JP2007144559A - Multi-articulated robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multi-articulated robot, in which a tool hand of the tip end of a multi-articulated arm has a moving area in a range as wide as possible, and which can make high an operating speed of all of the multi-articulated arm as much as possible. <P>SOLUTION: The multi-articulated robot 10 connects a plurality of articulated arms, and has at least one place where the articulated arms are connected through a first pivot axis and connected through a second pivot axis inclined to the first pivot axis. A motor for driving each pivot axis and a reducer 94 are mounted for each pivot axis. The multi-articulated robot is equipped with a third turning axis turning to the direction orthogonal to the first pivot axis, and the motor and the reducer are also mounted on the turning axis. The number of axes of the pivot axes or the turning axes composing the multi-articulated robot is 7 axes or more. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an articulated robot formed by connecting a plurality of articulated arms, and in particular, the tool hand at the end of the articulated arm has a wide range of motion as much as possible, and the operating speed of the entire articulated arm can be increased. The present invention relates to an articulated robot that can achieve a high speed.

  As an industrial robot installed in a production line or the like, a polar coordinate type articulated robot is generally used. In this multi-joint robot, for example, a first arm is swingably attached to a base, a second arm is further swingably attached to the tip of the first arm, and a multi-directional wrist is attached to the tip. A mechanism is mounted, and a required tool hand such as a welding gun or a gripping tool is attached to the tip of the wrist mechanism. Such a conventional articulated robot is intended to ensure the operation range of the robot by the length of the first arm and the second arm, and since the number of joints to the wrist mechanism is small, the operation area close to the robot Then, the dead space due to the bending of the first arm and the second arm tended to increase. As a result, it is extremely difficult to place a plurality of robots close to each other, and there is a problem that the application space of the robot is naturally restricted.

  In order to solve the above-described problems, the inventors have conducted extensive research, and as a result, the dead space can be reduced while having a wide range of operation as much as possible. The development of an articulated robot capable of simplifying a necessary power transmission system has been disclosed in Patent Document 1.

As another disclosed technique, the base and the first arm have a rotation axis in a direction perpendicular to the base, and the other four rotation axes have inclined joints that rotate around the inclination axis. An articulated manipulator having a degree of freedom is disclosed in Patent Document 2. This articulated manipulator also has an advantage that the operating range of the manipulator can be widened.
JP 2004-216535 A JP 2004-148449 A

  According to the articulated robot and the articulated manipulator disclosed in Patent Documents 1 and 2, the operation range of the robot or manipulator can be made wider than that of a conventional industrial robot. However, since any robot or manipulator has a 7-axis joint structure including the rotation axis of the tool hand, the tip arm to which the tool hand is attached and the adjacent arm of the arm are connected by an inclined joint, There may be a problem that the arm speed of the tip arm becomes relatively slow. That is, one of the advantages of having a tilted joint is an articulated robot composed of a biaxial or triaxial arm with a relatively low degree of freedom, and the possibility that the tilted axis faces the vertical plane when the arm is operated is extremely low. Since the torque applied to the motor can be reduced by using the inclined shaft, it is possible to use a motor with low torque performance. However, when the seven-axis joint structure is used as in the robot or manipulator described above, the tilt axis may be a vertical plane depending on the orientation of the other axes, and in this case, the tilt plane that constitutes the tilt joint portion. As the arm rotates, the same torque performance as that required for the vertical plane is required. Therefore, in addition to requiring a motor having a relatively high torque performance, since it is an inclined joint, in order for the arm to be bent 90 degrees, it must be rotated 180 degrees along the inclined surface and rotated in the vertical direction. There arises a problem that it takes twice as long as the movable arm to rotate 90 degrees.

  The present invention has been made in view of the above-described problems, and has a wide range of motion as much as possible, and an articulated robot capable of making the operating speed of the entire articulated arm as high as possible. The purpose is to provide.

  In order to achieve the above object, an articulated robot according to the present invention is an articulated robot having a plurality of articulated arms connected to each other, the joint arms being connected to each other via a first turning axis, Each having at least one place connected via a second turning axis inclined with respect to one turning axis, and a motor and a speed reducer for driving each turning axis are provided for each turning axis. In the mounted articulated robot, the articulated robot further includes a third rotation axis that rotates in a direction orthogonal to the first rotation axis, and the rotation axis also includes a motor and A reduction gear is mounted.

  The articulated robot of the present invention includes a first turning axis having a turning axis directed in an arbitrary direction, an inclined axis inclined at an arbitrary angle with respect to the first turning axis, and the first turning axis. In other words, the robot is an articulated robot provided with one or a plurality of third rotation axes that can rotate in the vertical direction. The angle of the tilt axis can be set to, for example, about 30 to 60 degrees with respect to the first swing axis. Furthermore, when there are a plurality of second swing axes, the tilt angle is different for each swing axis. Different combinations may be used. Further, even when the inclination angles of the plurality of second turning axes are the same, the inclination direction of the inclination axes is inclined in the same direction or opposite to the turning axis inclined in the same direction in a front view. The form can be set as appropriate, such as an embodiment composed of a combination of pivot axes inclined in the direction.

  A motor and a speed reducer having appropriate torque performance and rotational performance are built in each turning shaft and rotating shaft. Since the first swivel shaft is a swivel shaft that rotates about the same axis with respect to the connected arm to which the arm is connected, for example, the first swivel shaft has a spargy gear that meshes with the rotation gear of the output shaft of the motor. And an arm is rotatably connected to the reduction gear. On the other hand, the second swivel axis has an arm and a connected arm to which the arm is connected connected to the arm axis at a predetermined inclination angle, so that the motor has an inclination angle in the connected arm. Similarly to the above, the arm can be rotatably connected via a speed reducer via a spur gear that meshes with the rotation gear of the motor output shaft. It is desirable to use a controllable servo motor as the motor.

  The closer the swivel or rotation axis that constitutes each joint is to the legs of the articulated robot (the connection part when the articulated robot is connected to the horizontal floor surface, horizontal ceiling surface, or wall surface), the larger the scale. In general, a motor with high output performance is applied, and the articulated robot of the present invention is no exception. Here, when the first pivot axis is in the vertical direction, the second pivot axis rotates at a predetermined inclination angle with respect to the second pivot axis, so that the torque applied to the motor is reduced. For example, when the tilt angle is 45 degrees, the torque is 1 / √2 times.

  The articulated robot of the present invention has an arm structure that further includes a third rotation axis in addition to the first rotation axis and the second rotation axis. The third rotation shaft has a shaft structure that rotates in a direction orthogonal to the first rotation shaft, and the mounting site (which joint is applied to among the plurality of joints) is In various operating postures of the articulated arm, the connection surface between the arms is applied to a portion that is highly likely to be a vertical surface or a substantially vertical surface. In such a part, since the torque applied to the motor is not reduced as described above, there is actually no reduction in the torque applied to the motor as described above even if the second turning shaft is applied. A relatively large scale motor will be applied. In such a part, even if the second swivel axis is applied as it is, the applied motor cannot be reduced in scale, and it is an inclined axis, for example, 90 degrees with respect to the first swivel axis. In order to operate the arm in the direction of falling, it must be rotated 180 degrees along the inclined surface. On the other hand, by applying a joint structure that rotates in a direction orthogonal to the first pivot axis to such a part, it is possible to obtain an arm operating speed that is twice that of the tilt axis.

  According to the articulated robot of the present invention, the first swivel axis and the second swivel axis having a predetermined inclined surface with respect to the first swivel axis are provided. By providing a configuration with a third pivot shaft that pivots in a direction orthogonal to the first pivot axis instead of the second pivot axis, the portion of the articulated arm has The operating speed (response speed) can be made as high as possible.

  Note that the tip structure of the articulated arm is a rotatable wrist mechanism as described above, and is configured such that a required tool hand such as a welding gun or a gripping tool can be attached.

  In another embodiment of the articulated robot according to the present invention, the first turning axis is an axis oriented in the vertical direction, and the second turning axis is 45 degrees with respect to the first turning axis. It is characterized by comprising an inclined pivot axis.

  The legs of the articulated robot are preferably connected to a horizontal floor surface or a horizontal ceiling surface by bolting or the like. In that case, the first pivot axis is an axis oriented in the vertical direction. On the other hand, by making the second turning axis a 45-degree inclined axis (when there are a plurality of second turning axes, all of them are set to 45 degrees), an element for reducing the torque applied to the motor ( Both the miniaturization of the motor) and the element that improves the response speed until the arm assumes a predetermined posture can be set as the optimum conditions.

  Further, as another embodiment of the articulated robot according to the present invention, the following articulated robot having a seven-axis structure can be applied.

  One of them is that the fixed base and the first arm are connected via the first pivot axis, and the first arm and the second arm are connected via the second pivot axis, The second arm and the third arm are connected via a second pivot axis, and the third arm and the fourth arm are connected via a second pivot axis, The fifth arm is connected via the first pivot axis, the fifth arm and the sixth arm are connected via the third pivot axis, and the tool hand is connected to the sixth arm. It is an articulated robot connected via a first turning axis.

  The other is that the fixed base and the first arm are connected to each other via the first pivot shaft in the vertical direction, and the first arm and the second arm are coupled to each other via the second pivot shaft. The second arm and the third arm are connected via a second pivot axis, and the third arm and the fourth arm are connected via a third pivot axis. The fourth arm and the fifth arm are connected via the first pivot axis, the fifth arm and the sixth arm are connected via the second pivot axis, This is an articulated robot in which a tool hand is connected to the arm of the robot via a first turning axis. Here, the fourth arm and the fifth arm, and the sixth arm and the tool hand are connected to each other via the first turning shaft. The first turning shaft here is a fixed base. And the first swivel shaft extending in the vertical direction connecting the first arm and the first arm, the fifth arm rotates in a plane perpendicular to the axial direction of the fourth arm, and It means that the tool hand rotates in a plane perpendicular to the axial direction of the arm, and it goes without saying that the first turning axis is not fixed in the vertical direction. The same applies to the embodiments described below. In addition, in a multi-joint robot having a seven-axis structure, a configuration in which the first pivot axis is provided between the fourth arm and the fifth arm that are relatively close to the tool hand at the tip can be used as another configuration. In comparison, it has been proved by trial experiments by the inventors that the operating range of the arm can be expanded and the operating speed of the arm can be increased.

  In yet another embodiment, the fixed base and the first arm are connected to each other via a first pivot shaft in the vertical direction, and the first arm and the second arm are coupled to each other via a second pivot shaft. The second arm and the third arm are connected via a second pivot axis, and the third arm and the fourth arm are connected via a third pivot axis. The fourth arm and the fifth arm are connected via a first pivot axis, and the fifth arm and the sixth arm are connected via a third pivot axis, This is an articulated robot in which a tool hand is connected to a sixth arm via a first turning axis.

  In yet another embodiment, the fixed base and the first arm are connected to each other via a first pivot shaft in the vertical direction, and the first arm and the second arm are coupled to each other via a second pivot shaft. The second arm and the third arm are connected via a third rotating shaft, and the third arm and the fourth arm are connected via a third rotating shaft. The fourth arm and the fifth arm are connected via the first pivot axis, and the fifth arm and the sixth arm are connected via the second pivot axis, This is an articulated robot in which a tool hand is connected to a sixth arm via a first turning axis.

  In yet another embodiment, the fixed base and the first arm are connected to each other via a first pivot shaft in the vertical direction, and the first arm and the second arm are coupled to each other via a second pivot shaft. The second arm and the third arm are connected via a third rotating shaft, and the third arm and the fourth arm are connected via a second rotating shaft. The fourth arm and the fifth arm are connected via a first pivot axis, and the fifth arm and the sixth arm are connected via a third pivot axis, This is an articulated robot in which a tool hand is connected to a sixth arm via a first turning axis.

  In yet another embodiment, the fixed base and the first arm are connected to each other via a first pivot shaft in the vertical direction, and the first arm and the second arm are coupled to each other via a second pivot shaft. The second arm and the third arm are connected via a third rotating shaft, and the third arm and the fourth arm are connected via a third rotating shaft. The fourth arm and the fifth arm are connected via the first pivot axis, and the fifth arm and the sixth arm are connected via the third pivot axis. A multi-joint robot in which a tool hand is connected to a sixth arm via a first turning axis.

  Further, as another embodiment of the articulated robot according to the present invention, an articulated robot having an axis structure of 8 axes or more may be used. One of a shaft, a second turning shaft, and a third rotation shaft, or a plurality of shafts are further provided.

  By increasing the shaft structure, it becomes possible to increase the speed required to shift to a predetermined articulated arm posture, but as the shaft structure increases, the control becomes complicated and the manufacturing cost increases. Therefore, it is preferable to apply an articulated robot having an appropriate number of degrees of freedom according to the operating speed of the articulated arm required for the production line.

  As can be understood from the above description, according to the articulated robot of the present invention, the first swivel axis and the second swivel axis having a predetermined inclined surface with respect to the first swivel axis are provided, and the articulated arm is operated. A configuration including a third rotation shaft that rotates in a direction orthogonal to the first rotation axis instead of the second rotation axis at a portion where the joint surface is likely to be about 90 degrees in the posture. By doing so, the operating speed (response speed) of the articulated arm can be made as high as possible. Further, according to the articulated robot of the present invention, the shaft structure has seven or more axes in which the first rotation axis, the second rotation axis, and the third rotation axis are appropriately combined, and the first rotation axis is By setting the axis in the vertical direction and setting the second pivot axis in the direction of 45 degrees relative to the first pivot axis, it is possible to reduce the motor size by reducing the torque applied to the motor. And the response speed until the arm assumes a predetermined posture can be increased as much as possible.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing an embodiment of the articulated robot of the present invention, FIG. 2 is a first II-II arrow view, and FIG. 3 is a first pivot axis structure. FIG. 4 is a schematic diagram showing the structure of the second pivot shaft, and FIG. 5 is a schematic diagram showing the structure of the third pivot shaft. FIG. 6A is a schematic diagram showing the torque acting on the second turning shaft and the rotation state, and FIG. 6B is a schematic diagram showing the torque acting on the third rotation shaft and the rotation state. . FIG. 7 is a view showing an analysis result comparing the operation ranges of the conventional articulated robot and the articulated robot of the present invention when the end face of the sixth arm is sideways, and FIG. 8 shows the end face of the sixth arm facing downward. FIG. 9 is a view showing an analysis result comparing the operation ranges of the conventional articulated robot in the case of FIG. 9 and the articulated robot of the present invention. FIG. 9 shows the conventional articulated robot and the present invention in the case where the end face of the sixth arm is upward. The figure which shows the analysis result which compared the action | operation range of multiple articulated robots is shown, respectively. 10 to 14 are schematic views showing other embodiments of the articulated robot of the present invention. The articulated robot shown in the figure has a configuration in which a fixed base is attached to the horizontal floor surface, but the articulated robot may have a configuration in which the articulated robot is attached to a horizontal ceiling surface or a wall surface. In addition to the articulated robot having the 7-axis structure shown in the figure, it is needless to say that an articulated robot having an axis structure of 8 or more axes may be used.

  FIG. 1 shows an embodiment of an articulated robot having a seven-axis structure. In this articulated robot 10, a fixed base 1 fixed to a horizontal floor surface with bolts B, B,... And a first arm 2 are connected by a turning shaft 11 around a vertical direction. The arm 2 is connected to the second arm 3 by a turning shaft 21 orthogonal to an inclined surface inclined by 45 degrees with respect to the vertical axis. The second arm 3 and the third arm 4 are also similar turning shafts 31. The third arm 4 and the fourth arm 5 are connected by a turning shaft 41 opposite to the turning shafts 21 and 31 while being inclined at 45 degrees, and the fourth arm 5 is connected to the fourth arm 5. And the fifth arm 6 are connected to each other by a turning shaft 51 around the vertical direction. The fifth arm 6 and the sixth arm 7 are configured so that the sixth arm 7 is 90 relative to the fifth arm 6. It is connected by a rotation shaft 61 that can be rotated about a degree, and the end of the sixth arm 7 is not a welding gun or a gripping tool. Required tools hand 8 is rotatably connected around the axis of the arm 7 in the sixth. An appropriate motor such as a servo motor is built in the lower arm between the connected arms, and the rotation of the output shaft of the servo motor is transmitted to an appropriate gear, and the rotation of the gear is transmitted to a reduction gear 94 shown in the figure. Thus, the upper arm is configured to rotate or rotate by converting it into a predetermined torque. The pivot axes 11, 51, 71 are the first pivot axes described above, the pivot axes 21, 31, 41 are second pivot axes, and the pivot axis 61 is a third pivot axis. Each arm is formed from a steel material or a hard resin material. In addition, each inclined turning axis may be set to an appropriate angle other than 45 degrees with respect to the lower arm, and a plurality of inclined turning axes may be set to different inclination angles.

  As shown in FIG. 2 showing the II-II arrow view of FIG. 1, the sixth arm 7 can be rotated about 90 degrees with respect to the axial direction of the fifth arm 6 ( As will be described later, by using an articulated robot (arm) provided with such a rotation axis, the response speed can be increased as compared with a conventional articulated robot.

  3 to 5 are schematic views illustrating in detail the structure of each of the above-described swiveling axes (rotating axes). FIG. 3 shows the structure of the turning shaft 51 (first turning shaft). A servo motor 91 is built in the fourth arm 5, and a motor gear 92 mounted on the output shaft and a spur gear 93 that meshes with the motor 92 and rotates. The spur gear 93 is connected to a speed reducer 94 and reduces the motor rotation speed to a predetermined rotation speed and converts it to a predetermined torque. The fifth arm 6 rotates around the axis of the fourth arm 5 according to the rotation of the speed reducer 94 (X direction).

  On the other hand, FIG. 4 shows the structure of the turning shaft 41 (second turning shaft). The turning shaft 41 forms a rotating shaft inclined at 45 degrees with respect to the axial center direction of the third arm 4, and the servo motor 91 is built in the posture inclined at 45 degrees inside the third arm 4. A spar gear 93 that meshes with the motor gear 92 and rotates is incorporated. The spur gear 93 rotates the fourth arm 5 on the inclined surface via the speed reducer 94 (X direction).

  FIG. 5 shows the structure of the rotation shaft 61 (third rotation shaft). A servo motor 91 is built in the fifth arm 6, and a bevel gear 95 is attached to the output shaft of the servo motor 91, and a separate rotation for converting the rotation of the bevel gear 95 in a direction orthogonal to the motor shaft is provided. A reduction gear 94 is rotatably attached to the bevel gear 96, and the sixth arm 7 is rotated via the reduction gear 94 (X direction). By applying the bevel gear as in the present embodiment, the servo motor 91 can be accommodated in the arm, and the servo motor can be prevented from protruding out of the arm and becoming an obstacle during work.

  Here, based on FIG. 6, the torque which acts on both the above-mentioned 2nd rotating shaft and 3rd rotating shaft and a rotation aspect thru | or a rotation aspect are compared. FIG. 6a is a diagram simulating the rotation mode of the second swivel shaft that constitutes the tilt joint, but the arm length (L) on which the torque acts is reduced to L cos θ with respect to the tilt angle θ. When the weight supported by the arm is W, the torque acting on the turning shaft when the upper arm turns 180 degrees (X direction) is W · L cos θ.

  On the other hand, FIG. 6B is a diagram simulating the rotation mode of the third rotation shaft in which the upper arm rotates 90 degrees with respect to the lower arm shaft. Similarly, when the length of the arm on which the torque acts is L and the weight supported by the arm is W, the torque acting on the rotation shaft when the upper arm rotates 90 degrees (X direction) is W · L It becomes.

  In the operating posture of the articulated robot arm, when there is no possibility that the end face of the lower arm in the inclined joint shown in FIG. 6a is oriented in the vertical direction, the torque acting on the turning axis is reduced as described above. Therefore, a relatively small servo motor can be applied. However, if there is a possibility that the end surface of the lower arm is oriented in the vertical direction or a direction close thereto, the torque cannot be reduced and the servo motor cannot be reduced in size. On the other hand, if the swivel shaft of FIG. 6a tries to take a posture similar to the posture in which the swivel shaft shown in FIG. 6b is swung by 90 degrees, the swivel shaft of FIG. In addition to being unable to reduce the scale, the operating speed is halved.

  Therefore, in the articulated robot of the present invention, the third rotation axis (inclination axis) is used instead of the second rotation axis (inclination axis) at a portion where the arm end surfaces connecting the arms may face in the vertical direction. By applying an axis that rotates about 90 degrees with respect to the axial direction of the lower arm, the operating speed of the arm can be increased as much as possible. However, it is not necessary to use all the parts where the arm end faces connecting the arms may face in the vertical direction as the third rotation axis, depending on the operation range and operation speed required for the articulated robot arm, What is necessary is just to set it as the structure provided with the 3rd rotating shaft in the appropriate joint site | part.

  7 to 9 are diagrams showing analysis results comparing the operating range of the articulated robot arm with that of the conventional articulated robot arm according to the posture state of the sixth arm end surface. Here, the conventional articulated robot arm is an articulated robot developed by the inventors and disclosed in Patent Document 1 described above. This articulated robot is a seven-axis robot arm in which an inclination axis and a horizontal axis are alternately combined.

  FIG. 7 is a comparative view in the case where the sixth arm end face is in the horizontal direction, and the articulated robot A indicated by a two-dot chain line in the drawing is a conventional example. In the figure, a range X indicated by diagonal lines is an operation range of the articulated robot 10 of the present invention, and a range Y indicated by diagonal lines in the opposite direction is an operation range of the conventional articulated robot A. As is apparent from the figure, as in the articulated robot of the present invention, the operating range is widened by appropriately combining the first rotation axis and the second rotation axis with the third rotation axis. It can be.

  On the other hand, FIG. 8 shows a comparative analysis result when the sixth arm end face is facing downward, and FIG. 9 shows a comparative analysis result when the sixth arm end face is facing upward. According to FIG. 8, it can be seen that the downward operation range is wide, and according to FIG. 9, in the operation range from the posture in which the arm joint is bent to the posture in which the arm joint extends upward (Z direction), It can be seen that the operating range is wide.

  10 to 14 show still another embodiment of the articulated robot of the present invention. An articulated robot 10 </ b> A shown in FIG. 10 is an embodiment in which a third rotation axis is provided between the third arm 4 and the fourth arm 5. The articulated robot 10B shown in FIG. 11 is provided with a third rotation shaft at two locations between the third arm 4 and the fourth arm 5 and between the fifth arm 6 and the sixth arm 7. Embodiment.

  The articulated robot 10 </ b> C shown in FIG. 12 is provided with a third rotation axis at two locations between the second arm 3 and the third arm 4 and between the third arm 4 and the fourth arm 5. Embodiment. An articulated robot 10D shown in FIG. 13 is provided with a third rotation axis at two locations between the second arm 3 and the third arm 4 and between the fifth arm 6 and the sixth arm 7. Embodiment.

  Further, the articulated robot 10E shown in FIG. 14 has a third rotation axis between the second arm 3 and the third arm 4, between the third arm 4 and the fourth arm 5, and 5 is an embodiment provided in three places between the arm 6 and the sixth arm 7.

  Each of the above-described embodiments has a wider operating range and higher operating speed than conventional articulated robots with a seven-axis structure, but the operating range and operating speed differ for each embodiment. When applied to a production line or the like, it is preferable to select appropriately according to the type of product to be manufactured and the operating range and speed required for the production booth.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. They are also included in the present invention. For example, the multi-joint robot having the seven-axis structure described above further includes eight or more axes further including any one or a plurality of axes of a first rotation axis, a second rotation axis, and a third rotation axis. An articulated robot having a structure may be used.

The schematic diagram which showed one Embodiment of the articulated robot of this invention. 1st II-II arrow directional view. The schematic diagram which showed the structure of the 1st turning axis. The schematic diagram which showed the structure of the 2nd turning axis. The schematic diagram which showed the structure of the 3rd rotating shaft. (A) is the schematic diagram which showed the torque and rotation condition which act on a 2nd turning axis, (b) is the schematic diagram which showed the torque and rotation condition which act on a 3rd rotating shaft. . The figure which shows the analysis result which compared the operating range of the conventional articulated robot and the articulated robot of this invention in case the 6th arm end surface is sideways. The figure which shows the analysis result which compared the operating range of the conventional articulated robot in case the 6th arm end surface is facing down, and the articulated robot of this invention. The figure which shows the analysis result which compared the operating range of the conventional articulated robot in case the 6th arm end surface is upward, and the articulated robot of this invention. The schematic diagram which showed other embodiment of the articulated robot of this invention. The schematic diagram which showed other embodiment of the articulated robot of this invention. The schematic diagram which showed other embodiment of the articulated robot of this invention. The schematic diagram which showed other embodiment of the articulated robot of this invention. The schematic diagram which showed other embodiment of the articulated robot of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Fixed stand, 11 ... Turning axis, 2 ... 1st arm, 21 ... Turning axis, 3 ... 2nd arm, 31 ... Turning axis (rotating axis), 4 ... 3rd arm, 41 ... Turning axis (Rotation axis), 5 ... fourth arm, 51 ... pivot axis, 6 ... fifth arm, 61 ... pivot axis (rotation axis), 7 ... sixth arm, 71 ... pivot axis, 8 ... tool Hand, 91 ... Servo motor, 92 ... Motor gear, 93 ... Spur gear, 94 ... Reducer, 95, 96 ... Bevel gear, 10A, 10B, 10C, 10D, 10E ... Articulated robot

Claims (9)

A multi-joint robot having a plurality of articulated arms connected to each other, wherein the joint arms are connected to each other via a first turning axis, and a second turning axis inclined with respect to the first turning axis. In the articulated robot having at least one location connected via each of which the motor and the speed reducer for driving each pivot axis are mounted for each pivot axis,
The multi-joint robot further includes a third rotation shaft that rotates in a direction orthogonal to the first rotation axis, and the multi-joint on which the motor and the speed reducer are mounted. robot.   The first swivel axis is an axis oriented in the vertical direction, and the second swivel axis is a swivel axis inclined at 45 degrees with respect to the first swivel axis. The articulated robot described.   The fixed base and the first arm are connected via a first pivot axis, and the first arm and the second arm are connected via a second pivot axis, and the second arm and the first arm are connected to each other. The third arm is connected via the second pivot axis, the third arm and the fourth arm are connected via the second pivot axis, and the fourth arm and the fifth arm are The fifth arm and the sixth arm are connected via a third pivot axis, and the tool hand is connected to the sixth arm via the first pivot axis. The articulated robot according to claim 1, wherein the articulated robot is configured in a seven-axis structure connected via a cable.   The fixed base and the first arm are connected to each other via a first pivot axis in the vertical direction, and the first arm and the second arm are connected to each other via a second pivot axis. The arm and the third arm are connected via a second pivot axis, and the third arm and the fourth arm are connected via a third pivot axis, and the fourth arm and the third arm are connected to each other. The fifth arm is connected via the first pivot axis, the fifth arm and the sixth arm are connected via the second pivot axis, and the tool hand is connected to the sixth arm by the first arm. The multi-joint robot according to claim 1, wherein the multi-joint robot is configured in a seven-axis structure that is connected via a swing axis.   The fixed base and the first arm are connected to each other via a first pivot axis in the vertical direction, and the first arm and the second arm are connected to each other via a second pivot axis. The arm and the third arm are connected via a second pivot axis, and the third arm and the fourth arm are connected via a third pivot axis, and the fourth arm and the third arm are connected to each other. The fifth arm is connected via a first pivot axis, the fifth arm and the sixth arm are connected via a third pivot axis, and a tool hand is connected to the sixth arm. The multi-joint robot according to claim 1 or 2, wherein the multi-joint robot is configured in a seven-axis structure connected via one turning axis.   The fixed base and the first arm are connected to each other via a first pivot axis in the vertical direction, and the first arm and the second arm are connected to each other via a second pivot axis. The arm and the third arm are connected via a third rotating shaft, and the third arm and the fourth arm are connected via a third rotating shaft, The fifth arm is connected via the first pivot axis, the fifth arm and the sixth arm are connected via the second pivot axis, and the tool hand is connected to the sixth arm. The multi-joint robot according to claim 1 or 2, wherein the multi-joint robot is configured in a seven-axis structure connected via one turning axis.   The fixed base and the first arm are connected to each other via a first pivot axis in the vertical direction, and the first arm and the second arm are connected to each other via a second pivot axis. The arm and the third arm are connected via a third pivot shaft, and the third arm and the fourth arm are connected via a second pivot shaft, and the fourth arm and the third arm are connected to each other. The fifth arm is connected via a first pivot axis, the fifth arm and the sixth arm are connected via a third pivot axis, and a tool hand is connected to the sixth arm. The multi-joint robot according to claim 1 or 2, wherein the multi-joint robot is configured in a seven-axis structure connected via one turning axis.   The fixed base and the first arm are connected to each other via a first pivot axis in the vertical direction, and the first arm and the second arm are connected to each other via a second pivot axis. The arm and the third arm are connected via a third rotating shaft, and the third arm and the fourth arm are connected via a third rotating shaft, The fifth arm is connected via the first pivot axis, the fifth arm and the sixth arm are connected via the third pivot axis, and the tool hand is connected to the sixth arm. 3. The articulated robot according to claim 1, wherein the articulated robot has a seven-axis structure connected via a first turning axis.   Between the fixed base and the tool hand, there is an axis structure of eight or more axes, further including one or a plurality of axes of the first pivot axis, the second pivot axis, and the third pivot axis. The articulated robot according to any one of claims 1 to 8, wherein

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