JP2017185625A - robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot that can achieve operation for moving a position of a tip part of the robot to a position rotated at 180° around a first rotary shaft even if a space for preventing interference of the robot is reduced.SOLUTION: A robot comprises a base, a first arm provided in the base to be turnable around a first turning shaft, and a second arm provided in the first arm to be turnable around a second turning shaft, a shaft direction different from a shaft direction of the first turning shaft, where an angle formed by the first arm and the second arm can be set to 0° when viewed from a shaft direction of the second turning shaft, and the second arm does not interfere with a mounting surface provided with the base when the angle is set to 0°.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot.

  Conventionally, a robot provided with a robot arm is known. The robot arm has a plurality of arms (arm members) connected via joints, and a hand is mounted on the most distal end (most downstream) arm as an end effector, for example. The joint is driven by a motor, and the arm is rotated by driving the joint. Then, for example, the robot grips an object with a hand, moves the object to a predetermined location, and performs a predetermined operation such as assembly.

  As such a robot, Patent Document 1 discloses a vertical articulated robot. In the robot described in Patent Document 1, the hand is moved 180 degrees around the first rotation axis that is the most proximal (upstream) rotation axis (rotation axis extending in the vertical direction) with respect to the base. The operation of moving to a different position is performed by rotating the first arm, which is the most proximal arm with respect to the base, around the first rotation axis.

JP 2014-46401 A

  The robot described in Patent Document 1 requires a large space for preventing the robot from interfering when the hand is moved to a position different by 180 ° around the first rotation axis with respect to the base.

  An object of the present invention is to provide a robot capable of realizing the operation of moving the position of the tip of the robot to a position different by 180 ° around the first rotation axis even if the space for preventing the robot from interfering is reduced. is there.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

(Application example 1)
The robot of the present invention includes a base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The angle formed by the first arm and the second arm when viewed from the axial direction of the second rotation shaft can be 0 °,
The second arm does not interfere with an attachment surface on which the base is provided when the angle is 0 °.

  As a result, a space for preventing the robot from interfering when the tip of the second arm is moved to a position different by 180 ° around the first rotation axis can be reduced.

(Application example 2)
The robot of the present invention includes a base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The length of the first arm is longer than the length of the second arm.

  As a result, a space for preventing the robot from interfering when the tip of the second arm is moved to a position different by 180 ° around the first rotation axis can be reduced.

(Application example 3)
The robot of the present invention includes a base,
A robot arm, and
The robot arm includes a first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
By rotating the second arm without rotating the first arm, the tip of the robot arm is viewed from the first position in the axial direction of the second rotation shaft and the first arm and the Through a state where the angle formed with the second arm is 0 °, the second arm can be moved to a second position different by 180 ° around the first rotation axis.

  Thereby, the space for preventing the robot from interfering when the tip of the robot arm is moved from the first position to the second position can be reduced.

(Application example 4)
In the robot according to the aspect of the invention, when the tip of the robot arm is moved from the first position to the second position, the tip of the robot arm is on a straight line when viewed from the axial direction of the first rotation axis. It is preferable to move.

  Thereby, the space for preventing the robot from interfering when the tip of the robot arm is moved from the first position to the second position can be reduced.

(Application example 5)
In the robot of the present invention, the tip of the robot arm can be moved from the first position to a third position having the same height as the first position, and can be moved from the third position to the second position. Preferably there is.

  Thereby, when an object exists up and down in the 1st position, the work arranged at the 1st position can be moved to the 2nd position, suppressing interference with the object.

(Application example 6)
In the robot according to the aspect of the invention, it is possible to move the tip of the robot arm from the second position to the third position having the same height as the first position, and to move from the third position to the first position. Preferably there is.

  Thereby, when an object exists up and down in the 1st position, the work arranged in the 2nd position can be moved to the 1st position, suppressing interference with the object.

(Application example 7)
The robot of the present invention includes a base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The first arm and the second arm can overlap each other when viewed from the axial direction of the second rotation shaft.

  As a result, a space for preventing the robot from interfering when the tip of the second arm is moved to a position different by 180 ° around the first rotation axis can be reduced.

(Application example 8)
In the robot according to the aspect of the invention, it is preferable that the second rotation shaft is separated from the first rotation shaft.

  As a result, the tip of the second arm can be moved to a position separated from the first rotation shaft by the distance between the first rotation shaft and the second rotation shaft.

(Application example 9)
In the robot according to the aspect of the invention, it is preferable that the second arm includes a third arm provided to be rotatable around a third rotation axis.
Thereby, more complicated movement can be easily performed.

(Application example 10)
In the robot according to the aspect of the invention, it is preferable that the axial direction of the third rotation axis and the axial direction of the second rotation axis are parallel to each other.
Thereby, more complicated movement can be easily performed.

(Application Example 11)
In the robot of the present invention, it is preferable that the length of the third arm is longer than the length of the second arm.

  Thereby, when the 2nd arm and the 3rd arm are piled up seeing from the axial direction of the 2nd rotation axis, the tip of the 3rd arm can be made to project from the 2nd arm.

(Application Example 12)
In the robot according to the aspect of the invention, it is preferable that the second arm and the third arm can overlap each other when viewed from the axial direction of the second rotation shaft.

  As a result, a space for preventing the robot from interfering when the tip of the second arm is moved to a position different by 180 ° around the first rotation axis can be reduced.

(Application Example 13)
In the robot according to the aspect of the invention, it is preferable that the base is provided on a ceiling.
Thereby, the robot installed in a ceiling can be provided.

(Application Example 14)
In the robot of the present invention, the third arm includes a first link provided on the second arm so as to be rotatable around the third rotation axis,
A second link provided on the first link so as to be rotatable around a fourth rotation axis that is an axial direction different from the axial direction of the third rotation axis;
A third link provided on the second link so as to be rotatable around a fifth rotation axis which is an axial direction different from the axial direction of the fourth rotation axis;
It is preferable that the third link includes a fourth link provided to be rotatable around a sixth rotation axis that is an axial direction different from the axial direction of the fifth rotation axis.
Thereby, more complicated movement can be easily performed.

It is a perspective view which shows 1st Embodiment of the robot of this invention. It is the schematic of the robot shown in FIG. It is a front view of the robot shown in FIG. It is a front view of the robot shown in FIG. It is a figure for demonstrating the operation | movement in the case of the operation | work of the robot shown in FIG. It is a figure for demonstrating the operation | movement in the case of the operation | work of the robot shown in FIG. It is a figure for demonstrating the operation | movement in the case of the operation | work of the robot shown in FIG. It is a front view which shows 2nd Embodiment of the robot of this invention. It is a perspective view which shows 3rd Embodiment of the robot of this invention. FIG. 10 is a side view of the robot shown in FIG. 9. It is a perspective view which shows 4th Embodiment of the robot of this invention. It is a figure for demonstrating operation | movement of 5th Embodiment of the robot of this invention. It is a figure for demonstrating operation | movement of 6th Embodiment of the robot of this invention. It is a front view which shows 7th Embodiment of the robot of this invention.

Hereinafter, the robot of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<First Embodiment>
FIG. 1 is a perspective view showing a first embodiment of the robot of the present invention. FIG. 2 is a schematic diagram of the robot shown in FIG. 3 and 4 are front views of the robot shown in FIG. 1, respectively. 5, 6 and 7 are diagrams for explaining the operation of the robot shown in FIG.

  In the following, for convenience of explanation, the upper side in FIGS. 1, 2, 3 to 5 and 7 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. The same applies to FIGS. 8 to 14 of the embodiment). In addition, the base side in FIGS. 1, 2, 3 to 5 and 7 is referred to as “base end” or “upstream”, and the opposite side (hand side) is referred to as “tip” or “downstream” (others). The same applies to FIGS. 8 to 14 of the embodiment).

  A robot (industrial robot) 1 shown in FIGS. 1 to 4 includes a robot body (main body section) 10 and a robot control device (control section) (not shown) that controls the operation of the robot body 10 (robot 1). Yes. The robot 1 can be used, for example, in a manufacturing process for manufacturing precision equipment such as a wristwatch. The robot control device may be incorporated in the robot body 10 (robot 1), or may be a separate body from the robot body 10. Further, the robot control device can be configured by, for example, a personal computer (PC) with a built-in CPU (Central Processing Unit).

  The robot body 10 includes a base (supporting portion) 11 and a robot arm 5. The robot arm 5 includes a first arm (first arm member) (arm portion) 12 having one link, a second arm (second arm member) (arm portion) 13 having one link, and a first link. 61, a second link 62, a third link 63 and a third arm (third arm member) (arm portion) 14 having a fourth link 64 (four links), a first drive source 401, and a second drive source 402. , A third drive source 403, a fourth drive source 404, a fifth drive source 405, and a sixth drive source 406 (six drive sources). A wrist is constituted by the third link 63 and the fourth link 64 of the third arm, and an end effector such as a hand 91 can be detachably attached to the tip of the fourth link 64 of the third arm. (See FIG. 1). That is, in the robot 1, the base 11, the first arm 12, the second arm 13, the first link 61, the second link 62, the third link 63, and the fourth link 64 are on the proximal end side. This is a vertical articulated (6-axis) robot connected in this order from the tip toward the tip. Hereinafter, the first arm 12, the second arm 13, and the third arm 14 are also referred to as “arms”, respectively. Moreover, the 1st link 61, the 2nd link 62, the 3rd link 64, and the 4th link 64 are also called (link), respectively. The first drive source 401, the second drive source 402, the third drive source 403, the fourth drive source 404, the fifth drive source 405, and the sixth drive source 406 are also referred to as “drive sources”.

  As shown in FIGS. 1, 2, and 3, when the robot 1 is a vertical articulated robot, the base 11 is positioned on the uppermost side of the vertical articulated robot and is the lower surface of the ceiling 101 of the installation space. It is a part (member to be attached) fixed to the surface 102. The fixing method is not particularly limited, and for example, a fixing method using a plurality of bolts can be employed.

  Moreover, the attachment location to the attachment surface 102 of the base 11 is not particularly limited, but in this embodiment, either the plate-like flange 111 provided at the lower part of the base 11 or the upper surface of the base 11 is used. It is possible.

  In addition, as a fixed location of the base 11, it is not limited to the ceiling of installation space, For example, the wall of the installation space, a floor, the ground etc. are mentioned.

  The base 11 may or may not include a first joint 171 described later.

  The first arm 12, the second arm 13, the first link 61, the second link 62, the third link 63, and the fourth link 64 are supported so as to be independently displaceable with respect to the base 11. .

  As shown in FIGS. 1, 2, and 3, the base 11 and the first arm 12 are connected via a joint 171. The joint 171 has a mechanism for supporting the first arms 12 connected to each other so as to be rotatable with respect to the base 11. As a result, the first arm 12 is rotatable with respect to the base 11 around the first rotation axis O1 parallel to the vertical direction (around the first rotation axis O1). The first rotation axis O1 coincides with the lower surface of the ceiling 101 to which the base 11 is attached, that is, the normal line of the attachment surface 102 of the ceiling 101. The first rotation axis O <b> 1 is a rotation axis that is on the most upstream side of the robot 1. The rotation around the first rotation axis O1 is performed by driving a first drive source 401 having a motor 401M. The first drive source 401 is driven by a motor 401M and a cable (not shown), and the motor 401M is controlled by a robot controller via an electrically connected motor driver 301. The first drive source 401 may be configured to transmit the driving force from the motor 401M by a speed reducer (not shown) provided together with the motor 401M, or the speed reducer may be omitted.

  The first arm 12 and the second arm 13 are connected via a joint (joint) 172. The joint 172 has a mechanism that supports one of the first arm 12 and the second arm 13 connected to each other so as to be rotatable with respect to the other. As a result, the second arm 13 is rotatable with respect to the first arm 12 around the second rotation axis O2 parallel to the horizontal direction (around the second rotation axis O2). The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation about the second rotation axis O2 is performed by driving a second drive source 402 having a motor 402M. The second drive source 402 is driven by a motor 402M and a cable (not shown), and the motor 402M is controlled by a robot controller via an electrically connected motor driver 302. The second drive source 402 may be configured to transmit the driving force from the motor 402M by a speed reducer (not shown) provided together with the motor 402M, or the speed reducer may be omitted. Further, the second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1, and the second rotation axis O2 is not orthogonal to the first rotation axis O1. However, the axial directions may be different from each other.

  The second arm 13 and the first link 61 of the third arm 14 are connected via a joint 173. The joint 173 has a mechanism that supports one of the second arm 13 and the first link 61 connected to each other so as to be rotatable with respect to the other. As a result, the first link 61 is rotatable with respect to the second arm 13 around the third rotation axis O3 parallel to the horizontal direction (around the third rotation axis O3). The third rotation axis O3 is parallel to the second rotation axis O2. The rotation about the third rotation axis O <b> 3 is performed by driving the third drive source 403. The third drive source 403 is driven by a motor 403M and a cable (not shown), and the motor 403M is controlled by a robot controller via an electrically connected motor driver 303. The third drive source 403 may be configured to transmit a driving force from the motor 403M by a speed reducer (not shown) provided together with the motor 403M, or the speed reducer may be omitted.

  The first link 61 and the second link 62 are connected via a joint (joint) 174. The joint 174 has a mechanism that supports one of the first link 61 and the second link 62 connected to each other so as to be rotatable with respect to the other. Accordingly, the second link 62 is centered on the fourth rotation axis O4 parallel to the central axis direction of the first link 61 (about the fourth rotation axis O4) with respect to the first link 61 (base 11). ) It can be rotated. The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation about the fourth rotation axis O4 is performed by driving the fourth drive source 404. The fourth drive source 404 is driven by a motor 404M and a cable (not shown), and the motor 404M is controlled by a robot controller via an electrically connected motor driver 304. The fourth drive source 404 may be configured to transmit the driving force from the motor 404M by a speed reducer (not shown) provided together with the motor 404M, or the speed reducer may be omitted. Further, the fourth rotation axis O4 may be parallel to an axis orthogonal to the third rotation axis O3, and the fourth rotation axis O4 is not orthogonal to the third rotation axis O3. However, the axial directions may be different from each other.

  The second link 62 and the third link 63 are connected via a joint (joint) 175. The joint 175 has a mechanism that supports one of the second link 62 and the third link 63 connected to each other so as to be rotatable with respect to the other. Accordingly, the third link 63 can rotate with respect to the second link 62 about the fifth rotation axis O5 orthogonal to the central axis direction of the second link 62 (around the fifth rotation axis O5). It has become. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation about the fifth rotation axis O5 is performed by driving the fifth drive source 405. The fifth drive source 405 is driven by a motor 405M and a cable (not shown), and the motor 405M is controlled by a robot control device via an electrically connected motor driver 305. The fifth drive source 405 may be configured to transmit the driving force from the motor 405M by a speed reducer (not shown) provided together with the motor 405M, or the speed reducer may be omitted. Further, the fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4, and the fifth rotation axis O5 is not orthogonal to the fourth rotation axis O4. However, the axial directions may be different from each other.

  The third link 63 and the fourth link 64 are connected via a joint (joint) 176. The joint 176 has a mechanism for supporting one of the third link 63 and the fourth link 64 connected to each other so as to be rotatable with respect to the other. Accordingly, the fourth link 64 is rotatable with respect to the third link 63 about the sixth rotation axis O6 (around the sixth rotation axis O6). The sixth rotation axis O6 is orthogonal to the fifth rotation axis O5. The rotation about the sixth rotation axis O <b> 6 is performed by driving the sixth drive source 406. The driving of the sixth drive source 406 is driven by a motor and a cable (not shown), and the motor 406M is controlled by the robot controller via an electrically connected motor driver 306. The sixth drive source 406 may be configured to transmit the driving force from the motor 406M by a speed reducer (not shown) provided together with the motor 406M, or the speed reducer may be omitted. Further, the fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4, and the sixth rotation axis O6 is parallel to an axis orthogonal to the fifth rotation axis O5. The sixth rotation axis O6 may be different from the fifth rotation axis O5 even if it is not orthogonal to the fifth rotation axis O5.

  In addition, a hand 91 that holds a precision device such as a wristwatch, a component, or the like as an end effector can be attached to and detached from the distal end of the fourth link 64 (the end opposite to the third link 63). It is attached to. The driving of the hand 91 is controlled by a robot control device. In addition, it does not specifically limit as the hand 91, For example, the thing of the structure which has a several finger part (finger) is mentioned. And this robot 1 can perform each operation | work, such as conveying the said precision instrument and components, by controlling operation | movement of arms 12-14 etc., holding a precision instrument, components, etc. with the hand 91. FIG. it can.

  Next, the relationship between the first arm 12, the second arm 13, and the third arm 14 will be described, but the description will be made from various viewpoints with different expressions. As for the third arm 14, the third arm 14 is straightly extended, that is, the third arm 14 is the longest, in other words, the fourth rotation axis O4 and the sixth rotation axis O6. Are considered to be the same or parallel.

  First, as shown in FIG. 3, the length L <b> 1 of the first arm 12 is set longer than the length L <b> 2 of the second arm 13.

  Here, the length L1 of the first arm 12 refers to the second rotation axis O2 and the bearing 52 that rotatably supports the first arm 12 when viewed from the axial direction of the second rotation axis O2. This is the distance from the center line 521 extending in the left-right direction in FIG.

  The length L2 of the second arm 13 is a distance between the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2.

  Further, as shown in FIG. 4, the angle θ formed by the first arm 12 and the second arm 13 can be set to 0 ° when viewed from the axial direction of the second rotation axis O2. Yes. That is, the first arm 12 and the second arm 13 can be overlapped when viewed from the axial direction of the second rotation axis O2.

  When the angle θ is 0 °, that is, when the first arm 12 and the second arm 13 overlap each other when viewed from the axial direction of the second rotation axis O2, the second arm 13 is It is configured not to interfere with the mounting surface 102 of the provided ceiling 101.

  Here, the angle θ formed by the first arm 12 and the second arm 13 passes through the second rotation axis O2 and the third rotation axis O3 when viewed from the axial direction of the second rotation axis O2. This is an angle formed by a straight line 51 (center axis of the second arm 13 when viewed from the axial direction of the second rotation axis O2) 51 and the first rotation axis O1.

  Further, by rotating the second arm 13 without rotating the first arm 12, the angle θ becomes 0 ° when viewed from the axial direction of the second rotation axis O2 (the first arm 12 and the first arm 12). After the two arms 13 overlap), the tip of the second arm 13 can be moved to a position different by 180 ° around the first rotation axis O1 (see FIG. 7). That is, by rotating the second arm 13 without rotating the first arm 12, the tip of the robot arm 5 (tip of the fourth link 64 of the third arm 14) is shown in FIG. It is possible to move from the first position to the second position shown in FIG. 7E, which is different by 180 ° around the first rotation axis O1, through a state where the angle θ is 0 ° (see FIG. 7). The first link 61, the second link 62, the third link 63, and the fourth link 64 of the third arm 14 are rotated as necessary.

  Further, when the tip of the second arm 13 is moved to a position different by 180 ° around the first rotation axis O1 (when the tip of the robot arm 5 is moved from the first position to the second position), the first rotation is performed. When viewed from the axial direction of the axis O1, the tip of the second arm 13 and the tip of the robot arm 5 move on a straight line.

  The length L3 of the third arm 14 is set longer than the length L2 of the second arm 13.

  Thus, when the second arm 13 and the third arm 14 are overlapped with each other when viewed from the axial direction of the second rotation axis O2, the tip of the third arm 14 from the second arm 13, that is, the fourth link 64 is The tip can be projected. As a result, the hand 91 can be prevented from interfering with the first arm 12 and the second arm 13.

  Here, as shown in FIG. 4, the length L3 of the third arm 14 refers to the third rotation axis O3 and the tip of the third arm 14 (the first arm) as viewed from the axial direction of the second rotation axis O2. Distance between the four links 64). Further, the state of the third arm 14 in this case is the longest state, that is, the state in which the fourth rotation axis O4 and the sixth rotation axis O6 coincide with each other or in parallel, in other words, The third arm 14 is in a state of being straightened.

  Further, as shown in FIG. 4, the second arm 13 and the third arm 14 can be overlapped when viewed from the axial direction of the second rotation axis O2.

  That is, the first arm 12, the second arm 13, and the third arm 14 are configured to be able to overlap at the same time when viewed from the axial direction of the second rotation axis O2.

  In the robot 1, by satisfying the relationship as described above, the first arm 12 is not rotated, and the second arm 13 and the third arm 14 are rotated, whereby the axial direction of the second rotation axis O2. The hand 91 (the third arm 14 of the third arm 14) passes through a state where the angle θ formed by the first arm 12 and the second arm 13 is 0 ° (the state where the first arm 12 and the second arm 13 overlap). The tip) can be moved to a position different by 180 ° around the first rotation axis O1. By using this operation, the robot 1 can be driven efficiently, and the space provided for preventing the robot 1 from interfering can be reduced. Have advantages.

  Next, an example of operations such as material supply, material removal, conveyance, and assembly performed by the robot 1 and the operation of the robot 1 during the operation will be described. Here, the operation of the robot 1 when the robot 1 performs an assembling operation for incorporating the component (work) arranged in the component supply unit into the component (work) conveyed by the belt conveyor will be described.

  As shown in FIG. 6, the base 11 of the robot 1 is attached to the ceiling 101 so as to be positioned in the vicinity of the belt conveyor 71. The belt conveyor 71 may be a linear motion shaft such as a belt drive or a ball screw drive.

  As shown in FIG. 5 and FIG. 6, the predetermined part 42 is conveyed by the belt conveyor 71 during the work. Then, the robot 1 incorporates the component 41 arranged in the component supply unit 72 into the component 42 conveyed by the belt conveyor 71.

  At this time, first, as shown in FIG. 5, the robot 1 grips the component 41 arranged in the component supply unit 72 with the hand 91.

  Next, as shown in FIGS. 7 (a), (b), (c), (d), and (e), the first arm 12 is not rotated (the operations indicated by arrows 57 and 58 in FIG. 6). (Not performed), by rotating the second arm 13 and the third arm 14 (performing the operation indicated by the arrow 56 in FIG. 6), the first arm 12 and the first arm 12 are viewed from the axial direction of the second rotation axis O2. After the state where the angle θ formed with the second arm 13 is 0 ° (the state where the first arm 12 and the second arm 13 overlap) (see FIG. 7c), the hand 91 is moved around the first rotation axis O1. The position is moved to a position different by 180 °, that is, the built-in portion 73. At this time, the tip of the second arm 13 and the hand 91 (tip of the third arm 14) move on a straight line. At this time, the first arm 12 may be rotated as a fine adjustment.

  Then, as shown in FIG. 5, the component 41 is incorporated into the component 42 in the incorporating unit 73. At this time, the first arm 12 may be rotated as a fine adjustment. Thereafter, this operation is repeated.

  In the robot 1, as described above, the first arm 12 and the second arm 12 are not rotated by rotating the second arm 13 without rotating the first arm 12 as viewed from the axial direction of the second rotation axis O2. Since the hand 91 can be moved around the first rotation axis O1 to a position different by 180 ° through the state where the angle θ formed with the arm 13 is 0 °, as shown in FIG. The width W of the space can be made smaller than the conventional W1. Note that W2 is, for example, 80% or less of W1. Similarly, the height (length in the vertical direction) of the installation space of the robot 1 can be made lower than the conventional height, specifically, for example, 80% or less of the conventional height.

  As described above, in the robot 1, the first arm 12 is not rotated, but the second arm 13 and the third arm 14 are rotated, so that the first arm 12 is viewed from the axial direction of the second rotation axis O2. After the state where the angle θ between the first arm 12 and the second arm 13 is 0 ° (the first arm 12 and the second arm 13 are overlapped), the hand 91 (the tip of the third arm 14) is moved to the first position. It can be moved to a position different by 180 ° around one rotation axis O1.

  Thereby, the space for preventing the robot 1 from interfering can be reduced.

  That is, first, the ceiling 101 can be lowered, whereby the position of the center of gravity of the robot 1 is lowered, and the vibration generated by the reaction force due to the operation of the robot 1 can be suppressed.

  In addition, the operating area in the width direction of the robot 1 (the direction of the production line) can be reduced, so that a large number of robots 1 can be arranged per unit length along the production line. It can be shortened.

  Further, when the hand 91 is moved, the movement of the robot 1 can be reduced. For example, the first arm 12 is not rotated, or the rotation angle of the first arm 12 can be reduced, whereby the tact time can be shortened and the working efficiency can be improved.

Second Embodiment
FIG. 8 is a front view showing a second embodiment of the robot of the present invention.

  Hereinafter, although the second embodiment will be described, the description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 8, in the robot 1 </ b> A of the second embodiment, the length L <b> 2 of the second arm 13 is set to be longer than the length L <b> 1 of the first arm 12. Thereby, the robot 1A can move the hand 91 farther, and can lengthen the vertical movement of the hand 91.

  According to the second embodiment as described above, the same effect as that of the first embodiment described above can be exhibited.

<Third Embodiment>
FIG. 9 is a perspective view showing a third embodiment of the robot of the present invention. FIG. 10 is a side view of the robot shown in FIG. 9 and 10, the illustration of the hand 91 is omitted.

  In the following, the third embodiment will be described. The description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIGS. 9 and 10, in the robot 1 </ b> B of the third embodiment, the first arm 12 and the second arm 13 are each bent, and a part of the first arm 12 and the second arm 13 are in the horizontal direction ( It protrudes to the left in FIG.

  The second link 62 of the third arm 14 has a pair of support portions 621 and 622 that face each other, and the third link 63 is connected between the support portions 621 and 622.

  According to the third embodiment as described above, the same effects as those of the first embodiment described above can be exhibited.

<Fourth embodiment>
FIG. 11 is a perspective view showing a fourth embodiment of the robot of the present invention. In addition, in FIG. 11, illustration of the hand 91 is abbreviate | omitted.

  Hereinafter, although the fourth embodiment will be described, the description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 11, in the robot 1 </ b> C according to the fourth embodiment, the first arm 12 includes a pair of support portions 121 and 122 that face each other, and the second arm is interposed between the support portions 121 and 122. 13 are connected. Further, the support parts 121 and 122 protrude in the horizontal direction (left and right direction in FIG. 11) from the base 11 respectively.

  Similarly, the second arm 13 has a pair of support portions 131 and 132 facing each other, and the third arm 14 is connected between the support portions 121 and 122.

  The second link 62 of the third arm 14 has a pair of support portions 621 and 622 that face each other, and the third link 63 is connected between the support portions 621 and 622.

  According to the fourth embodiment as described above, the same effects as those of the first embodiment described above can be exhibited.

<Fifth Embodiment>
FIG. 12 is a diagram for explaining the operation of the fifth embodiment of the robot of the present invention.

  Hereinafter, the fifth embodiment will be described. The description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted. Although the fifth embodiment will be described using the robot 1 of the first embodiment, the same applies to the robots 1A to 1C of the second to fourth embodiments and the robot 1D of the seventh embodiment described later. be able to.

  In the fifth embodiment, the robot 1 moves the tip of the robot arm 5 from the first position to a third position having the same height (vertical position) as the first position, and from the third position to the second position. The movement of the robot arm 5 is reversed, that is, the tip of the robot arm 5 is moved from the second position to the third position, and can be moved from the third position to the first position. Then, as shown in FIG. 12, the robot 1 uses this function to take out the work 46 arranged on the shelf 76, convey it to the table 77, and perform an operation of arranging it on the table 77.

  The stand 77 is disposed at a position rotated 180 degrees from the shelf 76 around the first rotation axis O1 of the robot 1.

  Further, the shape of the workpiece 46 is not particularly limited, but in the present embodiment, it has a plate shape.

  Further, the portions of the shelf 76 positioned above and below the workpiece 46 become an obstacle when the robot 1 takes out the workpiece 46 from the shelf 76. In the present embodiment, a description will be given by taking a shelf as an example of an obstacle when the robot 1 is operated. However, the obstacle is not limited to a shelf. Anything located above and below can be envisaged.

  In this operation, first, as shown in FIG. 12A, the robot 1 grips the work 46 disposed on the shelf 76 with the hand 91 and lifts it upward. The position of the tip of the robot arm 5 shown in FIG. 12A is the first position.

  Next, as shown in FIG. 12B, the robot 1 moves the workpiece 46 in the horizontal direction while keeping the height (vertical position) of the workpiece 46 (tip of the robot arm 5) constant. The work 46 is taken out from the shelf 76. At this time, the robot 1 does not rotate the first arm 12 but rotates the second arm 13 and the first link 61 and the third link 63 of the third arm 14. Therefore, when viewed from the axial direction of the first rotation axis O1, the tip of the second arm 13 and the tip of the robot arm 5 move on a straight line. If necessary, fine adjustment may be performed by rotating any one of the second link 62 and the fourth link 64 of the first arm 12 and the third arm 14. The position of the tip of the robot arm 5 shown in FIG. 12B is the third position. The first position and the third position are equal in height (position in the vertical direction).

  Next, as shown in FIG. 12C, the robot 1 conveys the work 46 to the table 77 and places it on the table 77. At this time, the robot 1 does not rotate the first arm 12 but rotates the second arm 13 and the first link 61 and the third link 63 of the third arm 14. Therefore, when viewed from the axial direction of the first rotation axis O1, the tip of the second arm 13 and the tip of the robot arm 5 move on a straight line. If necessary, fine adjustment may be performed by rotating any one of the second link 62 and the fourth link 64 of the first arm 12 and the third arm 14. The position of the tip of the robot arm 5 shown in FIG. 12C is the second position. The second position, the first position, and the third position may have the same height or may be different.

  Further, the robot 1 can perform the reverse operation, that is, the work of transferring the work 46 arranged on the table 77 to the shelf 76 and arranging it on the shelf 76. Hereinafter, the operation will be described.

  In this operation, first, as shown in FIG. 12C, the robot 1 grips the work 46 disposed on the table 77 with the hand 91.

  Next, as shown in FIG. 12B, the robot 1 conveys the work 46 to the vicinity of the shelf 76. At this time, the robot 1 does not rotate the first arm 12 but rotates the second arm 13 and the first link 61 and the third link 63 of the third arm 14. Therefore, when viewed from the axial direction of the first rotation axis O1, the tip of the second arm 13 and the tip of the robot arm 5 move on a straight line. If necessary, fine adjustment may be performed by rotating any one of the second link 62 and the fourth link 64 of the first arm 12 and the third arm 14.

Next, as shown in FIG. 12A, the robot 1 moves the workpiece 46 in the horizontal direction while keeping the height (vertical position) of the workpiece 46 (tip of the robot arm 5) constant. The workpiece 46 is moved into the shelf 76. At this time, the robot 1 does not rotate the first arm 12 but rotates the second arm 13 and the first link 61 and the third link 63 of the third arm 14. Therefore, when viewed from the axial direction of the first rotation axis O1, the tip of the second arm 13 and the tip of the robot arm 5 move on a straight line. If necessary, fine adjustment may be performed by rotating any one of the second link 62 and the fourth link 64 of the first arm 12 and the third arm 14.
Next, the robot 1 lowers and releases the work 46 and places it on the shelf 76.

  As described above, in the robot 1, the workpiece 46 can be taken out from the shelf 76 and the workpiece 46 can be arranged on the shelf 76 while suppressing interference with the shelf 76.

  Further, the tip of the robot arm 5 is placed in a wide range between the position of the first rotation axis O1 and the far position away from the first rotation axis O1 without rotating the first rotation axis O1. Accordingly, as shown in FIG. 12C, the workpiece 46 can be conveyed over a wide range from the vicinity of the first rotation axis O1 to the far side.

  In addition, since the tip of the robot arm 5 can be moved from one of the first position and the second position to the other without rotating the first arm 12, the installation space for the robot 1 can be reduced. . For example, when the work 46 is a long (large) substrate, panel, or the like, the size of the work 46 can prevent the installation space of the robot 1 from being affected. .

<Sixth Embodiment>
FIG. 13 is a diagram for explaining the operation of the sixth embodiment of the robot of the present invention.

  Hereinafter, although the sixth embodiment will be described, the description will focus on the differences from the first embodiment described above, and description of similar matters will be omitted. The sixth embodiment will be described using the robot 1 of the first embodiment, but the same applies to the robots 1A to 1C of the second to fourth embodiments and the robot 1D of the seventh embodiment described later. be able to.

  As shown in FIG. 13A, in the sixth embodiment, the robot 1 carries the work 47 that is placed on the pallet 78 to the shelf 76 and places it on the shelf 76.

  The pallet 78 is arranged at a position rotated 180 degrees from the shelf 76 around the first rotation axis O1 of the robot 1.

  In this operation, first, as shown in FIG. 13A, the robot 1 grips the work 47 arranged on the pallet 78 with the hand 91.

  Next, as in the fifth embodiment, the robot 1 transports the work 47 to the vicinity of the shelf 76 without moving the first arm 12, moves the work 47 into the shelf 76, and lowers the work 46. And place it on the shelf 76.

  Here, in the conventional robot, when the work 47 disposed in the region R1 on the shelf 76 side of the first rotation axis O1 of the pallet 78 is transported, the first arm is not rotated, When the work 47 arranged in the region R2 on the opposite side of 76 is transported, the first arm is rotated 180 °. For this reason, in the conventional robot, as shown in FIG. 13B, it is necessary to change the direction of the workpiece 47 by 180 ° between the region R1 and the region R2 of the pallet 78. Alternatively, in the conventional robot, when the direction of the workpiece 47 is the same in the region R1 and the region R2 of the pallet 78, when the workpiece 47 arranged in the region R2 of the pallet 78 is transported, the tip side arm It is necessary to turn the (link) 180 ° to return the orientation of the work 47 to the original direction.

  On the other hand, in this robot 1, the first arm 12 is not rotated even when the work 47 arranged in any of the regions R1 and R2 of the pallet 78 is transported. There is no need to perform operation and control, and operation and control can be simplified.

<Seventh embodiment>
FIG. 14 is a front view showing a seventh embodiment of the robot of the present invention.

  Hereinafter, although the seventh embodiment will be described, the description will focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  As shown in FIG. 14, in the robot 1D of the seventh embodiment, the first arm 12 is inclined with respect to the first rotation axis O1 (vertical direction). For this reason, the second rotation axis O2 is separated from the first rotation axis O1 by a distance L4.

  In this robot 1D, when the second rotation axis O2 and the first rotation axis O1 are not separated from each other, the tip of the second arm 13 is further separated from the first rotation axis O1 by a distance L4. That is, the tip of the robot arm 5 can be moved to a position further away from the first rotation axis O1 by a distance L4.

  According to the seventh embodiment as described above, the same effect as that of the first embodiment described above can be exhibited.

  The robot of the present invention has been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each unit may be replaced with an arbitrary configuration having the same function. Can do. Moreover, other arbitrary components may be added.

  Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.

  In the embodiment, the number of rotation axes of the robot arm is six. However, the present invention is not limited to this, and the number of rotation axes of the robot arm is, for example, two or three. There may be four, five, seven or more. That is, in the above embodiment, the number of links is six. However, the present invention is not limited to this, and the number of links is, for example, two, three, four, five, or seven. There may be more than one.

  Specifically, in the embodiment, the first arm is configured by one link. However, the present invention is not limited to this, and the first arm is configured by a plurality of links, for example. Also good.

  Moreover, in the said embodiment, although the 2nd arm is comprised by one link, in this invention, it is not limited to this, For example, the 2nd arm may be comprised by the some link.

  Moreover, in the said embodiment, although the 3rd arm is comprised by four links, in this invention, it is not limited to this, For example, a 3rd arm is 1, 2, 3, or It may be composed of five or more links.

  In the present invention, the third arm may be omitted. In this case, for example, the end effector is detachably attached to the tip of the second arm.

  Moreover, in the said embodiment, although the number of robot arms is one, in this invention, it is not limited to this, The number of robot arms may be two or more, for example. That is, the robot (robot body) may be a multi-arm robot such as a double-arm robot, for example.

  In the present invention, the robot (robot body) may be another type of robot. Specific examples include a legged walking (running) robot having legs.

  1, 1A, 1B, 1C, 1D ... Robot 10 ... Robot body 11 ... Base 111 ... Flange 12, 13, 14 ... Arm 121, 122, 131, 132 ... Supporting part 171, 172, 173 174, 175, 176 ... joint 101 ... ceiling 102 ... mounting surface 301, 302, 303, 304, 305, 306 ... motor driver 401, 402, 403, 404, 405, 406 ... drive source 401M, 402M, 403M, 404M, 405M, 406M ... Motor 5 ... Robot arm 61,62,63,64 ... Link 621,622 ... Supporting part 41,42 ... Part 46,47 ... Work 51 ... Line 52 …… Bearing part 521 …… Center line 56, 57, 58 …… Arrow 521 …… Center line 71 ... conveyor belt 72 ... parts supply section 73 ... built-in section 76 ... shelf 77 ... stand 78 ... pallet 91 ... hands O1, O2, O3, O4, O5, O6 ... rotation axes R1, R2 ... …region.

Claims (14)

The base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The angle formed by the first arm and the second arm when viewed from the axial direction of the second rotation shaft can be 0 °,
When the angle is 0 °, the second arm does not interfere with the mounting surface on which the base is provided. The base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The robot according to claim 1, wherein a length of the first arm is longer than a length of the second arm. The base,
A robot arm, and
The robot arm includes a first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
By rotating the second arm without rotating the first arm, the tip of the robot arm is viewed from the first position in the axial direction of the second rotation shaft and the first arm and the A robot characterized in that it can be moved to a second position different by 180 ° around the first rotation axis through a state where an angle formed with the second arm is 0 °.   4. When the tip of the robot arm is moved from the first position to the second position, the tip of the robot arm moves on a straight line when viewed from the axial direction of the first rotation shaft. 5. The robot described.   The tip of the robot arm can be moved from the first position to a third position having the same height as the first position, and can be moved from the third position to the second position. The robot described in 1.   6. The tip of the robot arm can be moved from the second position to a third position having the same height as the first position, and can be moved from the third position to the first position. The robot according to any one of the above. The base,
A first arm provided on the base so as to be rotatable around a first rotation axis;
A second arm provided on the first arm so as to be rotatable around a second rotation axis that is an axial direction different from the axial direction of the first rotation axis;
The robot, wherein the first arm and the second arm can overlap each other when viewed from the axial direction of the second rotation shaft.   The robot according to claim 1, wherein the second rotation shaft is separated from the first rotation shaft.   9. The robot according to claim 1, wherein the second arm is provided with a third arm provided to be rotatable around a third rotation axis.   The robot according to claim 9, wherein an axial direction of the third rotation shaft and an axial direction of the second rotation shaft are parallel.   The robot according to claim 9 or 10, wherein a length of the third arm is longer than a length of the second arm.   The robot according to claim 9, wherein the second arm and the third arm can overlap each other when viewed from the axial direction of the second rotation shaft.   The robot according to claim 9, wherein the base is provided on a ceiling. The third arm includes a first link provided on the second arm so as to be rotatable around the third rotation axis;
A second link provided on the first link so as to be rotatable around a fourth rotation axis that is an axial direction different from the axial direction of the third rotation axis;
A third link provided on the second link so as to be rotatable around a fifth rotation axis which is an axial direction different from the axial direction of the fourth rotation axis;
The fourth link provided on the third link so as to be rotatable around a sixth rotation axis that is an axial direction different from the axial direction of the fifth rotation axis. The robot according to item 1.

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