JP4361547B2 - Robot arm - Google Patents

Description

  The present invention relates to a robot arm that expands and contracts by bending.

  2. Description of the Related Art Conventionally, a robot arm that expands and contracts by bending is used, for example, to transfer a workpiece (processing object) such as a semiconductor wafer or a precision part according to the manufacturing process, or to load on a predetermined work table. Yes.

  As an example of this type of robot arm, the robot arm disclosed in Patent Document 1 is known as described below.

  In FIG. 20, a conventional robot arm 900 includes a first four-axis rotating chain having a pair of first links 911 and 912 that are substantially parallel to each other and a pair of second links 913 and 914 that are substantially parallel to each other. Arm 910 is provided.

  The robot arm 900 includes a four-joint rotary chain having a pair of third links 921 and 922 that are substantially parallel to each other and a pair of fourth links 923 and 924 that are substantially parallel to each other. The second arm 920 is rotatably connected to the first arm 910 on one end side thereof.

  Here, the third links 921 and 922 are the same length as the first links 911 and 912. The fourth link 923 has the same length as the second link 913 and is integrally formed and fixed to the second link 913.

  The robot arm 900 also supports the first arm 910 rotatably on the other end side of the first arm 910 so that the first links 911 and 912 are inclined with respect to a predetermined reference axis 900a. 930.

The robot arm 900 includes a pair of fifth links 941 and 942 that are substantially the same length as each other and a four-joint rotation chain that includes a pair of sixth links 943 and 944 that are substantially the same length and intersect with each other. A four-joint rotating chain having a pair of seventh links 945 and 946 that are substantially equal in length to each other and a pair of eighth links 947 and 948 that are substantially the same length and intersect with each other. An interlocking unit 940 that interlocks the first arm 910 and the second arm 920 is provided so that the angles θ ₉₀₁ and θ ₉₀₂ of the first arm 910 and the second arm 920 are substantially the same.

  Here, the fifth link 941 and the eighth link 947 are integrally formed and fixed to the third link 921 and the first link 911, respectively. The sixth link 943 and the seventh link 945 are equal in length to each other, and are integrally formed and fixed to the second link 913 and the fourth link 923. The fifth link 942 and the eighth link 948 are integrally formed with each other and fixed.

  The robot arm 900 also includes an arm 951 whose one end is integrally formed with the fourth link 924, and a hand 952 that is attached to the other end of the arm 951 and places a workpiece.

The robot arm 900 can be expanded and contracted by bending the first arm 910 and the second arm 920.
JP 2000-208588 A

  However, in the conventional robot arm 900, as shown in FIG. 20, when the first arm 910 and the second arm 920 are extended, the four-arm rotation chain of the first arm 910, The four-bar rotation chain of the second arm 920 and the four-bar rotation chain of the interlocking unit 940 are in a crushed shape and are easier to deform than in the case of not being in the crushed shape, and thus have the following problems.

  In the robot arm 900, when the first arm 910 and the second arm 920 are extended, each link expands and contracts due to, for example, an external temperature change, and the first arm 910, the second arm 920, and the interlocking movement. Since the portion 940 is deformed, there is a problem that the position of the hand 952 cannot be determined when the first arm 910 and the second arm 920 are extended.

  In addition, the robot arm 900 has the first arm 910, the second arm 920, and the interlocking unit 940 deformed by an external force when the first arm 910 and the second arm 920 are extended. When the first arm 910 and the second arm 920 are extended, there is a problem that the position of the hand 952 is easily changed by an external force.

  Therefore, an object of the present invention is to provide a robot arm that can improve positioning accuracy when it is extended as compared with the conventional art.

In order to solve the above problems, the present invention includes a first arm and a second arm that are rotatably connected to each other, and an interlocking unit that rotates the first arm and the second arm in conjunction with each other. , a robotic arm wherein the interlocking part, one of which is integrally fixed to one end of one arm of said first and second arms, a pair of first an equal lengths an interlocking link is pivotally coupled to the first interlocking link, respectively, the first quadric crank chain and a pair of second interlock link crossing a equal lengths, one second A pair of third interlocking links fixed to one side of the second interlocking link so as to form one link together with one of the interlocking links of the second and the third interlocking links, respectively. one previous while being rotatably coupled Integrally fixed to one end of the other arm of the first arm and the second arm and the other of the first to form a single link with the other coupling link of the first interlock link A first four-link rotating chain having a pair of fourth interlocking links that are integrally fixed to the other interlocking link among the interlocking links and that have the same length and intersect with each other. wherein at least one among the one fourth interlocking link, to the counterpart side arms are secured together one of the first and second arms, connecting both ends of 該A over arm and It is inclined and fixed with respect to the axis so as to deviate from the axis .

With this configuration, in the robot arm of the present invention , the four-bar rotation chain is unlikely to have a crushed shape, and is not easily deformed by an external force.

Further, in the robot arm of the present invention, expansion / contraction of the link due to an external temperature change, processing errors of components such as each link, or assembly error of each component is distributed in directions other than the expansion / contraction direction when the arm is expanded / contracted .

  Therefore, the robot arm of the present invention can improve the positioning accuracy when it is extended as compared with the conventional robot arm.

In the robot arm of the present invention, preferably, the first arm and the second arm are changed to an extended state in which the first arm and the second arm are extended in a predetermined axis direction and a contracted state in which the first arm and the second arm are contracted in the predetermined axis direction. The one first interlocking link is connected to one of the first arm and the second arm when the first arm and the second arm change from the contracted state to the extended state. The one fourth interlocking link rotates when the first arm and the second arm change from the contracted state to the extended state. One arm and the second arm rotate together with the other arm in the direction of rotation of the arm toward the extended state, and less of the one first interlocking link and the one fourth interlocking link When One is fixed to the opposite arm of the first arm and the second arm that are fixed together by being inclined in the rotational direction of the arm toward the contracted state. .

With this configuration, in the robot arm of the present invention , the four-bar rotation chain is unlikely to have a crushed shape, and is not easily deformed by an external force.

Further, in the robot arm of the present invention, expansion / contraction of the link due to an external temperature change, processing errors of components such as each link, or assembly error of each component is distributed in directions other than the expansion / contraction direction when the arm is expanded / contracted .

  Therefore, the robot arm of the present invention can improve the positioning accuracy when it is extended as compared with the conventional robot arm.

In order to solve the above-mentioned problems, the present invention provides a first arm comprising a four-joint rotating chain having a pair of first links parallel to each other and a pair of second links parallel to each other, and A second arm rotatably connected to one end of one arm, and a support that rotatably supports the other end of the first arm, the first arm and the second arm A robot arm that changes into an extended state extended in the direction of a predetermined reference axis and a contracted state contracted in the direction of the reference axis by rotation of the arm, between the first arm and the second arm. The first arm and the angle formed by the first link of the first arm with respect to the reference axis and the angle formed by the second arm with respect to the reference axis are always the same. Move the second arm in the direction of extension and contraction An interlocking portion that moves and rotates is interposed, and the first link of the first arm is configured such that when the first arm and the second arm change from the contracted state to the extended state, the reference The second link of the first arm is inclined to one side of the rotational direction with respect to the reference axis, while rotating to one side of the rotational direction so as to approach the shaft, or A four-joint rotating chain having a first arm, a pair of first links parallel to each other, and a pair of second links parallel to each other, and rotatably connected to one end side of the first arm A second arm; and a support portion that rotatably supports the other end of the first arm, and extends in a direction of a predetermined reference axis by the rotation of the first arm and the second arm. Stretched and contracted in the direction of the reference axis. A robot arm that changes to a state, wherein an angle formed by the first arm with respect to the reference axis and the second axis with respect to the reference axis between the first arm and the second arm. An interlocking unit for rotating the first arm and the second arm in conjunction with the direction of expansion and contraction is interposed so that the angle formed by the first link of the arm is always the same. The first link of the two arms rotates to one side in the rotational direction so as to approach the reference axis when the first arm and the second arm change from the contracted state to the extended state. The second link of the second arm is inclined to one side in the rotational direction with respect to the reference axis.

  With this configuration, the interlocking portion of the robot arm of the present invention has a shape in which the four-bar rotation chain is crushed when the first arm and the second arm extend, compared to the interlocking portion of the conventional robot arm. Difficult to deform by external force.

  Therefore, the robot arm of the present invention can improve the positioning accuracy when it is extended as compared with the conventional robot arm.

  According to the present invention, it is possible to provide a robot arm that can improve positioning accuracy when it is extended as compared with the conventional art.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
First, the configuration of the robot arm according to the first embodiment will be described.

  In FIG. 1, the robot arm 100 according to the present embodiment includes a four-node rotation chain having a pair of first links 111 and 112 that are substantially parallel to each other and a pair of second links 113 and 114 that are substantially parallel to each other. The 1st arm 110 which consists of is provided.

  The robot arm 100 includes a four-joint rotating chain having a pair of third links 121 and 122 substantially parallel to each other and a pair of fourth links 123 and 124 substantially parallel to each other. Is provided with a second arm 120 rotatably connected to the first arm 110 on one end side thereof.

  Here, the third links 121 and 122 are the same length as the first links 111 and 112. The fourth link 123 is integrally formed and fixed to the second link 113.

  In addition, the robot arm 100 includes a drive shaft 131 that rotates the first link 111 in the direction indicated by the arrow 130a or the arrow 130b, and a drive shaft that rotates the second link 114 in the direction indicated by the arrow 130a or the arrow 130b. 132, and a support portion 130 that rotatably supports the first arm 110 on the other end side of the first arm 110 so that the first links 111 and 112 are inclined with respect to a predetermined reference axis 100a. It has.

The robot arm 100 includes a four-joint rotation chain having a pair of fifth links 141 and 142 that are substantially the same length as each other and a pair of sixth links 143 and 144 that are substantially the same length and intersect with each other. A four-joint rotating chain having a pair of seventh links 145 and 146 that are substantially equal in length to each other and a pair of eighth links 147 and 148 that are substantially equal in length and intersect with each other. An interlocking unit 140 for interlocking the first arm 110 and the second arm 120 is provided so that the angles θ ₁₀₁ and θ ₁₀₂ of the first arm 110 and the second arm 120 are substantially the same.

  Here, the fifth link 141 and the eighth link 147 are integrally formed and fixed to the third link 121 and the first link 111, respectively. Further, the sixth link 143 and the seventh link 145 are equal in length to each other, and are integrally formed and fixed to the second link 113 and the fourth link 123. The fifth link 142 and the eighth link 148 are integrally formed with each other and fixed.

  The robot arm 100 includes an arm 151 having one end formed integrally with the fourth link 124, and a hand 152 mounted on the other end of the arm 151 and placing a workpiece.

  Note that the hand 152 is of a type on which a workpiece is placed in the present embodiment, but according to the present invention, various types of known types such as a type of gripping the workpiece can be used. Things can be used arbitrarily.

Further, as shown in FIG. 2, the robot arm 100 has an angle θa of the axis 114a of the second link 114 with respect to the reference axis 100a in the direction of rotation when the first arm 110 extends (the direction indicated by the arrow 130a). ₁₀₃ (however, the angle is 0 ° or more and less than 180 °) is the axis of the first link 111 with respect to the reference axis 100a in the direction of rotation when the first arm 110 extends (the direction indicated by the arrow 130a). The second link 114 is always tilted with respect to the reference axis 100a by the drive shaft portion 132 of the support portion 130 so as to be larger than the angle θ _{101 of} 111a (however, the angle is 0 ° or more and less than 180 °). ing.

  Next, the operation of the robot arm according to the present embodiment will be described.

The first link 111, the drive shaft 131, the angle theta ₁₀₁ is rotated in the direction indicated by arrow 130a or arrow 130b relative to the second link 114 so as to vary, the robot arm 100 has a first The first arm 110 and the second arm 120 bend, and can change to a state between the extended state shown in FIG. 1 and the contracted state shown in FIG. Further, it is possible to further contract from the contracted state shown in FIG.

  Also, the robot arm 100 turns by the first link 111 and the second link 114 rotating by the same amount in the same direction indicated by the arrow 130a or the arrow 130b by the drive shaft 131 and the drive shaft 132. be able to.

Here, the first arm 110 of the robot arm 100 always has the second link 114 as the drive shaft of the support portion 130 so that the angle θ ₁₀₃ (see FIG. 2) is larger than the angle θ ₁₀₁ as described above. Since it is inclined with respect to the reference axis 100a by the portion 132, when it extends with the second arm 920, compared to the first arm 910 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Furthermore, as shown in FIG. 1, it is difficult to form a shape in which the four-bar rotation chain is crushed.

As shown in FIG. 4A, the first arm 110 has an angle θ ₁₀₃ (see FIG. 2) as in the first arm 910 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). If There is an angle theta ₁₀₁ following 0 °, the first arm 110, the direction of the force F ₁₀₁ which is substantially perpendicular to the reference axis 100a is added when it is extended, the first link 111 and the second the link 113, the force F ₁₀₂ and the force F ₁₀₃ is a component force of the respective force F ₁₀₁ is added.

However, as shown in FIG. 4 (b), the first arm 110 according to the present embodiment extends as in the case shown in FIG. 4 (a) because the angle θ ₁₀₃ is larger than the angle θ ₁₀₁ . When a force F _{101 in} a direction substantially perpendicular to the reference axis 100a is applied, the force F _{101 is} a component of the force F ₁₀₁ on the first link 111, and is a force F smaller than the force F ₁₀₂ shown in FIG. ₁₀₄ is applied, and a force F ₁₀₅ that is a component force of the force F ₁₀₁ and is smaller than the force F ₁₀₃ shown in FIG. 4A is applied to the second link 113.

In the above description, the case where the force F ₁₀₁ in the direction substantially orthogonal to the reference axis 100a is applied to the extending first arm 110 has been described. Similarly, when a force in a direction substantially parallel to the axis 100a is applied, the first arm 110 is compared with the first arm 910 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Less force is applied to each link.

  As described above, the first arm 110 of the robot arm 100 extends together with the second arm 120 as compared to the first arm 910 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Since the force applied to each link is small, it is difficult to deform by external force.

  Further, the first arm 110 of the robot arm 100 has the second links 113 and 114 inclined with respect to the reference axis 100a, so that when the first arm 110 extends with the second arm 120, the conventional robot arm 900 ( Compared with the first arm 910 (see FIG. 20) of FIG. 20), the expansion / contraction of the link due to external temperature change, the processing error of each part such as each link, or the assembly error of each part is substantially reduced in the reference axis 100a. Dispersed in directions other than parallel or substantially orthogonal directions.

  Therefore, the robot arm 100 can improve the positioning accuracy of the hand 152 when it is extended, as compared with the conventional robot arm 900 (see FIG. 20).

The robot arm 100 can set an arbitrary angle larger than the angle θ ₁₀₁ as the angle θ ₁₀₃ (see FIG. 2).

For example, the robot arm 100 has an angle θ ₁₀₃ (see FIG. 2) so that the first link 111 and the second link 114 are substantially orthogonal to each other when the first arm 110 and the second arm 120 are extended most. ) May be set.

  By the way, in the case of two links having different lengths, when the length of the machining error is the same, the ratio of the machining error in the total length of the long link is smaller than that of the short link.

Therefore, as shown in FIG. 5, the robot arm 100 includes a second link 115, which is longer than the second links 113 and 114 and substantially parallel to each other, instead of the second links 113 and 114 (see FIG. 1). 116 (second link of the first arm) , the deformation of the first arm 110 due to the processing error of the second links 115 and 116 is small compared to the case shown in FIG. When the first arm 110 and the second arm 120 are extended, the hand 152 can move more linearly along the reference axis 100a.

  Further, as shown in FIG. 5, the robot arm 100 includes a second link 115, which is longer than the second links 113 and 114 and substantially parallel to each other, instead of the second links 113 and 114 (see FIG. 1). In the case of having 116, a space for thickening each link of the first arm 110 can be secured as compared with the case shown in FIG. When the link of the first arm 110 is increased without increasing the thickness of the first arm 110, the deformation of the first arm 110 is further reduced, and the first arm 110 and the second arm 120 are extended. Further, the rigidity in the extending direction of the rotation shafts of the drive shaft 131 and the drive shaft 132 of the hand 152 can be improved.

In the present embodiment, the interlocking unit 140 is composed of two four-node rotating chains. However, according to the present invention, the angle θ between the first arm 110 and the second arm 120 with respect to the reference axis 100a. _101, as theta ₁₀₂ is substantially identical to one another, as long as a mechanism for interlocking the first arm 110 and second arm 120, with two quadric crank chains other than the interlocking portion shown in this embodiment You may be comprised from other well-known mechanisms, such as a mechanism, a mechanism using a synchronous gear, and a mechanism using a belt and a pulley.
(Second Embodiment)
First, the configuration of the robot arm according to the second embodiment will be described.

  In FIG. 6, the robot arm 200 according to the present embodiment includes a four-bar rotation chain having a pair of first links 211 and 212 that are substantially parallel to each other and a pair of second links 213 and 214 that are substantially parallel to each other. The 1st arm 210 which consists of is provided.

In addition, the robot arm 200 includes a pair of third links 221 and 222 (first links of the second arm) that are substantially parallel to each other and a pair of fourth links 223 and 224 (second links that are substantially parallel to each other ) . It consists quadric crank chain having a second link) and of the arm, a second arm 220 that is rotatably coupled to the first arm 210 at one end of the first arm 210.

  Here, the third links 221 and 222 are the same length as the first links 211 and 212. The fourth link 223 is integrally formed and fixed to the second link 213.

  The robot arm 200 also has a drive shaft 231 that rotates the first link 211 in the direction indicated by the arrow 230a or the arrow 230b, and a drive shaft that rotates the second link 214 in the direction indicated by the arrow 230a or the arrow 230b. 232, and a support portion 230 that rotatably supports the first arm 210 on the other end side of the first arm 210 so that the first links 211 and 212 are inclined with respect to a predetermined reference axis 200a. It has.

The robot arm 200 includes a pair of fifth links 241 and 242 that are substantially equal in length to each other and a four-joint rotation chain that includes a pair of sixth links 243 and 244 that are substantially equal in length and intersect with each other. A four-joint rotating chain having a pair of seventh links 245 and 246 that are approximately equal in length to each other and a pair of eighth links 247 and 248 that are approximately equal in length and intersect with each other. An interlocking unit 240 that interlocks the first arm 210 and the second arm 220 is provided so that the angles θ ₂₀₁ and θ ₂₀₂ of the first arm 210 and the second arm 220 are substantially the same.

  Here, the fifth link 241 and the eighth link 247 are integrally formed and fixed to the third link 221 and the first link 211, respectively. The sixth link 243 and the seventh link 245 are equal in length to each other, and are integrally formed and fixed to the second link 213 and the fourth link 223. The fifth link 242 and the eighth link 248 are integrally formed with each other and fixed.

  The robot arm 200 includes an arm 251 whose one end is integrally formed with the fourth link 224, and a hand 252 that is attached to the other end of the arm 251 and places a workpiece.

  The hand 252 is of a type for placing a workpiece in the present embodiment. However, according to the present invention, various types of known types such as a type for gripping a workpiece can be used. Things can be used arbitrarily.

In addition, as shown in FIG. 7, the robot arm 200 has an angle θ of the axis 224a of the fourth link 224 with respect to the reference axis 200a in the direction of rotation when the second arm 220 extends (the direction indicated by the arrow 230b). _The axis of the third link 221 with respect to the reference axis 200a in the direction of rotation when the second arm 220 extends (the direction indicated by the arrow 230b) is ₂₀₃ (however, the angle is 0 ° or more and less than 180 °). The fourth link 224 is always inclined with respect to the reference axis 200a so as to be larger than the angle θ _{202 of} 221a (however, it is an angle between 0 ° and less than 180 °).

  Next, the operation of the robot arm according to the present embodiment will be described.

When the first link 211 is rotated by the drive shaft portion 231 in the direction indicated by the arrow 230a or the arrow 230b with respect to the second link 214 so that the angle θ ₂₀₁ changes, the robot arm 200 is The second arm 210 and the second arm 220 are bent, and can change to a state between the extended state shown in FIG. 6 and the contracted state shown in FIG. Further, it is possible to further contract from the contracted state shown in FIG.

  Further, the first link 211 and the second link 214 rotate by the same amount in the same direction indicated by the arrow 230a or the arrow 230b by the drive shaft portion 231 and the drive shaft portion 232, whereby the robot arm 200 turns. be able to.

Here, as described above, in the second arm 220 of the robot arm 200, the fourth link 224 is always relative to the reference axis 200a so that the angle θ ₂₀₃ (see FIG. 7) is larger than the angle θ ₂₀₂ . As shown in FIG. 6, when tilted together with the first arm 910 as compared to the second arm 920 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20) It is difficult to form a crushed four-bar rotation chain.

As shown in FIG. 9A, the second arm 220 has an angle θ ₂₀₃ (see FIG. 7) as in the second arm 920 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). If There is an angle theta ₂₀₂ following 0 °, the second arm 220, the direction of the force F ₂₀₁ which is substantially perpendicular to the reference axis 200a is added when it is extended, the third link 221 and the fourth A force F ₂₀₂ and a force F _{203 which} are components of the force F ₂₀₁ are respectively applied to the links 224.

However, the second arm 220 according to the present embodiment extends as in the case shown in FIG. 9A because the angle θ ₂₀₃ is larger than the angle θ ₂₀₂ as shown in FIG. 9B. When a force F _{201 in} a direction substantially orthogonal to the reference axis 200a is applied, the force F _{201 is} a component force of the force F ₂₀₁ on the third link 221 and is smaller than the force F ₂₀₂ shown in FIG. ₂₀₄ is applied, and a force F ₂₀₅ that is a component force of the force F ₂₀₁ and is smaller than the force F ₂₀₃ shown in FIG. 9A is applied to the fourth link 224.

In the above description, the case where the force F ₂₀₁ in the direction substantially orthogonal to the reference axis 200a is applied to the extended second arm 220 has been described. However, the reference is applied to the extended second arm 220. Similarly, when a force in a direction substantially parallel to the axis 200a is applied, the second arm 220 is compared with the second arm 920 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Less force is applied to each link.

  As described above, the second arm 220 of the robot arm 200 extends together with the first arm 210 as compared with the second arm 920 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Since the force applied to each link is small, it is difficult to deform by external force.

  Further, the second arm 220 of the robot arm 200 has the fourth links 223 and 224 tilted with respect to the reference axis 200a. Therefore, when the second arm 220 extends together with the first arm 210, the conventional robot arm 900 ( Compared with the second arm 920 (see FIG. 20) of FIG. 20), the expansion and contraction of the link due to an external temperature change, the processing error of each part such as each link, or the assembly error of each part is substantially omitted in the reference axis 200a. Dispersed in directions other than parallel or substantially orthogonal directions.

  Therefore, the robot arm 200 can improve the positioning accuracy of the hand 252 when it is extended, as compared with the conventional robot arm 900 (see FIG. 20).

The robot arm 200 can set an arbitrary angle larger than the angle θ ₂₀₂ as the angle θ ₂₀₃ (see FIG. 7).

For example, the robot arm 200 has an angle θ ₂₀₃ (see FIG. 7) so that the third link 221 and the fourth link 224 are substantially orthogonal to each other when the first arm 210 and the second arm 220 are extended most. ) May be set.

  By the way, in the case of two links having different lengths, when the length of the machining error is the same, the ratio of the machining error in the total length of the long link is smaller than that of the short link.

Therefore, as shown in FIG. 10, the robot arm 200 has a fourth link 225 that is longer than the fourth links 223 and 224 and substantially parallel to each other, instead of the fourth links 223 and 224 (see FIG. 6). 226 (second link of the second arm) , the deformation of the second arm 220 due to the processing error of the fourth links 225 and 226 is small compared to the case shown in FIG. The hand 252 can move more linearly along the reference axis 200a when the first arm 210 and the second arm 220 are extended.

  Further, as shown in FIG. 10, the robot arm 200 has a fourth link 225 which is longer than the fourth links 223 and 224 and substantially parallel to each other, instead of the fourth links 223 and 224 (see FIG. 6). In the case of having 226, the space for thickening each link of the second arm 220 can be secured as compared with the case shown in FIG. 6, so the extending directions of the rotation shafts of the drive shaft portion 231 and the drive shaft portion 232 When the first arm 210 and the second arm 220 are extended by increasing the link of the second arm 220 without increasing the thickness of the second arm 220, the deformation of the second arm 220 is further reduced. Further, the rigidity in the extending direction of the rotation shafts of the drive shaft portion 231 and the drive shaft portion 232 of the hand 252 can be improved.

In this embodiment, the interlocking unit 240 is composed of two four-node rotating chains. However, according to the present invention, the angle θ between the first arm 210 and the second arm 220 with respect to the reference axis 200a. _{As long} as the first arm 210 and the second arm 220 are interlocked so that ₂₀₁ and θ ₂₀₂ are substantially identical to each other, two four-bar rotation chains other than the interlocking portion shown in the present embodiment are used. You may be comprised from other well-known mechanisms, such as a mechanism, a mechanism using a synchronous gear, and a mechanism using a belt and a pulley.
(Third embodiment)
First, the configuration of the robot arm according to the third embodiment will be described.

  In FIG. 11, the robot arm 300 according to the present embodiment includes a four-node rotation chain having a pair of first links 311 and 312 that are substantially parallel to each other and a pair of second links 313 and 314 that are substantially parallel to each other. The 1st arm 310 which consists of is provided.

  The robot arm 300 includes a four-node rotating chain having a pair of third links 321 and 322 substantially parallel to each other and a pair of fourth links 323 and 324 substantially parallel to each other. The second arm 320 is rotatably connected to the first arm 310 on one end side.

  Here, the third links 321 and 322 are the same length as the first links 311 and 312. The fourth link 323 is integrally formed and fixed to the second link 313.

Further, the robot arm 300 has a drive shaft portion 331 that rotates the first link 311 in the direction indicated by the arrow 330a or the arrow 330b, and a drive shaft portion that rotates the second link 314 in the direction indicated by the arrow 330a or the arrow 330b. 332 so that the first arm 310 can be rotated on the other end side of the first arm 310 so that the first links 311 and 312 are inclined with respect to a predetermined reference axis 300a (predetermined axis) . A support portion 330 is provided for support.

The robot arm 300 includes a pair of fifth links 341 and 342 (first interlocking links) that are substantially equal in length to each other and a pair of sixth links 343 and 344 (first links that are substantially equal in length and intersect each other ) . a quadric crank chain and a second interlocking link) (first quadric crank chain), a pair of seventh link 345, 346 (third interlocking link) is substantially equal length to each other, substantially equal to each other The first arm 310 with respect to the reference axis 300a is composed of a four-bar rotation chain (second four-bar rotation chain) having a pair of long and intersecting eighth links 347 and 348 (fourth interlocking links). And an interlocking section 340 for interlocking the first arm 310 and the second arm 320 so that the angles θ301 and θ302 of the second arm 320 are substantially the same.

  Here, the fifth link 341 and the eighth link 347 are integrally formed and fixed to the third link 321 and the first link 311, respectively. The sixth link 343 and the seventh link 345 have the same length, and are integrally formed and fixed to the second link 313 and the fourth link 323. Further, the fifth link 342 and the eighth link 348 are integrally formed with each other and fixed.

  The robot arm 300 includes an arm 351 whose one end is integrally formed with the fourth link 324, and a hand 352 that is attached to the other end of the arm 351 and places a workpiece.

  In this embodiment, the hand 352 is of a type on which a workpiece is placed. However, according to the present invention, various types of known types such as a type of gripping the workpiece can be used. Things can be used arbitrarily.

As shown in FIG. 12A, the axis 341a of the fifth link 341 and the axis 321a of the third link 321 are substantially the same, the axis 347a of the eighth link 347, If the fifth link 341 and the eighth link 347 are arranged so that the axis 311 a of the link 311 is substantially the same, the fifth link 341 has an angle θ _{303 with} respect to the sixth link 343 _. Tilted.

However, as shown in FIG. 12B, the fifth link 341 according to the present embodiment is inclined with respect to the sixth link 343 by adding up the angle θ ₃₀₃ and the angle θ ₃₀₄ .

  Here, the fifth link 341 rotates with respect to the sixth link 343 in the direction indicated by the arrow 330a when the first arm 310 and the second arm 320 contract.

In other words, the fifth link 341 shown in FIG. 12B has the first arm 310 and the sixth link 343 in comparison with the case shown in FIG. The second arm 320 is further tilted by an angle θ304 in the direction of rotation when the second arm 320 contracts (the direction indicated by the arrow 330a), and the axis 341a of the fifth link 341 is the axis 321a of the third link 321 of the second arm 320. Is inclined by an angle θ304.

  Next, the operation of the robot arm according to the present embodiment will be described.

When the first link 311 is rotated by the drive shaft portion 331 in the direction indicated by the arrow 330a or the arrow 330b with respect to the second link 314 so that the angle θ ₃₀₁ changes, the robot arm 300 is The first arm 310 and the second arm 320 are bent, and the arm 310 and the second arm 320 can be changed from the extended state shown in FIG. 11 to the contracted state shown in FIG. Further, it is possible to further contract from the contracted state shown in FIG.

  Further, the first link 311 and the second link 314 rotate by the same amount in the same direction indicated by the arrow 330a or the arrow 330b by the drive shaft portion 331 and the drive shaft portion 332, whereby the robot arm 300 turns. be able to.

Here, as described above, the interlocking unit 340 of the robot arm 300 has a sixth link 341 as shown in FIG. 12B, as compared with the case shown in FIG. Since the first arm 310 and the second arm 320 are inclined with respect to the link 343 in an angle θ ₃₀₄ in the direction of rotation when the first arm 310 and the second arm 320 contract (direction indicated by the arrow 330a), the conventional robot arm 900 (see FIG. 20) is inclined. Compared with the interlocking unit 940 (see FIG. 20), when the first arm 310 and the second arm 320 extend, as shown in FIG.

As shown in FIG. 12A, the interlocking unit 340 is similar to the interlocking unit 940 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20) and the axis 341a of the fifth link 341, The fifth link 341 and the eighth link 341a so that the axis 321a of the third link 321 is substantially the same, and the axis 347a of the eighth link 347 is substantially the same as the axis 311a of the first link 311. In the case where the link 347 is arranged, the interlocking unit 340 is configured such that when the force F _{301 in} a direction substantially orthogonal to the reference axis 300a is applied as shown in FIG. A force F ₃₀₂ and a force F _{303 which} are component forces of the force F ₃₀₁ are applied to the 341 and the sixth link 344, respectively.

However, in the interlocking unit 340 according to the present embodiment, as shown in FIG. 12B, the fifth link 341 has an angle θ in the direction indicated by the arrow 330a as compared to the case shown in FIG. Since it is inclined _304, when a force F _{301 in} a direction substantially orthogonal to the reference axis 300a is applied when it is extended as in the case shown in FIG. 14 (a), as shown in FIG. 14 (b). a component force of the force F ₃₀₁ to the fifth link 341 is added force F ₃₀₂ smaller force F ₃₀₄ shown in FIG. 14 (a), a component of the force F ₃₀₁ to the link 344 of the sixth, A force F ₃₀₅ smaller than the force F ₃₀₃ shown in FIG.

In the above description, the case where the force F ₃₀₁ in the direction substantially orthogonal to the reference axis 300a is applied to the interlocking unit 340 when the first arm 310 and the second arm 320 are extended has been described. Similarly, when a force in a direction substantially parallel to the reference axis 300a is applied to the interlocking portion 340 when the first arm 310 and the second arm 320 are extended, the interlocking portion 340 is a conventional robot arm. Compared with the interlocking unit 940 (see FIG. 20) of 900 (see FIG. 20), the force applied to each link is reduced.

  As described above, the interlocking unit 340 of the robot arm 300 has the first arm 310 and the second arm 320 compared to the interlocking unit 940 (see FIG. 20) of the conventional robot arm 900 (see FIG. 20). Since the force applied to each link is small when it extends, it is difficult to be deformed by an external force.

  Therefore, the robot arm 300 can improve the positioning accuracy of the hand 352 when it is extended, as compared with the conventional robot arm 900 (see FIG. 20).

The robot arm 300 can be set to any angle as the angle θ ₃₀₄ (see FIG. 12).

For example, in the robot arm 300, even when the first arm 310 and the second arm 320 are most extended, the angle θ ₃₀₄ is set so that both the fifth links 341 and 342 are substantially parallel to each other. good.

  In addition, the interlocking unit 340 shown in FIG. 12B has the first arm 310 and the second arm 340 so that the axis 313a of the second link 313 and the axis 343a of the sixth link 343 are substantially the same. Although the robot arm 300 is attached to the arm 320, the robot arm 300 can be attached to the first arm 310 and the second arm 320 of the interlocking unit 340 in various ways other than the attachment method shown in FIG. The way it is installed can be set.

  For example, as shown in FIG. 15A, the interlocking unit 340 includes the first arm 310 and the third arm 321 so that the axis 321a of the third link 321 and the axis 341a of the fifth link 341 are substantially the same. It may be attached to the second arm 320, and as shown in FIG. 15B, the axis 311a of the first link 311 and the axis 347a of the eighth link 347 are substantially the same. It may be attached to the first arm 310 and the second arm 320.

  In addition, the robot arm 300 includes the interlocking unit 340 in the present embodiment. However, according to the present invention, in addition to the interlocking unit 340, for example, the interlocking unit 360 illustrated in FIG. In addition, an interlocking unit composed of two four-node rotation chains, such as an interlocking unit 370 as shown in FIG.

  The interlocking unit 360 shown in FIG.

In FIG. 16A, the interlocking portion 360 is composed of a pair of fifth links 361 and 362 (first interlocking links) that are substantially equal in length to each other and a pair of sixth links that are approximately equal in length and intersect with each other. Four-joint rotation chain (first four-joint rotation chain) having 363, 364 (second interlocking link) and a pair of seventh links 365, 366 (third interlocking link) that are substantially equal to each other And a four-bar rotation chain (second four-bar rotation chain) having a pair of eighth links 367 and 368 (fourth interlocking links) that are substantially the same length and intersect with each other, The first arm 310 and the second arm so that the angles θ301 and θ302 (see FIG. 11) of the first arm 310 (see FIG. 11) and the second arm 320 (see FIG. 11) are substantially the same. 320 is interlocked.

  Here, the fifth link 361 and the eighth link 367 are integrally formed and fixed to the first link 311 and the third link 322, respectively. Further, the sixth link 363 and the seventh link 365 are integrally formed and fixed to the second link 313 and the fourth link 323. Further, the fifth link 362 and the eighth link 368 are equal in length to each other, and are integrally formed and fixed.

As shown in FIG. 16B, the axis 361a of the fifth link 361 and the axis 311a of the first link 311 are substantially the same, the axis 367a of the eighth link 367, If the fifth link 361 and the eighth link 367 are arranged so that the axis 322 a of the link 322 is substantially the same, the fifth link 361 has an angle θ _{305 with} respect to the sixth link 363 _. Tilted.

However, the fifth link 361 shown in FIG. 16A is inclined with respect to the sixth link 363 by subtracting the angle θ ₃₀₆ from the angle θ ₃₀₅ .

  Here, the fifth link 361 has a direction indicated by an arrow 330b when the first arm 310 (see FIG. 11) and the second arm 320 (see FIG. 11) contract with respect to the sixth link 363. It is designed to rotate.

In other words, the fifth link 361 shown in FIG. 16A has the first arm 310 (with respect to the sixth link 363 as compared to the case shown in FIG. 16B. The angle θ _{306 is} inclined in the direction of rotation when the second arm 320 (see FIG. 11) contracts (see the direction indicated by the arrow 330b).

  The interlocking unit 370 shown in FIG.

In FIG. 17A, the interlocking portion 370 includes a pair of fifth links 371 and 372 (first interlocking links) that are substantially the same length as each other and a pair of sixth links that are approximately the same length and intersect each other. 373, 374 (second interlocking link) and quadric crank chain having a (first quadric crank chain), a pair of seventh link is substantially equal length to each other 375 and 376 (third interlocking link) And a four-bar rotation chain (second four-bar rotation chain) having a pair of eighth links 377 and 378 (fourth interlocking links) that are substantially the same length and intersect with each other, The first arm 310 and the second arm so that the angles θ301 and θ302 (see FIG. 11) of the first arm 310 (see FIG. 11) and the second arm 320 (see FIG. 11) are substantially the same. 320 is interlocked.

  Here, the fifth link 371 and the eighth link 377 are integrally formed and fixed to the third link 322 and the first link 311, respectively. Further, the sixth link 373 and the seventh link 375 are integrally formed and fixed to the second link 313 and the fourth link 323. Further, the fifth link 372 and the eighth link 378 are integrally formed and fixed.

As shown in FIG. 17B, the axis 371a of the fifth link 371 and the axis 322a of the third link 322 are substantially the same, the axis 377a of the eighth link 377, If the fifth link 371 and the eighth link 377 are arranged so that the axis 311 a of the link 311 is substantially the same, the fifth link 371 has an angle θ _{307 with} respect to the sixth link 373. Tilted.

However, the fifth link 371 shown in FIG. 17A is inclined with respect to the sixth link 373 by subtracting the angle θ ₃₀₈ from the angle θ ₃₀₇ .

  Here, the fifth link 371 has a direction indicated by an arrow 330a when the first arm 310 (see FIG. 11) and the second arm 320 (see FIG. 11) contract with respect to the sixth link 373. It is designed to rotate.

In other words, the fifth link 371 shown in FIG. 17A has the first arm 310 (with respect to the sixth link 373 as compared with the case shown in FIG. 17B. 11) and the second arm 320 (see FIG. 11) is inclined at an angle θ ₃₀₈ in the direction of rotation (the direction indicated by the arrow 330a) when contracted.
(Fourth embodiment)
A configuration of a robot arm according to the fourth embodiment will be described.

  18 and 19, the robot arm 400 according to the present embodiment includes a pair of first links 411 and 412 that are substantially parallel to each other and a pair of second links 413 and 414 that are substantially parallel to each other. A first arm 410 composed of a knot rotation chain is provided.

  The robot arm 400 includes a four-node rotating chain having a pair of third links 421 and 422 substantially parallel to each other and a pair of fourth links 423 and 424 substantially parallel to each other. Is provided with a second arm 420 rotatably connected to the first arm 410.

  Here, the third links 421 and 422 are the same length as the first links 411 and 412. The fourth link 423 is integrally formed and fixed to the second link 413.

Further, the robot arm 400 includes a drive shaft portion 431 that rotates the first link 411 in the direction indicated by the arrow 430a or the arrow 430b, and a drive shaft portion that rotates the second link 414 in the direction indicated by the arrow 430a or the arrow 430b. 432, and the first arm 410 can be rotated on the other end side of the first arm 410 so that the first links 411 and 412 are inclined with respect to a predetermined reference axis 400a (predetermined axis) . A support portion 430 for supporting is provided.

The robot arm 400 includes a pair of fifth links 441 and 442 ( first interlocking links) that are substantially equal in length to each other and a pair of sixth links 443 and 444 (first links that are substantially equal in length and intersect each other ) . a quadric crank chain and a second interlocking link) (first quadric crank chain), a pair of seventh link 445, 446 (third interlocking link) is substantially equal length to each other, substantially equal to each other A first arm 410 with respect to the reference axis 400a, comprising a four-bar rotation chain (second four-bar rotation chain) having a pair of long and intersecting eighth links 447, 448 (fourth interlocking link). And an interlocking portion 440 for interlocking the first arm 410 and the second arm 420 so that the angles θ401 and θ402 of the second arm 420 are substantially the same.

  Here, the fifth link 441 and the eighth link 447 are integrally formed and fixed to the third link 421 and the first link 411, respectively. The sixth link 443 and the seventh link 445 are equal in length to each other, and are integrally formed and fixed to the second link 413 and the fourth link 423. The fifth link 442 and the eighth link 448 are integrally formed with each other and fixed.

  The robot arm 400 also includes an arm 451 whose one end is integrally formed with the fourth link 424 and a hand 452 that is attached to the other end of the arm 451 and places a workpiece.

  In this embodiment, the hand 452 is of a type on which a workpiece is placed. However, according to the present invention, various types of known types such as a type of gripping the workpiece can be used. Things can be used arbitrarily.

  The robot arm 400 also has the following three features.

(Characteristic 1) The robot arm 400 is rotated in the direction in which the first arm 410 extends (the direction indicated by the arrow 430a) in the same manner as the robot arm 100 (see FIG. 1) according to the first embodiment. An angle θ ₄₀₃ (however, an angle between 0 ° and less than 180 °) of the axis 414a of the second link 414 with respect to the reference axis 400a is a direction in which the first arm 410 rotates (indicated by an arrow 430a). The second link 414 is always supported by the support portion so as to be larger than the angle θ ₄₀₁ of the axis 411a of the first link 411 with respect to the reference axis 400a in the direction shown in FIG. The drive shaft portion 432 of 430 is inclined with respect to the reference shaft 400a.

(Characteristic 2) Like the robot arm 200 (see FIG. 6) according to the second embodiment, the robot arm 400 rotates in the direction in which the second arm 420 extends (the direction indicated by the arrow 430b). A direction (an arrow 430b) in which the angle θ ₄₀₄ of the axis 424a of the fourth link 424 with respect to the reference axis 400a (however, an angle between 0 ° and less than 180 °) rotates when the second arm 420 extends. The fourth link 424 always has a reference axis so as to be larger than an angle θ ₄₀₂ of the axis 421a of the third link 421 with respect to the reference axis 400a in the direction shown in the drawing) (however, it is an angle between 0 ° and less than 180 °). It is inclined with respect to 400a.

(Feature 3) As with the robot arm 300 (see FIG. 11) according to the third embodiment, the robot arm 400 includes the fifth link 441 and the eighth link 447, respectively, and the third link 421 and the eighth link 447, respectively. Compared to the case where the first link 411 and the axis are arranged so as to have substantially the same axis, the fifth link 441 has a first arm 410 and a second arm 420 with respect to the sixth link 443. The angle θ _{405 is} tilted in the direction of rotation (the direction indicated by the arrow 430a) during the contraction.

  With the above configuration, the robot arm 400 includes the robot arm 100 (see FIG. 1) according to the first embodiment, the robot arm 200 (see FIG. 6) according to the second embodiment, and the third embodiment. The robot arm 300 (see FIG. 11) according to the first embodiment can be operated similarly to the robot arm 100 (see FIG. 1) according to the first embodiment and the robot arm according to the second embodiment. 200 (see FIG. 6) and the same effect as the robot arm 300 (see FIG. 11) according to the third embodiment can be obtained.

  In the present embodiment, the robot arm 400 has the three features 1, 2, and 3. However, according to the present invention, the robot arm 400 has any two of the features 1, 2, and 3. Just fine.

In particular, when the robot arm 400 has only the features 1 and 2 among the features 1, 2, and 3, the interlocking unit 440 includes the angle θ ₄₀₁ of the first arm 410 and the second arm 420 with respect to the reference axis 400 a. , Θ ₄₀₂ is a mechanism that interlocks the first arm 410 and the second arm 420 so that they are substantially the same as each other, and a mechanism based on two four-node rotation chains other than the interlocking portion shown in the present embodiment. Alternatively, it may be composed of other known mechanisms such as a mechanism using a synchronous gear and a mechanism using a belt and a pulley.

It is a schematic block diagram in the expansion | extension state of the robot arm which concerns on the 1st Embodiment of this invention. It is a schematic block diagram of the periphery of the support part of the robot arm shown in FIG. It is a schematic block diagram in the contracted state of the robot arm shown in FIG. (A) The first arm of the robot arm shown in FIG. 1 when a force in a direction substantially orthogonal to the reference axis is applied when the first arm is provided in the same state as the conventional robot arm FIG. (B) It is a schematic block diagram of the periphery of the 1st arm of the robot arm shown in FIG. 1 when the force of the direction substantially orthogonal to a reference axis is applied. FIG. 3 is a schematic configuration diagram of the robot arm shown in FIG. 1 in an extended state in a state where the length of the second link is longer than the length shown in FIG. 1. It is a schematic block diagram in the expansion | extension state of the robot arm which concerns on the 2nd Embodiment of this invention. It is a schematic block diagram of the periphery of the connection part of the 2nd arm and hand of a robot arm shown in FIG. It is a schematic block diagram in the contracted state of the robot arm shown in FIG. (A) The second arm of the robot arm shown in FIG. 6 when a force in a direction substantially orthogonal to the reference axis is applied when the second arm is provided in the same state as the conventional robot arm FIG. FIG. 7B is a schematic configuration diagram around the second arm of the robot arm shown in FIG. 6 when a force in a direction substantially orthogonal to the reference axis is applied. FIG. 7 is a schematic configuration diagram in the extended state of the robot arm shown in FIG. 6 in a state where the length of the fourth link is longer than the length shown in FIG. 6. It is a schematic block diagram in the expansion | extension state of the robot arm which concerns on the 3rd Embodiment of this invention. (A) It is a schematic block diagram of the periphery of the interlocking | linkage part of the robot arm shown in FIG. 11 when provided in the same state as the conventional robot arm. (B) It is a schematic block diagram of the periphery of the interlocking | linkage part of the robot arm shown in FIG. It is a schematic block diagram in the contracted state of the robot arm shown in FIG. (A) Schematic of the periphery of the interlocking portion of the robot arm shown in FIG. 11 when a force in a direction substantially orthogonal to the reference axis is applied when the interlocking portion is provided in the same state as the conventional robot arm It is a block diagram. (B) It is a schematic block diagram of the periphery of the interlocking | linkage part of the robot arm shown in FIG. 11 when the force of the direction substantially orthogonal to a reference axis is applied. (A) Outline of the periphery of the interlocking portion of the robot arm shown in FIG. 11 when the interlocking portion is attached to the first arm and the second arm in a manner other than the attachment manner shown in FIG. It is a block diagram. (B) The robot arm shown in FIG. 11 when the interlocking part is attached to the first arm and the second arm in a manner other than the way shown in FIGS. 12 (b) and 15 (a). It is a schematic block diagram of the periphery of an interlocking | linkage part. FIG. 13A is a schematic configuration diagram of the periphery of an interlocking portion of a robot arm that includes two interlocking portions different from the interlocking portion shown in FIG. (B) It is a schematic block diagram of the periphery of the interlocking part of the robot arm shown in FIG. 16 (a) when the interlocking part is provided in the same state as the conventional robot arm. FIG. 17A is a schematic configuration diagram of the periphery of an interlocking unit of a robot arm that includes two interlocking units different from the interlocking unit illustrated in FIGS. . FIG. 18B is a schematic configuration diagram around the interlocking portion of the robot arm shown in FIG. 17A when the interlocking portion is provided in the same state as a conventional robot arm. It is a schematic block diagram in the expansion | extension state of the robot arm which concerns on the 4th Embodiment of this invention. It is a schematic block diagram in the contracted state of the robot arm shown in FIG. It is a schematic block diagram in the expansion | extension state of the conventional robot arm.

Explanation of symbols

100 Robot arm 100a Reference axis 110 First arm 111, 112 First link (first arm first link)
111a Axes 113, 114 Second link ( second link of the first arm)
114a Axes 115, 116 Second link ( second link of the first arm)
120 Second arm 121, 122 Third link 123, 124 Fourth link 130 Support unit 140 Interlocking unit 200 Robot arm 200a Reference axis 210 First arm 211, 212 First link 213, 214 Second link 220 2nd arm 221, 222 3rd link (1st link of 2nd arm)
221a Axis 223, 224 Fourth link (second link of second arm)
224a Axis 225, 226 Fourth link (second link of second arm)
230 Supporting part 240 Interlocking part 300 Robot arm 300a Reference axis (predetermined axis)
310 First arm 311, 312 First link (first arm)
311a Axis 313, 314 Second link 313a Axis 320 Second arm 321, 322 Third link (second arm)
321a Axis 322a Axis 323, 324 Fourth link 330 Support part 340 Interlocking part 341, 342 Fifth link (first interlocking link)
341a Axis 343, 344 Sixth link (second interlocking link)
343a Axes 345, 346 Seventh link (third interlocking link)
347, 348 Eighth link (fourth link)
347a Axis 360 Interlocking parts 361, 362 Fifth link (first interlocking link)
361a Axis 363, 364 Sixth link (second interlocking link)
365, 366 Seventh link (third interlocking link)
367, 368 Eighth link (fourth link)
367a Axis 370 Interlocking portions 371, 372 Fifth link (first interlocking link)
371a Axis 373, 374 Sixth link (second interlocking link)
375, 376 Seventh link (third interlocking link)
377, 378 Eighth link (fourth link)
377a Axis 400 Robot arm 400a Reference axis (predetermined axis)
410 1st arm 411, 412 1st link (1st arm)
411a Axis 413, 414 Second link 414a Axis 420 Second arm 421, 422 First link (second arm)
421a Axis 423, 424 Second link 424a Axis 430 Supporting part 440 Interlocking part 441, 442 Fifth link (first interlocking link)
443, 444 Sixth link (second interlocking link)
445, 446 Seventh link (third interlocking link)
447, 448 Eighth link (fourth link)

Claims (4)

A robot arm comprising a first arm and a second arm that are rotatably connected to each other, and an interlocking part that rotates the first arm and the second arm in conjunction with each other,
The interlocking portion, one of which is integrally fixed to one end of one arm of said first and second arms, and a pair of first interlock link is equal lengths, the first interlocking respectively A first four-joint rotating chain that is pivotally connected to the link and has a pair of second interlocking links that are equal in length and intersect with each other, and one link with one of the second interlocking links A pair of third interlocking links fixed to one side of the second interlocking link so as to form the same, and being connected to the third interlocking link so as to be rotatable, one of which is the above-mentioned The first arm and the second arm are integrally fixed to one end of the other arm, and the other of the first interlocking links forms one link with the other interlocking link . The other link in the link Integrally fixed to consists of a second quadric crank chain having a pair of fourth interlocking link crossing a equal lengths,
At least one of the one first interlocking link and the one fourth interlocking link is a fixed arm of the first arm and the second arm that is integrally fixed , robot arm characterized in that it is fixed inclined with respect to said axis so as to deviate from the axis connecting the two ends of 該A over arm. The first arm and the second arm are changed to an extended state in which the first arm and the second arm are extended in the direction of a predetermined axis and a contracted state in which the first arm and the second arm are contracted in the direction of the predetermined axis.
The one first interlocking link, together with one of the first arm and the second arm, when the first arm and the second arm change from the contracted state to the extended state, Rotate in the direction of rotation of the arm toward the extended state ,
When the first arm and the second arm change from the contracted state to the extended state, the one fourth interlocking link is coupled with the other arm of the first arm and the second arm. Rotate in the direction of rotation of the arm toward the extended state ,
At least one of the one first interlocking link and the one fourth interlocking link is a fixed arm of the first arm and the second arm that is integrally fixed , The robot arm according to claim 1, wherein the robot arm is fixed while being tilted in a rotation direction toward the contracted state side of the arm. A first arm composed of a four-node rotating chain having a pair of first links parallel to each other and a pair of second links parallel to each other;
A second arm rotatably connected to one end of the first arm;
A support portion that rotatably supports the other end side of the first arm,
A robot arm that changes into an extended state extended in a direction of a predetermined reference axis and a contracted state contracted in the direction of the reference axis by rotation of the first arm and the second arm;
An angle formed by the first link of the first arm with respect to the reference axis and an angle formed by the second arm with respect to the reference axis between the first arm and the second arm So that the first arm and the second arm rotate in conjunction with the direction of extension and contraction,
The first link of the first arm is on one side of the rotation direction so as to approach the reference axis when the first arm and the second arm change from the contracted state to the extended state. While rotating
The robot arm according to claim 1, wherein the second link of the first arm is inclined to one side in the rotation direction with respect to the reference axis. A first arm;
A second arm consisting of a four-bar rotating chain having a pair of first links parallel to each other and a pair of second links parallel to each other, and rotatably connected to one end of the first arm;
A support portion that rotatably supports the other end side of the first arm,
A robot arm that changes into an extended state extended in a direction of a predetermined reference axis and a contracted state contracted in the direction of the reference axis by rotation of the first arm and the second arm;
An angle formed by the first arm with respect to the reference axis between the first arm and the second arm, and an angle formed by the first link of the second arm with respect to the reference axis So that the first arm and the second arm rotate in conjunction with the direction of extension and contraction,
The first link of the second arm rotates to one side in the rotational direction so as to approach the reference axis when the first arm and the second arm change from the contracted state to the extended state. While
The robot arm according to claim 2, wherein the second link of the second arm is inclined to one side in the rotation direction with respect to the reference axis.

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