JP2013086200A - Dual-arm robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of enhancing a degree of freedom of an attitude which can be taken by a multi-joint arm when an end effector is arranged near a base.SOLUTION: The robot 10 has: a body 13 which is connected to a base portion 11 so as to be rotatable around a rotational axis line J0; and a pair of multi-joint arms 20 which are connected to both right and left sides of the body 13 with respect to the rotational axis line J0 so as to be rotatable around a rotational axis line J1 which is orthogonal to the rotational axis line J0. The body 13 has an offset portion 14 which makes the rotational axis line J1 offset with respect to the rotational axis line J0 in a direction which is orthogonal to both the rotational axis lines J0 and J1. The robot 10 makes the body 13 invert around the rotational axis line J0 to switch the arrangement of the rotational axis line J1 between a front side and a back side of the base portion 11, thereby switching a working area of the multi-joint arm 20 at the front side of the base portion 11 between a working area relatively close to the base portion 11 and a working area relatively far from the base portion 11.

Description

  The present invention relates to a dual-arm robot.

  In recent years, in the manufacturing industry, by introducing a robot having a multi-joint arm to an assembly line, a movement to automate a work performed by a worker on a work target has become active. For example, Patent Document 1 discloses a dual-arm robot having a multi-joint arm in which a plurality of arms are connected via a joint mechanism on the left and right sides of a body that is supported on a base body and is rotatable with respect to the base body. It is disclosed. Such a robot performs an operation corresponding to an end effector attached to the tip of an articulated arm on a work object placed in the work area of the robot.

JP 2007-118177 A

  By the way, the range of work performed by the worker on the assembly line is often not more than 300 mm away from the worker. And since such work is often performed by robots, the articulated arm is often folded so that its end effector is close to the robot body.

  On the other hand, in order for the end effector to be close to the base body in the robot described in Patent Document 1, it is necessary for each joint mechanism to project to the side surface side of the base body with an articulated arm. For this reason, when the end effector is disposed near the base, the degree of freedom of the rotation angle in each joint mechanism of the multi-joint arm is limited. The degree of freedom of posture that can be taken is greatly limited. Such a limitation becomes more prominent as the end effector is disposed closer to the base in the work area of the articulated arm. Therefore, in order to diversify the work that can be performed by the robot, there is a strong demand for a robot in which the degree of freedom of posture that can be taken by the multi-joint arm when the end effector is arranged near the base is increased.

  Such a request is also common to a robot in which each joint mechanism of the multi-joint arm takes a posture that overlaps on the front side of the robot when the end effector is disposed near the base.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot capable of increasing the degree of freedom of posture that can be taken by the multi-joint arm in a state where the end effector is disposed near the base. There is to do.

  The dual-arm robot of the present invention includes a body that is connected to a base body so as to be rotatable about a first rotation axis, and a pair of articulated joints that are connected to the body so as to be rotatable about a second rotation axis. The second rotation axis is separated from the extension of the first rotation axis, and faces each other across the first rotation axis by the rotation of the body. It has two matching arrangements.

  According to the double-arm robot of the present invention, the second rotation axis that is the rotation center of the pair of articulated arms is away from the extension of the first rotation axis that is the rotation center of the body, and therefore the first rotation axis is When the body rotates around the center of rotation, the second rotation axis rotates around the base. Since the second rotation axis has two arrangement states facing each other across the first rotation axis, in these two arrangement states, the work point and a pair of articulated joints with respect to one work point around the base body The distance between the arms will be different from each other.

  As a result, the end effector can be arranged at a position closer to the base body than a robot that does not have two arrangement states in which the second rotation axis faces each other across the first rotation axis. And since the arrangement of the end effector at a position close to the base body is realized by the rotation of the trunk, it is possible to suppress the degree of freedom of the rotation angle at each joint of the articulated arm from being restricted by such arrangement. Therefore, it is possible to increase the degree of freedom of posture that can be taken by the articulated arm in a state where the end effector is disposed near the base.

The double-arm robot has a control unit that controls the operation of the pair of articulated arms and the rotation of the body, and the control unit folds the articulated arm when the arrangement state changes.
According to this double-arm robot, the arrangement state of the second rotation axis transitions in a state where the multi-joint arm is folded, so that the torso is compared with the case where the arrangement state transitions in a state where the multi-joint arm is not folded. It is possible to reduce the volume around the double-arm robot that is required during rotation of the robot.

In this dual-arm robot, the control unit assumes that the maximum value of the operation speed and the maximum value of the acceleration of the articulated arm are different from each other in the two arrangement states.
Here, the center of gravity of the dual-arm robot moves by rotating the body relative to the base. For this reason, if the articulated arm is operated at the same operation speed and acceleration before and after the rotation of the body, the posture of the dual-arm robot may become unstable due to inertial force or the like accompanying the operation. In this regard, according to the above-described aspect, since the maximum values of the operation speed and the acceleration are different before and after the rotation of the trunk, the articulated arm can be operated in a form suitable for the center of gravity of the double-arm robot.

The dual-arm robot further includes a rotation restricting mechanism for restricting the rotation of the body relative to the base so as to be releasable.
According to this double-arm robot, since the rotation of the body is restricted by the rotation restriction mechanism, the arrangement state of the second rotation axis is fixed unless the restriction by the rotation restriction mechanism is released. Therefore, it becomes possible to improve the safety around the base body as the body and the pair of articulated arms rotate.

  In this double-arm robot, the articulated arm is connected to a shoulder part, an upper arm part, a forearm part, a wrist part, and a hand part to which an end effector is attached in order from the body side, and the forearm part is connected to the upper arm part. And the wiring is arranged inside the multi-joint arm, and the hand portion is bent and stretched by the forearm portion with respect to the upper arm portion, and the one side of the base body in the opposite direction of the second rotation axis. Move between the other side.

  Here, in the wiring arranged inside the multi-joint arm, the portion arranged on the distal end side of the multi-joint arm is arranged around the joint performing the bending and stretching operation with respect to the portion arranged on the body side. The wiring placed around the joint that performs the twisting operation is subjected to a larger mechanical load than the wiring. Therefore, if the hand part is moved between the front side and the rear side of the base body by a twisting operation, a large mechanical load is applied to the wiring arranged around the joint where the twisting operation is performed after the trunk is inverted. There is a risk that the subsequent work may be performed in a state in which the action is applied.

  In this regard, according to the above-described dual-arm robot, the torso bends and stretches with respect to the upper arm portion, so that the hand portion moves between one side and the other side of the base body, and thus the torso is rotated. Even so, it is possible to suppress the mechanical load received by the wiring arranged inside the multi-joint arm.

  In this dual arm robot, the forearm portion includes a first forearm member that bends and stretches with respect to the upper arm portion, and a second forearm member that is twisted with respect to the first forearm member, and the wrist portion includes A wrist member that bends and stretches with respect to the second forearm member; the hand portion includes a hand member that is twisted with respect to the wrist member; and a rotation axis of the hand member with respect to the wrist member is the first forearm When it is parallel to the rotation axis of the second forearm member relative to the member, it is disposed at a position offset with respect to the rotation axis.

  According to this double-arm robot, the rotation axis of the hand member is offset with respect to the rotation axis of the second forearm member, so that the end effector for the second forearm member is compared to a configuration in which such an offset is not provided. The degree of freedom with respect to the position of can be improved. Therefore, it is possible to increase the degree of freedom of posture that the articulated arm can take when placing the end effector not only in the region near the base but also in the target position.

  In the double-arm robot, in the multi-joint arm, the shoulder portion is a first shoulder member that is twisted by the second rotation axis with respect to the body, and a second shoulder member that bends and stretches with respect to the first shoulder member. The upper arm portion has an upper arm member that is twisted with respect to the second shoulder member.

  In this double-arm robot, the multi-joint arm includes a first shoulder member that is twisted with respect to the torso, a second shoulder member that bends and stretches with respect to the first shoulder member, and an upper arm member that is twisted with respect to the second shoulder member. A first forearm member that bends and stretches with respect to the upper arm member, a second forearm member that is twisted with respect to the first forearm member, a wrist member that flexes and stretches with respect to the second forearm member, and a twist with respect to the wrist member A multi-joint arm having a seven-axis configuration including a hand member to which an end effector is attached. As a result, the degree of freedom of posture that can be taken by the multi-joint arm when placing the end effector at the target position can be further increased as compared to the multi-joint arm having less than seven axes.

1 is a perspective view schematically showing the overall structure of a double-arm robot according to an embodiment of the present invention. It is a rear view which shows the back structure of a robot, Comprising: The figure which expanded and showed the connection part of a base part and a trunk | drum. It is a side view which shows the side structure of a robot, Comprising: The figure for demonstrating folding operation | movement of an articulated arm. It is a side view which shows the side structure of a robot, Comprising: (a) (b) The figure for demonstrating folding operation | movement of an articulated arm, (c) The figure which shows the robot immediately after inversion operation | movement. It is a figure which shows the side structure of a robot, Comprising: (a)-(c) The figure for demonstrating the hand part movement operation | movement of an articulated arm. It is a figure which shows typically the work area | region of the articulated arm in the front side of a base part, (a) The figure which shows a work area when the offset part is arrange | positioned in a front position, (b) The offset part is a back surface The figure which shows a work area when arrange | positioned in the position.

Hereinafter, an embodiment of a robot according to the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the double-arm robot 10 (hereinafter simply referred to as the robot 10) has a multistage cylindrical base portion 11 fixed to a gantry (not shown). Is installed so that the front side of the head faces the work table WB. The operation of the robot 10 is controlled by a control device 5 (control unit) that is disposed in the base unit 11 and controls the robot 10 in an integrated manner. The control device 5 is input with the work conditions of the robot 10 by the user via an input / output device (not shown). The robot 10 acquires information such as the position of the work object W placed on the work table WB based on the imaging data of the camera CA fixed to a fixing member (not shown) above the work table WB. . Then, the robot 10 performs work according to the work condition based on the information such as the position of the work object W based on the captured image of the camera CA and the work condition input by the user via the input / output device. Is performed on the work target W.

  The upper end of the base portion 11 is connected to a body 13 that is rotatable about a rotation axis J0 extending in the vertical direction with respect to the base portion 11 via a joint mechanism 12 having a servo motor (not shown). . The body 13 has a pair of left and right multiples that can rotate with respect to the body 13 around a rotation axis J1 orthogonal to the rotation axis J0 via joint mechanisms (not shown) disposed in the body 13 on both left and right sides. The joint arm 20 is connected.

  The body 13 has an offset portion 14 that is orthogonal to the rotation axis J0 and the rotation axis J1 and offsets the rotation axis J1 with respect to the rotation axis J0 on the front side of the base portion 11. The offset portion 14 has a base end portion 14a connected to the base portion 11 via the joint mechanism 12, and an arm connecting portion 15 to which a pair of left and right multi-joint arms 20 are connected to the distal end portion 14b. ing.

  The offset portion 14 is a front position where the tip portion of the offset portion 14 is disposed on the front side of the base portion 11, or the offset portion 14 at the front position is rotated by 180 ° about the rotation axis J0 to be the offset portion. The 14 tip portions 14 b are arranged at the back position where the tip portions 14 b are arranged on the back side of the base portion 11. That is, the rotation axis J1 is disposed so as to face each other across the rotation axis J0 by the rotation of the offset portion 14. Then, the robot 10 switches the arrangement of the offset portion 14 between the front position and the back position, so that the work area of the articulated arm 20 on the front side of the base part 11 is a work area relatively far from the base part 11. It switches to the work area 42 relatively close to 41 (see FIG. 6). The robot 10 shown in FIG. 1 shows a basic posture when the offset unit 14 is disposed at the front position.

  Further, as shown in FIG. 2, the base portion 11 is provided with a pair of restricting pieces 17 that can be projected and retracted from the upper surface of the base portion 11, and the restricting pieces 17 are fitted into the offset portion 14. A possible pair of restriction holes 18 are formed. The pair of restricting pieces 17 are disposed on the base portion 11 in concentric circles with the rotation axis J0 as the center and symmetrical with respect to the rotation axis J0 in the direction along the rotation axis J1. The pair of restricting holes 18 are also arranged on the offset portion 14 on concentric circles with the rotation axis J0 as the center and symmetrical with respect to the rotation axis J0 in the direction along the rotation axis J1. Has been. That is, the robot 10 is configured such that the restriction piece 17 can be inserted into the restriction hole 18 regardless of whether the offset part 14 is arranged at the front position or the rear position, and the rotation of the offset part 14 is restricted. It is regulated by the engagement between the piece 17 and the regulation hole 18. In the present embodiment, the rotation restricting mechanism is constituted by the restricting piece 17 and the restricting hole 18.

  Next, the configuration of the articulated arm 20 included in the robot 10 will be described. Since the articulated arm 20 connected to both the left and right sides is symmetrical with respect to the body 13, the front side of the page in FIG. The left articulated arm 20 disposed on the left side will be described, and the description of the right articulated arm 20 disposed on the back side of the drawing will be omitted.

  As shown in FIG. 1, the arm connecting portion 15 of the body 13 has a base end of a first shoulder member 21 that is rotatable with respect to the arm connecting portion 15 around the rotation axis J <b> 1 as a joint mechanism (not shown). It is connected through. In this joint mechanism, the first shoulder member 21 is twisted with respect to the body 13 by rotating the first shoulder member 21 about the rotation axis J1.

  A second shoulder member 22 that is rotatable with respect to the first shoulder member 21 about a rotation axis J2 orthogonal to the rotation axis J1 is connected to the tip of the first shoulder member 21 via a joint mechanism 32. . The joint mechanism 32 rotates the second shoulder member 22 around the rotation axis J <b> 2 to bend and stretch the second shoulder member 22 with respect to the first shoulder member 21.

  An upper arm member 23 that is rotatable with respect to the second shoulder member 22 about a rotation axis J3 orthogonal to the rotation axis J2 is connected to the second shoulder member 22 via a joint mechanism 33. The joint mechanism 33 rotates the upper arm member 23 around the rotation axis J <b> 3 and twists the upper arm member 23 with respect to the second shoulder member 22.

  A first forearm member 24 that is rotatable with respect to the upper arm member 23 about a rotation axis J4 orthogonal to the rotation axis J3 is connected to a distal end portion of the upper arm member 23 via a joint mechanism 34. The first forearm member 24 has a long shape extending toward the front side of the robot 10 in the basic posture, and a base end portion thereof is coupled to the base portion 11 side of the joint mechanism 34. The joint mechanism 34 rotates the first forearm member 24 about the rotation axis J4 to bend and extend the first forearm member 24 with respect to the upper arm member 23.

  A second forearm member 25 that is rotatable with respect to the first forearm member 24 about a rotation axis J5 orthogonal to the rotation axis J4 is connected to the distal end portion 24a of the first forearm member 24 via a joint mechanism 35. ing. The joint mechanism 35 rotates the second forearm member 25 around the rotation axis J <b> 5 and twists the second forearm member 25 with respect to the first forearm member 24.

  A wrist member 26 that is rotatable with respect to the second forearm member 25 about a rotation axis J6 orthogonal to the rotation axis J5 is connected to the second forearm member 25 via a joint mechanism 35. The joint mechanism 35 rotates the wrist member 26 around the rotation axis J <b> 6 to bend and extend the wrist member 26 with respect to the second forearm member 25.

  A connecting member 27 that is rotatable with respect to the wrist member 26 about a rotation axis J7 in a direction orthogonal to the rotation axis J6 is connected to the distal end portion 26a of the wrist member 26 via a joint mechanism 37. A hand member 28 is fixed to the connecting member 27, and an end effector corresponding to an operation to be performed by the robot 10 is attached to the hand member 28. The joint mechanism 37 rotates the connecting member 27 around the rotation axis J <b> 7 and twists the hand member 28 with respect to the wrist member 26.

  Further, the wrist member 26 is formed so that when the rotation axes J5 and J7 of the joint mechanisms 35 and 37 that perform the twisting operation are parallel, the rotation axes J5 and J7 are arranged at positions offset from each other. Yes. In the present embodiment, the wrist member 26 is rotated approximately 180 ° downward about the rotation axis J5, whereby the joint mechanism 37 and the hand member 28 are disposed directly below the joint mechanism 35 as shown in FIG. The wrist member 26 is formed so as to be possible.

  Here, in a configuration in which no offset is provided, that is, in a configuration in which the rotation axis J5 in the joint mechanism 35 and the rotation axis J7 in the joint mechanism 37 are parallel, the rotation axes J5 and J7 are arranged on the same straight line. If the rotation axis J7 is rotated about 180 ° with respect to the rotation axis J5 from the parallel state, the hand member 28 and the like interfere with the first forearm member 24 in the middle. That is, by providing the offset, the rotation axis J7 of the joint mechanism 37 can be rotated approximately 180 ° from the parallel state with respect to the rotation axis J5 of the joint mechanism 35.

  As a result, the degree of freedom regarding the relative position of the hand member 28 with respect to the first forearm member 24 can be improved. In other words, when the hand member 28 is arranged at a specific position, the degree of freedom of the first forearm member 24 is improved, and accordingly, the degree of freedom of the posture of the articulated arm 20 is improved. In the present embodiment, the rotation axis J7 is configured to be rotatable about 180 °, but the above-described effects can be obtained as long as the rotation axis J7 can be rotated at least 150 °.

  The twisting operation between two different members means that the distance between the proximal end of one member on the body side and the distal end of the other member changes when the two members move relative to each other on the joint axis. There is no behavior. For example, when the second shoulder member 22 and the upper arm member 23 move relative to each other along the rotation axis J3 that is a joint axis, the distance between the proximal end of the second shoulder member 22 and the upper arm member 23 is maintained. That is, between the second shoulder member 22 and the upper arm member 23, the upper arm member 23 is twisted around the rotation axis J3.

  On the other hand, the bending and stretching operation between two different members is the distance between the base end of one member on the body side and the tip of the other member when the two members move relatively on the joint axis. Is an action that changes. For example, when the upper arm member 23 and the first forearm member 24 move relative to each other along the rotation axis J4 that is a joint axis, the distance between the proximal end of the upper arm member 23 and the distal end of the first forearm member 24 changes. That is, between the upper arm member 23 and the first forearm member 24, the first forearm member 24 bends and stretches with respect to the upper arm member 23 along the rotation axis J4.

  In addition, the wiring for transmitting and receiving various signals between the control device 5 in the base portion 11 and the servo motors disposed in each joint mechanism is a flexible cylindrical pipe member 40. Of being passed through. The piping member 40 is routed to the joint mechanism disposed on the distal end side through the joint mechanism disposed on the body side. The piping member 40 is basically disposed inside the articulated arm 20, although a part of the piping member 40 is exposed outside the articulated arm 20, for example, a part connecting the joint mechanism 34 and the joint mechanism 35.

Next, an example of the operation of the robot 10 having the above-described configuration will be described with reference to FIGS. 3 to 5, the piping member 40 is omitted.
When the robot 10 performs an operation on the work target W at a position close to the base portion 11, the robot 10 moves the work area on the front side of the base portion 11 from the work area 41 relatively far from the base portion 11. A switching operation for switching to the near work area 42 is executed.

  In this switching operation, a folding operation for folding the articulated arm 20, a reversing operation for rotating the offset portion 14 by 180 ° about the rotation axis J 0, and a hand for moving the hand member 28 from the back side to the front side of the base portion 11. The part moving operation is performed continuously.

  In the folding operation, the robot 10 first returns the posture of the robot 10 to the basic posture shown in FIG. As shown in FIG. 3, the robot 10 rotates the wrist member 26 downward about the rotation axis J <b> 6 and arranges the joint mechanism 37 and the hand member 28 directly below the joint mechanism 35.

  Subsequently, as shown in FIG. 4A, the robot 10 rotates the first forearm member 24 toward the front side of the base portion 11 with respect to the upper arm member 23 around the rotation axis J <b> 4. The forearm member 24 is brought close to the upper arm member 23.

  Then, as shown in FIG. 4B, the robot 10 rotates the first shoulder member 21 around the rotation axis J1 so that the rotation axis J4 approaches the rotation axis J0. Thereby, the folding operation ends.

  When the folding operation is completed, the robot 10 performs a reversing operation for rotating the offset unit 14 about the rotation axis J0. In the reversing operation, the robot 10 first immerses each regulating piece 17 into the base portion 11 and releases the engagement between the regulating piece 17 and the regulating hole 18. Subsequently, as shown in FIG. 4C, the robot 10 rotates the offset portion 14 by 180 ° around the rotation axis J <b> 0, and then causes each regulating piece 17 to protrude again from the base portion 11 to rotate. Each restriction piece 17 is engaged with a restriction hole 18 different from the previous one. Thereby, the reversing operation is completed.

  When the reversal operation is completed, the robot 10 performs a hand movement operation to move the hand member 28 from the back side to the front side of the base unit 11. As shown in FIG. 5A, the robot 10 first rotates the first forearm member 24 relative to the upper arm member 23 about the rotation axis J4 so that the first forearm member 24 moves. The first forearm member 24 is disposed so as to extend toward the front side of the base portion 11. Subsequently, as shown in FIG. 5B, the robot 10 rotates the wrist member 26 around the rotation axis J6 with respect to the second forearm member 25 so that the wrist member 26 faces downward from the joint mechanism 36. The wrist member 26 is disposed so as to extend. Then, the robot 10 rotates the second forearm member 25 by 180 ° with respect to the first forearm member 24 around the rotation axis J5 as shown in FIG. Thereby, the hand unit moving operation is completed. Note that the robot 10 shown in FIG. 5C shows a basic posture in the case where the offset unit 14 is disposed at the back surface position.

  Further, the robot 10 performs a switching operation for switching the work area on the front side of the base unit 11 from the work area 42 relatively close to the base part 11 to the work area 41 relatively far away. In this switching operation, the robot 10 first returns the articulated arm 20 to the basic posture in the case where the offset portion 14 shown in FIG. Then, each of the above-described hand movement operation, reversing operation, and folding operation is executed in the reverse procedure.

  6 (a) and 6 (b), the robot 10 causes the work area of the articulated arm 20 on the front side of the base part 11 to be a work area relatively far from the base part 11 by such switching operation. 41 and the work area 42 relatively close to the base portion 11.

  Note that the robot 10 is configured such that the maximum value of the motion speed and the maximum value of the acceleration of the articulated arm 20 are different from each other when the offset portion 14 is disposed at the front position and when the offset portion 14 is disposed at the back position. The joint arm 20 is operated.

  This is because the position of the center of gravity of the robot 10 is different between the case where the offset portion 14 is arranged at the front position and the case where the offset portion 14 is arranged at the back position. In other words, regardless of the position of the offset portion 14, if each articulated arm 20 is operated at the same operation speed or acceleration, the posture of the robot 10 may become unstable due to inertial force or the like accompanying the operation. is there. For this reason, in order to stabilize the posture of the robot 10, it is desirable to operate each articulated arm 20 at an operation speed and acceleration in accordance with the arrangement of the offset unit 14.

  Such control of the articulated arm 20 is realized by, for example, the following. That is, with respect to the control device 5 that performs overall control of the operation of the robot 10, the maximum value of the operation speed and the maximum acceleration of the multi-joint arm 20 in each of the cases where the offset unit 14 is in the front position and the back position. Data whose value is defined is stored in advance. This data is data in which values that allow the articulated arms 20 to operate in a state where the posture of the robot 10 is stable are defined based on the results of various experiments and simulations. And it implement | achieves by controlling operation | movement of the articulated arm 20 based on a work condition, the position of a work target object, and the said data.

As described above, according to the robot 10 according to the present embodiment, the effects listed below can be obtained.
(1) The robot 10 can switch the work area of the multi-joint arm 20 with respect to the base part 11 to a work area 41 that is relatively far from the base part 11 and a work area 42 that is relatively close. As a result, it is possible to increase the degree of freedom of the trajectory that can be taken by the multi-joint arm 20 and the posture that the multi-joint arm 20 can take when the hand member 28, that is, the end effector is placed near the base portion 11.

  (2) When the work area of the articulated arm 20 becomes the work area 42 close to the base part 11, the reaching position of the articulated arm 20 on the front side of the base part 11 approaches the base part 11. Therefore, since the safety on the front side of the robot 10 can be improved, for example, it is possible to perform a work of replacing the work target W by the user on the front side of the base portion 11.

  (3) Further, compared to a robot in which the offset portion 14 is not provided and the articulated arm 20 having the same configuration is coupled to the body, the offset portion 14 causes the rotation axis J1 to be on the front side of the base portion 11. The reached position of the articulated arm 20 can be moved away from the base portion 11 by the amount of the arrangement. That is, since the work area of the robot 10 can be switched to the work area 41 or the work area 42, the work area of the robot 10 can be expanded.

  (4) Since the robot 10 rotates the offset portion 14 with the articulated arm 20 folded, the volume required around the robot 10 when the offset portion 14 is rotated can be reduced.

  (5) The robot 10 operates the multi-joint arm 20 in a manner in which the maximum value and acceleration of the multi-joint arm 20 are different from each other depending on whether the offset unit 14 is in the front position or the back position. As a result, it is possible to prevent the posture of the robot 10 from becoming unstable due to the operation of the articulated arm 20.

  (6) When the offset portion 14 is in the front position or the back position, the rotation of the offset portion 14 relative to the base portion 11 is restricted by the engagement between the restriction piece 17 of the base portion 11 and the restriction hole 18 of the offset portion 14. Yes. In other words, the body 13 cannot rotate unless the engagement between the restriction piece 17 and the restriction hole 18 is released. Therefore, the safety around the base portion 11 accompanying the rotation of the trunk 13 and the articulated arm 20 can be enhanced.

  (7) In the hand portion moving operation, the hand member 28 moves between the back side and the front side of the base portion 11 by the bending and extending operation of the first forearm member 24 with respect to the upper arm member 23. Here, in the hand portion moving operation, the hand member 28 can be disposed on the front side of the base portion 11 by rotating the upper arm member 23 relative to the second shoulder member 22 around the rotation axis J3. is there. However, the piping member 40 arranged in the multi-joint arm 20 and the wiring arranged in the piping member 40 are more in the vicinity of the joint where the twisting operation is performed than in the vicinity of the joint where the bending and stretching operation is performed. Receives a large mechanical load. Therefore, the mechanical load which the piping member 40 and the wiring arrange | positioned in the piping member 40 receive can be suppressed by moving the hand member 28 by the bending operation of the 1st forearm member 24 with respect to the upper arm member 23. .

  (8) The wrist member 26 is formed such that the rotation axis J7 of the joint mechanism 37 and the rotation axis J5 of the joint mechanism 35 are arranged at positions offset from each other. According to such a configuration, the degree of freedom of posture that the multi-joint arm 20 can take when placing the end effector at the target position can be improved.

  (9) Since the multi-joint arm 20 is a seven-joint multi-joint arm, the multi-joint arm can be used when placing an end effector at a target position, compared to a six-joint or less-joint multi-joint arm. The degree of freedom of posture can be improved.

  (10) The robot 10 is one posture in the process of switching operation for switching the work area from the work area 41 to the work area 42, and waits for the posture shown in FIG. 4C after the folding operation and the reversing operation are completed. It can be a posture. Therefore, the safety | security in the front side of the base part 11 can further be improved by taking the said stand-by attitude | position every time a series of work to the work target object W is complete | finished.

  (11) In the robot 10, a camera CA for acquiring information on the position of the work target W is disposed above the work table WB. Here, when such a camera is mounted on, for example, the arm connecting portion 15, it is necessary to change the orientation of the camera according to the arrangement of the offset portion 14. In this regard, according to the above-described configuration, since the camera CA is disposed above the work table WB, it is not necessary to change the arrangement and orientation of the camera CA regardless of the position of the offset unit 14. In addition, when a part of the field of view of the camera CA is blocked by the offset portion 14 or the like at the front position, the field of view of the camera CA can be secured by rotating the offset portion 14 to the back position.

In addition, the said embodiment can also be changed and implemented suitably as follows.
The multi-joint arm has a seven-axis configuration including the first shoulder member 21, the second shoulder member 22, the upper arm member 23, the first forearm member 24, the second forearm member 25, the wrist member 26, and the hand member 28. The multi-joint arm is not limited to this, and may be a multi-joint arm having an axis configuration of 6 axes or less, or may be an articulated arm having an axis configuration of 8 axes or more. In addition, the joint mechanism that connects the members may be appropriately arranged to bend and stretch and to twist according to the request for the robot.

  In the above embodiment, the rotation axis J5 of the joint mechanism 35 and the rotation axis J7 of the joint mechanism 37 are arranged at positions offset from each other when the rotation axes J5 and J7 are parallel. The rotation axes J5 and J7 may be arranged on the same straight line.

  In the robot 10 of the above embodiment, when the hand member 28 is moved between the front side and the back side of the base portion 11, the upper arm member 23 is rotated with respect to the second shoulder member 22 around the rotation axis J3, for example. You may let them.

  In the robot 10 of the above embodiment, the articulated arm 20 may be operated in the same manner with at least one of the maximum value of the operating speed and the maximum value of the acceleration of the articulated arm 20 regardless of the arrangement of the offset unit 14. .

  In the robot 10 of the above embodiment, the rotation restricting mechanism configured by the restricting piece 17 and the restricting hole 18 may be omitted. Further, the rotation restricting mechanism is not limited to the one constituted by the restricting piece 17 and the restricting hole 18 as long as the rotation of the body 13 with respect to the base portion 11 is mechanically restricted.

  In the folding operation, the articulated arm 20 only needs to be folded. For example, when the articulated arm 20 is folded according to the surrounding conditions such as the size of the work object and the positional relationship between the work table WB and the robot 10. The process and the posture of the folded articulated arm 20 may be changed as appropriate.

  In the hand movement operation, the hand member 28 only needs to be moved between the front side and the back side of the base unit 11. For example, the size of the work object W and the positional relationship between the work table WB and the robot 10. Depending on the surrounding situation, the process of moving the hand member 28 and the posture of the articulated arm 20 immediately after the hand member 28 is moved may be changed as appropriate.

  In the robot 10 of the above embodiment, if a sufficient space is secured around the robot 10 and the articulated arm 20 does not collide with the work target W or the work table WB, the articulated arm The offset portion 14 may be rotated without folding the 20.

  The rotation axis J1 as the second rotation axis may not be in the direction orthogonal to the rotation axis J0.

  J0, J1, J2, J3, J4, J5, J6, J7 ... rotation axis, CA ... camera, W ... work object, WB ... work table, 10 ... double-arm robot, 11 ... base part, 12 ... joint mechanism, DESCRIPTION OF SYMBOLS 13 ... Body, 14 ... Offset part, 14a ... Base end part, 14b ... Tip part, 15 ... Arm connection part, 17 ... Restriction piece, 18 ... Restriction hole, 20 ... Articulated arm, 21 ... First shoulder member, 22 2nd shoulder member, 23 ... Upper arm member, 24 ... 1st forearm member, 24a ... Tip part, 25 ... 2nd forearm member, 26 ... Wrist member, 26a ... Tip part, 27 ... Connection member, 28 ... Hand member, 32, 33, 34, 35, 36, 37 ... joint mechanism, 40 ... wiring, 41, 42 ... work area.

Claims (7)

A fuselage that is rotatably coupled to the base body about the first rotation axis;
A double-armed robot having a pair of articulated arms connected to the body so as to be rotatable about a second rotation axis;
The second rotation axis is
Away from the extension of the first axis of rotation; and
The dual-arm robot is characterized by having two arrangement states facing each other across the first rotation axis by rotation of the body. A control unit for controlling the operation of the pair of articulated arms and the rotation of the body;
The control unit is
The double-arm robot according to claim 1, wherein the articulated arm is folded at the time of transition of the arrangement state. The control unit is
The dual-arm robot according to claim 2, wherein the maximum value of the motion speed and the maximum value of the acceleration of the articulated arm are different from each other in the two arrangement states. The double-arm robot according to any one of claims 1 to 3, further comprising a rotation restriction mechanism that releasably restricts rotation of the body relative to the base. The articulated arm is
The shoulder part, upper arm part, forearm part, wrist part, and hand part to which the end effector is attached are connected in order from the body side, and the forearm part bends and stretches with respect to the upper arm part and is wired inside the articulated arm. Is placed,
The hand part is
The double arm according to any one of claims 1 to 4, wherein the forearm portion moves with respect to the upper arm portion between one side and the other side of the base body in a direction in which the second rotation axis faces each other. robot. The forearm is
A first forearm member that bends and stretches with respect to the upper arm;
A second forearm member twisted relative to the first forearm member;
The wrist is
A wrist member that bends and stretches with respect to the second forearm member;
The hand part is
A hand member twisted against the wrist member;
The rotation axis of the hand member with respect to the wrist member is disposed at a position offset with respect to the rotation axis when parallel to the rotation axis of the second forearm member with respect to the first forearm member. The double-arm robot described in 1. In the articulated arm,
The shoulder is
A first shoulder member twisted with respect to the body by the second rotation axis;
A second shoulder member that bends and stretches with respect to the first shoulder member;
The upper arm is
The double arm robot according to claim 6, further comprising an upper arm member twisted with respect to the second shoulder member.

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