JP2007030163A - Double arm type robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a double arm robot which has a small turning diameter, and is composed of an up and down moving mechanism without increasing the size and complexity of the device. <P>SOLUTION: The double arm type robot 1 is equipped with two sets of arms 2 which are rotatably connected by joint parts 3, 4, 5 and transmit a turning force by a rotating drive source to perform a desired operation. The double arm type robot is moved between an extension position wherein an upper arm 6 and a front arm 7 composing the arm 2 are extended, and a contraction position wherein the upper arm 6 and the front arm 7 are folded and retracted, and respective hand parts 8 mounted to the arm 2 are positioned in-between the joint part 3 of the base end of the arm 2. Two sets of cubital joint parts 4 are respectively projected to the same direction relative to the moving direction of the hand part 8 and the side in the horizontal direction, and the moving mechanism 11 is disposed to the opposite side of the direction wherein the cubital joint part 4 projects relative to the moving direction of the hand part 8. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a robot. More specifically, the present invention relates to a double arm type robot for taking out and supplying a workpiece.

  2. Description of the Related Art Conventionally, for example, a double-arm robot shown in FIGS. 5 to 7 is used to take out a thin plate-like work such as a glass substrate for liquid crystal or a semiconductor wafer from a stocker and supply the work to the stocker.

  In the double arm robot 100, the two arms 101 are provided symmetrically so that the parts other than the hand portion 113 provided at the tip of the arm 101 are on the same plane.

  The arm 101 includes a first arm 111 (hereinafter referred to as the upper arm 111), a second arm 112 (hereinafter referred to as the forearm 112) connected to the upper arm 111, and a hand portion that is connected to the forearm 112 and holds the work 109. 113.

  The base end of the upper arm 111 is connected to the drive shaft of the base 102 to form a rotatable joint 114 (hereinafter referred to as a shoulder joint 114). Further, the distal end of the upper arm 111 and the proximal end of the forearm 112 are connected via a drive shaft to constitute a rotatable joint portion 115 (hereinafter referred to as an elbow joint portion 115). Further, the front end of the forearm 112 and the columns 117a and 117b, which are the bases of the hand portion 113, are connected to each other via a drive shaft to constitute a rotatable joint portion 116 (hereinafter referred to as a hand joint portion 116).

  The arm 101 rotates the shoulder joint part 114, the elbow joint part 115, and the hand joint part 116 by a rotational drive source (not shown) to move the hand part 113 in the direction indicated by the arrow X in FIG. . At this time, in the arm 101, due to the mechanism, the hand portion 113 faces in one direction, the extended position where the upper arm 111 and the forearm 112 are fully extended, and the contracted position where the upper arm 111 and the forearm 112 are folded. It is trying to move straight between. This mechanism is configured, for example, such that each joint 114, 115, 116 is provided with a timing pulley, the timing pulleys are connected by a timing belt, and each joint 114, 115, 116 performs a predetermined rotation. Is.

  Also, one column 117a is U-shaped, and an upper and lower space is created between the two hand portions 113. When both arms 101 are contracted, the other portion is placed in the space portion of the U-shaped column 117a. Column 117b (hand part 113) is inserted so that the two hand parts 113 do not come into contact with each other. Further, the upper part 103 of the base 102 is rotatably provided so that the direction can be changed by turning the double arm type robot 100. Here, a two-dot chain line circle 106 in FIG. 5 represents the locus of the corner of the workpiece 109 due to the rotation of the upper base 103, and represents the space required for the turning of the double arm robot 100. The base 102 is provided in a multi-stage telescopic structure so that the upper base 103 can be moved in the vertical direction indicated by the arrow Z in the figure with respect to the lower base 104 by the rotation shaft 105. Can be adjusted.

  According to this double arm type robot 100, the hand unit 113 is moved in the direction of arrow X by the arm 101, the workpiece 109 can be taken out from the stocker, and the workpiece 109 can be supplied to the stocker. The other is used for taking out, and the supply operation of the work 109 and the take-out operation of another work 109 can be performed simultaneously. Further, since the work 109 such as a glass substrate for liquid crystal needs to avoid dust, all the operations of the double arm robot 100 are performed in a clean room.

JP-A-4-85812 JP-A-4-163937 JP-A-1-199780 JP-A-62-181887 Japanese Patent Laid-Open No. 3-208582 JP 10-264075 A

  However, in the conventional double arm type robot 100, when both arms 101 contract, both elbow joints 115 protrude symmetrically, and the turning radius of the double arm type robot 100, that is, the area required for the turning shown by the circle 106 is present. There is a problem that it gets bigger. Further, a U-shaped column 117a protrudes toward the outside of the turning center of the upper base 103 so that the two hand portions 113 do not come into contact with each other, and the turning radius of the double arm type robot 100 is larger. End up. Further, the U-shaped column 117a is heavy, and there is a problem that the double arm type robot 100 is enlarged.

  On the other hand, it is necessary to provide a sufficient space around the double arm robot 100 so as not to collide with other devices, and it is necessary to increase the size of the large clean room and the accompanying purification equipment. Cost increases. Further, when the space occupied by the double arm type robot in the clean room is increased, the degree of freedom in layout is reduced.

  By the way, with the recent increase in the size of glass substrates for liquid crystals, the deflection of the glass plate also increases, so that it is necessary to increase the interval (pitch) of each stage of the stocker. Accordingly, it is necessary to increase the vertical stroke in the double arm robot 100 as well. Here, in the conventional double arm type robot 100, both elbow joints 115 project symmetrically with the contraction operation of the arm 101, and therefore the mechanism for the vertical movement of the arm 101 is the arm 101 in consideration of the installation space. Should be placed on the underside. However, the multistage telescopic structure that has been conventionally employed as the vertical movement mechanism increases in complexity as the vertical stroke increases. Therefore, the problem of increase in production cost and increase in occupied space similar to the above is caused. In addition, if the vertical movement mechanism becomes larger and the lowest position of the arm 101 becomes higher, there is a problem that the workable range of the arm 101 is limited and decreases accordingly. Here, it is conceivable to provide a recessed hole in a part of the floor of the clean room and insert the double arm robot 100 into the hole, but in this case, the arrangement position of the double arm robot 100 is limited to the hole. As a result, the degree of freedom of layout of each device is reduced. In addition, there is a problem that it is difficult to attach and detach the double arm type robot 100 and the maintenance becomes complicated.

  Therefore, an object of the present invention is to provide a double arm type robot that has a small turning radius and can be configured by a vertical movement mechanism that does not increase the size and complexity of the apparatus.

  In order to achieve this object, the invention according to claim 1 includes a hand portion, a forearm, an upper arm, a hand joint portion that connects the hand portion and the forearm, and an elbow joint portion that connects the forearm and the upper arm. And two sets of arms each including a joint portion at the base end of the arm provided on the opposite side of the elbow joint portion of the upper arm and a rotation drive source for connecting and rotating the joint portions. In the double arm type robot, a moving mechanism including first and second supporting members to which the two sets of arms are respectively attached, and a column that holds the first and second supporting members so as to be movable in the vertical direction. The arm is attached to the first and second support members, each of which has a joint portion at the base end of the arm disposed at a height different from each other, and the joint portion at the base end of the arm is both First and second The hand portion extends between the upper arm and the forearm in a direction substantially perpendicular to the moving direction of the first and second support members and the direction in which the support member extends from the column. The upper arm and the forearm are folded and moved between a retracted position where the hand is retracted, and each arm attached to the arm is moved when the arm is moved to the retracted position. The hand part is located between the joint parts at the proximal end of the arm, and two sets of the elbow joint parts are projected in the same direction and in the horizontal direction with respect to the movement direction of the hand part, The moving mechanism is arranged on the opposite side to the direction in which the elbow joint protrudes with respect to the moving direction of the hand portion.

  According to a second aspect of the present invention, in the double arm type robot according to the first aspect, the two arms are symmetrically arranged in the vertical direction between the first and second support members without interfering with each other. It is made to be done.

  The invention described in claim 3 is the double arm type robot according to claim 1 or 2, wherein the two arms are arranged so as to face each other.

  According to a fourth aspect of the present invention, in the double arm type robot according to any one of the first to third aspects, the joint portion at the base end has a rotation center axis that is the rotation center of the arm, and two sets of The arm is attached so that the central axis of rotation overlaps in the coaxial direction.

  According to a fifth aspect of the present invention, in the double arm type robot according to any one of the first to third aspects, the joint portion at the base end has a rotation center axis that becomes the rotation center of the arm. The central axis of rotation of the joint at the base end of the arm does not overlap with the same axis.

  According to a sixth aspect of the present invention, in the double arm type robot according to any one of the first to fifth aspects, the moving mechanism has a turning function, and the joint portion at the base end of the arm serves as the center of rotation of the arm. A rotation center axis is provided, and the rotation center axis is parallel to the turning center axis of the moving mechanism and can be turned around the turning center axis.

  According to a seventh aspect of the present invention, in the double arm type robot according to the sixth aspect, the rotation center axis of the joint portion at the base end of the arm is perpendicular to the expansion and contraction directions of the two arms from the turning center axis of the moving mechanism. The positions of the joints other than the joints at the base end of the arm that move with the expansion and contraction of the two sets of arms are brought closer to the turning center axis.

  According to an eighth aspect of the present invention, in the double arm robot according to the sixth aspect, the joint portion at the base end of the arm is offset from the pivot center axis of the moving mechanism so that the elbow joint portion approaches the pivot center axis of the moving mechanism. It has been made.

  According to a ninth aspect of the present invention, in the double arm type robot according to the sixth aspect of the present invention, the support member extends from the column to the inside of the swivel region of the column when the moving mechanism swivels, and the base of the arm The end joint portion is positioned in the vicinity of the turning center axis of the moving mechanism.

  According to the double arm type robot of the first aspect, since the vertical movement mechanism is located on the side of the arm in the expansion / contraction direction, the lowest position of the arm can be lowered and the double arm type robot can be handled. The working range of the arm can be expanded by lowering the height. In addition, since the first and second support members are configured to slide relative to the column, even if it is necessary to design a large stroke in the vertical movement direction, the vertical movement mechanism can be realized with a multistage telescopic structure or the like. As compared with the case of configuring, the mechanism can be handled without making the mechanism complicated and large. In addition, since the two sets of arms are stacked one above the other at different heights, the installation space does not occupy much even if the vertical movement mechanism is arranged on the side of the arm.

  Further, when the arm is moved to the contracted position, each hand portion attached to the arm is located between the joint portions at the proximal end of the arm, and two sets of elbow joint portions are connected to the hand portion. As shown in FIGS. 1 and 2, the work, the hand portion, and the rotation center of the support member at the position where the arm is contracted are arranged so as to overlap with the same region as shown in FIGS. The radius can be reduced. Moreover, as compared to the conventional structure projecting symmetrically to the left and right, the two arms are projected on only one side, so that the turning radius when turning the robot can be reduced accordingly.

  In addition, according to the present invention, since it is not necessary to provide a U-shaped column for changing the height of the hand portion, the protrusions to the radially outer side of the turning radius are reduced by that amount, and the turning radius is further increased. Can be small. In addition, since the support members are installed at different heights with respect to the column of the moving mechanism, when the arm is retracted to the retracted position, the hand portion is accommodated between the joint portion at the base end of the arm, that is, the shoulder joint portion. Thus, the hand portion and thus the workpiece can be arranged near the turning center, so that the turning radius can be minimized. Furthermore, the weight of the hand portion can be reduced by the amount that the U-shaped column can be reduced.

  According to the second aspect of the present invention, when the arm is retracted to the contracted position, the hand portion is accommodated between the joint portion of the base end of the arm, that is, the shoulder joint portion, and the hand portion and the work are arranged in the vicinity of the turning center. Therefore, it is possible to minimize the turning radius. Moreover, since the two arms are arranged symmetrically in the vertical direction so as not to contact each other, the two arms can be placed close to each other, which is different from the workpiece feeding operation. The work removal operation can be performed efficiently.

  Further, according to the invention described in claim 3, it is possible to arrange the two sets of arms without contacting each other, and to efficiently perform the workpiece supply operation and another workpiece removal operation. Can do.

  According to the fourth aspect of the present invention, the turning radius can be further reduced by arranging the rotation center axis of the shoulder joint portion coaxially without the two arms interfering with each other.

  Further, according to the invention described in claim 5, the rotation center axes of the joint portions at the base ends of the two sets of arms are not arranged on the same axis, but are arranged vertically so that the protrusion of the arms during the turning is equivalent to the overlap. By reducing the amount, the turning radius can be reduced, and the space occupied by the robot can be reduced sufficiently.

  According to the sixth aspect of the invention, since the direction of the arm can be changed by the rotation of the moving mechanism, the arm can be arbitrarily expanded and contracted in the direction. In addition, since the rotation center axis of the joint portion at the base end of the arm is offset with respect to the rotation center of the moving mechanism, the joint portion protruding sideways in the telescopic direction of the arm is turned by the double arm robot. The turning radius of the double arm robot can be reduced by approaching the rotation center of the moving mechanism as the central axis.

  According to the seventh aspect of the invention, the hand portion can be extended and contracted through or around the rotation center of the pedestal portion serving as the turning center of the entire robot, so that the turning radius can be reduced.

  According to the eighth aspect of the present invention, the double arm is constructed so that the elbow joint part and the hand part do not protrude from the minimum area circle required around the double arm type robot when the base is rotated. The turning radius of the robot can be reduced.

  According to the ninth aspect of the invention, as shown in FIGS. 1 and 2, the rotation center of the joint portion at the base end of the arm approaches the turning center axis of the moving mechanism, and the turning radius of the double arm robot is reduced. can do.

  Hereinafter, the configuration of the present invention will be described in detail based on an example of an embodiment shown in the drawings.

  1 to 4 show an embodiment of a double arm type robot of the present invention. This double arm type robot 1 includes two sets of arms 2 that are rotatably connected by joint portions 3, 4, and 5 to transmit a rotational force from a rotational drive source and perform a desired operation. The rotation center axis of the joint portion 3 at the base end provided in the arm 2 is configured to be arranged vertically (or axially).

  The double arm type robot 1 includes two sets of arms 2, one arm drive type device 2 is used for supplying and the other is used for taking out, and a workpiece 9 supplying operation and another workpiece 9 extracting operation are simultaneously performed. Is possible.

  Further, the double arm type robot 1 of the present embodiment is configured such that the hand portion 8 that holds the workpiece 9 by the arm 2 can be linearly moved in the direction of taking out and supplying the workpiece 9 indicated by an arrow X in the drawing. In the present specification, for convenience of explanation, the direction indicated by the arrow Z in the drawing orthogonal to the moving plane of the hand unit 8 is the vertical direction, and the direction of the arrow Z in the drawing is the upper side.

  The double arm robot 1 includes a moving member 11 (hereinafter referred to as a vertical movement mechanism 11) that moves a support member 10 (hereinafter referred to as a slider 10) provided with an arm 2 up and down. The vertical position can be adjusted. Further, the pedestal 13 of the vertical movement mechanism 11 is rotatably provided so that the direction can be changed by turning the double arm type robot 1. Furthermore, in the double arm type robot 1 of the present embodiment, the base 13 is mounted on the base 14 in the direction indicated by the arrow Y in the drawing, that is, in the direction orthogonal to the moving direction of the hand unit 8 and the vertical moving direction of the slider 10. The position of the vertical movement mechanism 11 can be adjusted.

  The two arms 2 provided in the double arm type robot 1 have, for example, a plurality of joints, that is, the double arm type robot 1 is configured as a horizontal articulated robot. The arm 2 in this embodiment includes a first arm 6 (hereinafter referred to as the upper arm 6), a second arm 7 (hereinafter referred to as the forearm 7) connected to the upper arm 6, and a work 9 connected to the forearm 7. And a hand portion 8 for holding the.

  The base end of the upper arm 6 is connected to the slider 10 via a drive shaft to constitute a rotatable joint 3 (hereinafter referred to as a shoulder joint 3). This shoulder joint 3 becomes the joint 3 at the base end of the arm 2. Further, the distal end of the upper arm 6 and the proximal end of the forearm 7 are connected via a drive shaft to constitute a rotatable joint 4 (hereinafter referred to as an elbow joint 4). Further, the tip of the forearm 7 and the hand portion 8 are connected via a drive shaft to constitute a rotatable joint portion 5 (hereinafter referred to as a hand joint portion 5).

  The arm 2 rotates the shoulder joint 3, the elbow joint 4, and the hand joint 5 by a rotation drive source (not shown), and moves the hand 8 in the workpiece take-out / supply direction. At this time, in the arm 2, due to the mechanism, the hand portion 8 faces in one direction, the extended position where the upper arm 6 and the forearm 7 are fully extended, and the contracted position where the upper arm 6 and the forearm 7 are folded. Expansion and contraction is performed so as to move in a straight line. Although this mechanism is not described in detail here, each of the joint portions 3, 4 and 5 is provided with a timing pulley, the timing pulleys are connected by a timing belt, and each of the joint portions 3, 4 and 5 rotates a predetermined amount. Conventional ones configured to do so can be utilized. It should be noted that it is desirable to increase the cleanliness of the arm 2 by applying grease pools and labyrinth seals to the joint portions 3, 4 and 5 so that the grease does not leak.

  Here, in the double arm type robot 1 of the present embodiment, the center of the work 9 held by the hand unit 8 is designed to coincide with the rotation center of the pedestal 13 when the arm 2 is retracted. Yes. A two-dot chain line circle 15 in FIG. 2 represents the locus of the corner of the workpiece 9 and represents the minimum area required around the double arm robot 1 when the pedestal 2 is rotated. .

  The two arms 2 are arranged on the slider 10 so as to face each other in the vertical direction so as not to interfere with each other. That is, the two arms 2 are arranged symmetrically so that the central axis of rotation of the shoulder joint portion 3 is coaxial. Accordingly, the two sets of arms 2 can be arranged so as not to contact each other and close to each other, and a workpiece supply operation and another workpiece take-out operation can be efficiently performed. In this configuration, it is not necessary to provide a U-shaped column for preventing contact on one arm 2 as in the prior art.

  In addition, the two arms 2 are configured such that the direction in which the elbow joint 4 protrudes to the side of the moving direction of the hand portion 8 when the arm 2 moves to the contracted position is the same direction. For this reason, both elbow joint parts 4 do not protrude symmetrically as in the prior art.

  Further, the position at which the two arms 2 are attached to the slider 10 is set such that the rotation center of the shoulder joint 3 is an eccentric position of the rotation center of the pedestal 13 and is opposite to the elbow joint 4 and orthogonal to the workpiece 9 take-out / supply direction. It is offset so that it is in the direction. Thereby, even when the hand part 8 is in the retracted position, the elbow joint part 4 and the hand part 8 protrude from the minimum area circle 15 required around the double arm type robot 1 when the pedestal 2 is rotated. I'm trying not to get it.

  The vertical movement mechanism 11 is located on the side of the work 9 in the take-out / supply direction, that is, in the expansion / contraction direction of the arm 2, and is configured to slide the slider 10 on the side surface of the column 12, for example. Conventionally, since the two arms 2 are provided symmetrically, the vertical movement mechanism 11 needs to be disposed below the two arms 2 in consideration of the installation space. On the other hand, in the double arm type robot 1 of the present invention, two pairs of arms 2 are arranged vertically symmetrically so that the elbow joint 4 protrudes in the same direction when the hand 8 moves to the contracted position. Since it does in this way, the vertical movement mechanism 11 can be arrange | positioned in the side part which the elbow joint part 4 of the arm 2 does not protrude.

  According to the double arm type robot 1 configured as described above, the hand portion 8 is expanded and contracted in the X direction in the figure by the two sets of arms 2, and if necessary, the arm 2 is moved to the arm 2 by the vertical movement mechanism 11 in the figure. It is possible to adjust the vertical position in the direction, rotate by turning the pedestal 13, and adjust the position in the Y direction in the figure to perform the work 9 supply work and the work 9 take-out work properly and efficiently. Needless to say, the space occupied by the double arm robot 1 can be reduced as follows.

  That is, the two arms 2 are arranged vertically symmetrically, the rotation center axis of the shoulder joint portion 3 at the proximal end is coaxially arranged, and the elbow joint portion 4 is further moved when the hand portion 8 moves to the contracted position. Since the projecting directions are the same, the both elbow joint portions 4 do not project symmetrically as in the prior art. Therefore, the turning radius of the double arm type robot 1 is smaller than that of the conventional art, and the space occupied by the double arm type robot can be reduced.

  Further, since the two sets of arms 2 are arranged symmetrically in the vertical direction and do not interfere with each other, it is not necessary to provide a conventional U-shaped column having a large weight on one arm 2. For this reason, the double arm type robot 1 can be miniaturized.

  Further, when the pedestal 2 is rotated by offsetting the rotation center of the shoulder joint 4 and the rotation center of the pedestal 13, the elbow joint 4 or the like from the minimum area circle 15 required around the double-arm robot 1. The turning radius of the double arm robot 1 can be reduced by preventing the hand portion 8 from protruding.

  Further, since the vertical movement mechanism 11 is located on the side of the arm 2 in the expansion / contraction direction, the lowest position of the arm 2 can be lowered, and the height at which the double arm robot 1 can be handled is lowered. The workable range of 2 can be expanded. In addition, since the slider 10 is configured to slide on the side surface of the column 12, the vertical movement mechanism 11 is configured with a multistage telescopic structure or the like even when a large stroke in the vertical movement direction is required. Compared to the above, the mechanism can be handled without increasing the complexity and size. Further, since the two sets of arms 2 are arranged in a vertically symmetrical manner, even if the vertical movement mechanism 11 is arranged on the side surface of the arm 2, it does not occupy a large installation space.

  The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited thereto, and various modifications can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the arm 2 is of a type that expands and contracts in the X direction in the figure, but is not limited thereto. For example, the arm 2 is configured as a type having three degrees of freedom on a plane. Also good. In addition, it is not limited to arrange | positioning two sets of arms 2 up and down so that the rotation center axis | shaft of the shoulder indirect part 3 used as a base end may become coaxial.

  Further, the vertical movement mechanism 11 is not particularly limited to the one using the column 12 as in the above-described embodiment. For example, as shown in FIG. 4, the vertical movement mechanism 16 and C are configured with a conventional multistage telescopic structure or the like. It is good also as the moving member 11 which consists of shape frame 10 '. In this case, the arms 2 are respectively arranged at the upper end and the lower end of the C-shaped frame 10 ′ so as to face each other in the vertical direction so that the rotation center axis of the shoulder joint portion 3 is coaxial. The elevating mechanism 16 is configured to support the C-shaped frame 10 'so that it can be raised and lowered to obtain a predetermined stroke.

  Further, the base 13 may be fixed so as to be rotatable, and the base 14 may be omitted.

  In addition, the two sets of arms 2 are not limited to the configuration of facing each other, and the two sets of similarly configured arms 2 are arranged so that the rotation center axis of the shoulder joint portion 3 serving as the base end is coaxial. Alternatively, they may be arranged one above the other. In this case, the distance between the two sets of arms 2 in the vertical axis direction is larger than that in the face-to-face arrangement, but the components constituting the two sets of arms 2 can be shared.

  Alternatively, the two or more arms 2 may be arranged so as to be stacked one above the other so that the central axis of rotation of the shoulder joint 3 serving as the base end is coaxial. Also in this case, it is possible to increase the multiplicity of work by using a plurality of arms 2 without increasing the installation space of the robot, compared to the case where two or more arms 2 are arranged on the same plane. become.

  Further, in the double arm type robot of the present embodiment, the rotation center axis of the base joint part provided in the two sets of arms is arranged vertically or in the axial direction, so that the two sets of arms can be extended and contracted. Accordingly, the positions of the joint portions other than the moving base end can be moved so as to overlap vertically or axially without being positioned symmetrically. As a result, the space occupied by the double-arm robot by the joints projecting sideways in the direction of expansion and contraction of the arm can be reduced, and the turning radius when the double-arm robot turns can be reduced accordingly. Further, since the two sets of arms are arranged at different heights in the vertical direction (or the axial direction), it is not necessary to provide a U-shaped column, and the turning radius is further reduced accordingly. As a result, it is possible to reduce the size and space of the double arm type robot.

  Further, like the double arm robot of this embodiment, two sets of arms may be provided on a moving member that can move in the vertical axis direction. In this case, the vertical positions of the two sets of arms can be adjusted.

  Moreover, in the double arm type robot of the present embodiment, the moving member has a column shape and is positioned on the side of the arm in the expansion / contraction direction, so that the lowest position of the arm can be lowered, The height that can be handled by the double arm robot is reduced, and the workable range of the arm can be expanded. In addition, the moving part can be configured to slide, and the stroke in the vertical movement direction can be increased without complicating or increasing the size of the mechanism, compared to the case where the vertical movement mechanism is configured with a multistage telescopic structure or the like. can do.

  Further, in the double arm type robot of this embodiment, the two arms are arranged so as to face each other, so that the two arms 2 are brought close to each other so as not to contact each other. It becomes possible to arrange. Thereby, the operation of supplying a workpiece and the operation of taking out another workpiece can be performed efficiently.

  Further, like the double arm robot of this embodiment, the two sets of arms may be provided coaxially by a support member. By arranging the two sets of arms on the same axis, the turning radius can be further reduced.

  Further, like the double arm robot of this embodiment, the two arms may have a plurality of joints, and the double arm robot may be configured as a horizontal articulated robot. Thereby, size reduction and space saving of a horizontal articulated robot can be realized.

  Further, in the double arm type robot of the present embodiment, it is possible to turn around the turning center axis parallel to the rotation center axis of the proximal end joint portion, and the rotation center axis of the proximal end joint portion is further from the turning center axis. Because the position of the joint part other than the base end that moves with the expansion and contraction of the two sets of arms in the direction perpendicular to the expansion and contraction direction of the two sets of arms is decentered so as to be close to the turning center axis. The turning radius of the arm type robot can be reduced.

It is a schematic perspective view which shows an example of embodiment of the double arm type robot to which this invention is applied. It is a schematic plan view of the double arm type robot. It is a schematic side view of the double arm type robot. It is a schematic front view which shows an example of other embodiment of the double arm type robot to which this invention is applied. It is a schematic plan view of a conventional double arm type robot. It is a schematic front view of the conventional double arm type robot. It is a schematic side view of the conventional double arm type robot.

Explanation of symbols

1 Double-arm robot 2 Arm 3 Shoulder joint (base joint)
4 Elbow joint (joint)
5 Hand joint (joint)
10 Slider (support member)
11 Vertical movement mechanism (moving member)
12 columns

Claims (9)

  A hand part, a forearm, an upper arm, a hand joint part that connects the hand part and the forearm, an elbow joint part that connects the forearm and the upper arm, and an elbow joint part of the upper arm opposite to the elbow joint part In a double-arm type robot having two sets of arms each having a joint portion at the base end of the arm and a rotational drive source that drives the joint portions to rotate by connecting the joint portions, the two sets of arms are respectively attached. A moving mechanism including first and second support members and a column that holds the first and second support members so as to be movable in the vertical direction; The first and second support members disposed at different heights are attached to the first and second support members, respectively, and joint portions at the base ends of the arms are both disposed between the first and second support members, The hand part is the first and The extension position where the upper arm and the forearm are fully extended, the upper arm and the forearm are folded, and the hand is retracted in a direction substantially perpendicular to the moving direction of the second support member and the direction in which the support member extends from the column. When the arm is moved to the contracted position, each hand unit attached to the arm is positioned between the joints at the base end of the arm. In addition, two sets of the elbow joint portions are projected in the same direction and in the horizontal direction with respect to the movement direction of the hand portion, and opposite to the direction in which the elbow joint portion projects with respect to the movement direction of the hand portion. Double arm type robot with the moving mechanism on the side.   The double-arm robot according to claim 1, wherein the two sets of arms are arranged symmetrically in the vertical direction between the first and second support members without interfering with each other.   The double-arm robot according to claim 1 or 2, wherein the two sets of arms are arranged so as to face each other.   4. The joint portion at the base end includes a rotation center axis serving as a rotation center of the arm, and the two sets of arms are attached so that the rotation center axes overlap in a coaxial direction. The double arm type robot according to any one of the above.   The joint portion of the base end includes a rotation center axis serving as a rotation center of the arm, and the rotation center axes of the joint portions of the base ends of the two sets of arms do not overlap coaxially. The double arm type robot according to any one of the above. The moving mechanism has a turning function;
The joint portion at the base end of the arm includes a rotation center axis serving as a rotation center of the arm,
The double-arm robot according to any one of claims 1 to 5, wherein the rotation center axis is parallel to the rotation center axis of the moving mechanism and is rotatable about the rotation center axis. .   The rotation center axis of the joint portion at the base end of the arm is decentered in a direction perpendicular to the extension / contraction direction of the two sets of arms from the turning center axis of the moving mechanism, and accompanying the extension / contraction operation of the two sets of arms The double-arm robot according to claim 6, wherein the position of a joint part other than the joint part of the arm base end that moves moves closer to the turning center axis.   The joint portion at the base end of the arm is offset from the turning center axis of the moving mechanism so that the elbow joint portion approaches the turning center axis of the moving mechanism. Double arm type robot.   The support member extends from the column to the inside of the swivel region of the column when the moving mechanism turns, and the joint portion of the base end of the arm is located near the turning central axis of the moving mechanism. The double arm type robot according to claim 6, wherein the double arm type robot is positioned.

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