US 12,466,084 B2
Robot system and robot-system assembling method
Takeshi Hashimoto, Kakogawa (JP); Rikuya Uekaji, Kakogawa (JP); John Bright Prakash, Kobe (JP); and Shuhei Ishikawa, Akashi (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/281,365
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Mar. 9, 2022, PCT No. PCT/JP2022/010218
§ 371(c)(1), (2) Date Sep. 11, 2023,
PCT Pub. No. WO2022/191224, PCT Pub. Date Sep. 15, 2022.
Claims priority of application No. 2021-039596 (JP), filed on Mar. 11, 2021.
Prior Publication US 2024/0149467 A1, May 9, 2024
Int. Cl. B25J 13/08 (2006.01); B25J 19/00 (2006.01); B25J 19/06 (2006.01)
CPC B25J 13/084 (2013.01) [B25J 19/0029 (2013.01); B25J 19/06 (2013.01)] 12 Claims
OG exemplary drawing
 
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.