the bundle|flux of the flexible member which the robot concerning 2nd Embodiment of this invention has. Figure 14 is used to describe the Figure 13 A diagram of the configuration of the identification marks on the bundle of flexible components shown in .

[0132] Next, the second embodiment will be described, but the description will focus on the differences from the above-mentioned embodiment, and the description of the same matters will be omitted. It should be noted that in Figure 13 The illustration of the flange 125 is omitted in FIG. Figure 14 The illustrated bundle 5 shows a state not attached to the frame 332 (state before attachment).

[0133] exist Figure 13 The flexible member 52 included in the illustrated bundle 5 has identification marks 71 and 72 for distinguishing the appearance of the flexible member 52 from the appearance of the other flexible members 51 , 53 to 56 . Such as Figure 14 As shown, the ide...

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Abstract

The invention provides a robot, a control device and a robot system. It is possible to reduce a possibility of breaking of the first flexible member and the second flexible member. In a robot, each ofa first flexible member and a second flexible member has a portion fixed to an n-th arm, a portion that is fixed to an (n+1)-th arm, and a portion that is positioned between the n-th arm and the (n+1)-th arm and is wound around a member in a folded state. The portion of the first flexible member that is fixed to the n-th arm is positioned on the member side from the portion of the second flexiblemember that is fixed to the n-th arm. The portion of the second flexible member that is fixed to the (n+1)-th arm is positioned on the member side from the portion of the first flexible member that is fixed to the (n+1)-th arm.

Description

technical field [0001] The invention relates to a robot, a control device and a robot system. Background technique [0002] Conventionally, there is known a robot including a robot arm in which a plurality of robot arms are connected, and an end effector such as a robot hand provided at a front end of the robot arm. Such a robot is provided with a plurality of linear bodies such as wiring for transmitting power and the like for controlling the respective drives of the arm and the end effector. In the arrangement of the linear body, the linear body is housed inside the robot in order to prevent the wiring from coming into contact with the arm and peripheral devices. [0003] For example, in the robot described in Patent Document 1, a linear body is arranged in a space formed between a power transmission shaft and a power transmission shaft outer cylinder provided on the outer periphery of the power transmission shaft. In addition, in Patent Document 1, the linear body is be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/04B25J9/16B25J17/02B25J19/00
CPCB25J18/005B25J9/046B25J9/0018B25J9/0009B25J19/0029B25J9/126B25J18/04
Inventor 宫阪英克中野翔
Owner SEIKO EPSON CORP
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