JP6638327B2 - robot - Google Patents

Description

  The present invention relates to a robot.

  Conventionally, a robot provided with a robot arm is known. In the robot arm, a plurality of arms (arm members) are connected via joints, and a hand, for example, is attached to the most distal end (most downstream side) as an end effector. The joint is driven by a motor, and the arm rotates by driving the joint. Then, for example, the robot grips the target object with a hand, moves the target object to a predetermined place, and performs a predetermined operation such as assembly.

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

JP-A-2014-46401

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

  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 by the following aspects of the invention.

A robot according to the present invention includes a first member configured of at least one arm and rotatably provided on a base.
A second member configured of at least one arm different from the first member and rotatably provided on the first member;
A third member configured of at least one arm different from the first member and the second member, and rotatably provided on the second member;
A robot arm comprising a first member, at least one arm different from the second member and the third member, and a fourth member rotatably provided on the third member.
The fourth member has an arm that is rotatable about a rotation axis that is different from the rotation axis of the first member with respect to the base.
When viewed from the axial direction of the rotation axis of the second member with respect to the first member, it is possible to enter a first state in which the first member, the second member, and the third member overlap,
In the first state, when viewed from an axial direction of a rotation axis of the first member with respect to the base, at least one of a tip of the robot arm and an end effector provided at a tip of the robot arm has the It is characterized in that it is possible to enter a second state overlapping with the second member.

  According to such a robot, it is possible to enter the first state, so that the space for preventing the robot from interfering can be reduced. Furthermore, in the robot of the present invention, since the robot can be in the second state, a region on the opposite side to the base of the second member formed in the first state (hereinafter, also referred to as a “tip region”). In (1), the range in which the tip of the robot arm and the end effector can operate can be widened.

In the robot according to the aspect of the invention, the fourth member includes a proximal arm rotatably provided on the third member, and a distal arm rotatably provided on the proximal arm. ,
In the second state, a rotation axis of the first member and a rotation axis of the distal arm with respect to the proximal arm can be orthogonal to each other;
In a state where the rotation axis of the first member is orthogonal to the rotation axis of the distal arm, the distance between at least one of the distal end of the robot arm and the end effector and the second member is Y. And when
It is preferable to satisfy the relationship of 3 [mm] ≦ Y.

  Accordingly, the rotation axis of the first member and the rotation axis of the distal end arm can be orthogonal to each other, so that the range in which the distal end of the robot arm and the end effector can operate in the distal end region can be further increased. . Further, when the distance Y satisfies the above relationship, it is possible to secure a wide range in which at least one of the end of the robot arm and the end effector can operate without interfering with the first member and the second member.

In the robot of the present invention, it is preferable that the relationship of 5 [mm] ≦ Y is satisfied.
By satisfying such a relationship, even if the end effector or the work held by the end effector has a relatively large configuration, at least one of the end of the robot arm and the end effector includes the first member and the end effector. A wide range in which operation can be performed without interference with the second member can be secured.

In the robot according to the aspect of the invention, when the length of the third member in the axial direction of the rotation axis of the first member is R3,
It is preferable to satisfy the relationship of Y ≦ (R3 / 2).

  Thus, it is possible to increase the operating range of at least one of the end of the robot arm and the end effector in the end region while preventing the robot arm from being enlarged.

  In the robot according to the aspect of the invention, the length of the first member in the axial direction of the rotation axis of the first member may be longer than the length of the second member in the axial direction of the rotation axis of the first member. preferable.

  Thus, the first state can be achieved while avoiding interference with the robot itself (for example, the first member or a base supporting the first member) or peripheral devices.

  In the robot according to the aspect of the invention, the length of the third member in the axial direction of the rotation axis of the first member may be longer than the length of the second member in the axial direction of the rotation axis of the first member. preferable.

  Thus, in the first state, the distal end of the robot arm can be made to protrude more toward the distal end region than the second member. Therefore, a wide range in which at least one of the end of the robot arm and the end effector can operate without interfering with the first member and the second member can be secured.

  In the robot according to the aspect of the invention, it is preferable that the length of the third member be equal to or more than twice the length of the second member.

  Thus, in the first state, the distal end of the robot arm can be made to project sufficiently toward the distal end region from the second member. Therefore, even if the end effector and the work are relatively large, it is necessary to secure a wide range in which at least one of the end of the robot arm and the end effector can operate without interfering with the first member and the second member. Can be.

  In the robot according to the aspect of the invention, the first member may include a first portion extending in a direction different from a rotation axis of the first member, a second portion extending in a direction along the rotation axis of the first member, And a third portion extending in a direction different from the first portion and the second portion.

  By having such a third portion, even if various devices are arranged around the third portion, it is possible to prevent the first member from interfering with the various devices.

In the robot according to the aspect of the invention, the first member may be a first arm rotatable around a first rotation axis,
The second member is a second arm rotatable around a second rotation axis having an axial direction different from the first rotation axis,
The third member includes a third arm rotatable around a third rotation axis parallel to the axial direction of the second rotation axis, and the third arm includes: a third arm; And a fourth arm rotatably provided around a different fourth rotation axis.
A fifth arm rotatable around a fifth rotation axis having an axial direction different from the fourth rotation axis; and a sixth rotation having an axial direction different from the fifth rotation axis. A sixth arm rotatable about an axis.

  Thus, the driving range of the tip of the robot arm is wide, and high workability can be exhibited.

  In the robot according to the aspect of the invention, it is preferable that the robot arm has an attachment portion to which a plate member can be attached.

  Thereby, the plate member can be easily attached to the robot arm. When the plate member is, for example, a reference plate used for setting the origin of each rotation axis (the origin of each encoder), the setting can be performed with high accuracy.

FIG. 1 is a perspective view illustrating a robot according to a first embodiment of the present invention. FIG. 2 is a front view of the robot shown in FIG. 1. FIG. 2 is a rear view of the robot shown in FIG. 1. FIG. 2 is a right side view of the robot shown in FIG. 1. FIG. 2 is a left side view of the robot shown in FIG. 1. FIG. 2 is a plan view of the robot shown in FIG. 1. FIG. 2 is a bottom view of the robot shown in FIG. 1. FIG. 2 is a perspective view from the front side of a state in which the robot shown in FIG. 1 is changing or is changing. FIG. 2 is a schematic configuration diagram of the robot shown in FIG. 1. FIG. 2 is a schematic diagram of the robot shown in FIG. 1. FIG. 2 is a schematic side view of the robot shown in FIG. 1 in a state where a first arm, a second arm, and a third arm are not overlapped. FIG. 2 is a schematic side view of a state where a first arm, a second arm, and a third arm of the robot illustrated in FIG. 1 are overlapped. FIG. 2 is a diagram for explaining an operation of the robot shown in FIG. 1. FIG. 14 is a diagram illustrating a movement path of a hand in the operation of the robot illustrated in FIG. FIG. 2 is a diagram for explaining a length and an arrangement of an arm included in the robot illustrated in FIG. 1. It is a perspective view showing the robot concerning a 2nd embodiment of the present invention. FIG. 17 is a perspective view illustrating a state where a plate member is attached to the robot illustrated in FIG. 16. FIG. 17 is a schematic side view for explaining mechanical calibration of the robot shown in FIG. 16. FIG. 17 is a schematic side view for explaining mechanical calibration of the robot shown in FIG. 16. FIG. 17 is a schematic side view for explaining mechanical calibration of the robot shown in FIG. 16.

Hereinafter, a robot of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<Robot>
FIG. 1 is a perspective view showing a robot according to the first embodiment of the present invention. FIG. 2 is a front view of the robot shown in FIG. FIG. 3 is a rear view of the robot shown in FIG. FIG. 4 is a right side view of the robot shown in FIG. FIG. 5 is a left side view of the robot shown in FIG. FIG. 6 is a plan view of the robot shown in FIG. FIG. 7 is a bottom view of the robot shown in FIG. FIG. 8 is a perspective view from the front of the robot shown in FIG. FIG. 9 is a schematic configuration diagram of the robot shown in FIG. FIG. 10 is a schematic diagram of the robot shown in FIG.

  In the following, for convenience of description, the upper side in FIGS. 1 to 5, 8 and 9 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”. 1 to 5, 8, and 9, the base side is referred to as "base end" or "upstream", and the opposite side (hand side) is referred to as "tip end" or "downstream". In addition, the vertical direction in FIGS. 1 to 5, 8 and 9 is referred to as “vertical direction”, and the horizontal direction is referred to as “horizontal direction”. In this specification, the expression “two axes are“ parallel ”to each other” includes a case where one of the two axes is inclined within 5 ° or less with respect to the other axis.

  The robot 1 shown in FIGS. 1 to 8 can be used, for example, in a manufacturing process for manufacturing precision equipment such as a wristwatch. Further, the robot 1 can perform operations such as feeding, removing, transporting and assembling precision equipment and components (objects) constituting the robot.

  The robot 1 has a base 11 and a robot arm 10. The robot arm 10 includes a first arm 12 composed of a first member, a second arm 13 composed of a second member, and a third arm 14 and a fourth arm 15 composed of a third member. And a fifth arm 16 and a sixth arm 17 formed of a fourth member. That is, the robot 1 includes a base 11, a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16 (base end arm), and a sixth arm 17 (a distal arm) is a vertical multi-joint (6-axis) robot connected in this order from the base end to the distal end. As shown in FIG. 9, for example, an end effector such as a hand 91 for holding precision instruments, components, and the like can be detachably attached to the distal end of the sixth arm 17. Further, the robot 1 includes a first drive source 401, 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). Have.

  Further, the robot 1 includes a robot control device (control unit) (not shown) that controls the operation of each unit of the robot 1. This robot control device can be constituted by, for example, a personal computer (PC) having a CPU (Central Processing Unit) built therein. The robot control device may be built in the robot 1 or may be separate from the robot 1.

  Hereinafter, the first arm 12, the second arm 13, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are also referred to as "arms", 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 (drive units)”.

(Base)
As shown in FIG. 9, when the robot 1 is a ceiling-mounted vertical articulated robot, the base 11 is located at the uppermost position of the robot 1, and is a mounting surface 102 which is a lower surface of a ceiling 101 of an installation space for the robot 1. (A member to be attached).

  In the present embodiment, the plate-like flange 111 provided at the lower portion of the base 11 is fixed to the mounting surface 102, but the portion fixed to the mounting surface 102 is not limited to this. Alternatively, the upper surface of the base 11 may be used. The fixing method is not particularly limited, and for example, a fixing method using a plurality of bolts or the like can be adopted.

  Further, the fixing portion of the base 11 is not limited to the ceiling of the installation space, and may be, for example, a wall, a floor, the ground, or the like of the installation space.

(Robot arm)
The robot arm 10 shown in FIG. 9 is supported rotatably with respect to the base 11, and the arms 12 to 17 are supported so as to be independently displaceable with respect to the base 11.

  The first arm 12 has a curved or bent shape. The first arm 12 is provided on the base 11 and extends in the horizontal direction (first direction). The first arm 121 is provided on the second arm 13 and extends in the vertical direction (second direction different from the first direction). A second portion 122 extending between the first portion 121 and the second portion 122 and extending in a direction inclined with respect to the horizontal direction and the vertical direction (a direction different from the first direction and the second direction); And three portions 123. More specifically, the first arm 12 is connected to the base 11, extends vertically downward from the base 11, and then extends horizontally, and a base of the first part 121. A third portion 123 extending downward in the vertical direction while being inclined in a direction away from the first portion 121 from an end opposite to the connection portion with the first portion 121, and extending vertically downward from the tip of the third portion 123. A second portion 122. The first part 121, the second part 122, and the third part 123 are formed integrally. Further, the first portion 121 and the second portion 122 are substantially orthogonal when viewed from the front of the sheet of FIG. 9 (in a front view orthogonal to both a first rotation axis O1 and a second rotation axis O2 described later). (Intersect).

  Further, the first portion 121 is connected to the base 11 via a first connection portion 1211 (connection portion). Further, the second portion 122 is connected to the second arm 13 via a second connection portion 1221 (connection portion).

  The second arm 13 has a longitudinal shape, and is connected to a distal end of the first arm 12 (an end of the second portion 122 opposite to the third portion 123).

  The third arm 14 has a longitudinal shape and is connected to an end of the second arm 13 opposite to the end to which the first arm 12 is connected. The third arm 14 is connected to the second arm 13 and has a first portion 141 extending horizontally from the second arm 13 and a second portion 142 extending vertically from the first portion 141. are doing. Note that the first portion 141 and the second portion 142 are integrally formed. The first portion 141 and the second portion 142 are substantially orthogonal to each other when viewed from the front of the paper surface of FIG. 9 (in a front view orthogonal to both a third rotation axis O3 and a fourth rotation axis O4 described later). (Intersect).

  The fourth arm 15 is connected to an end of the third arm 14 opposite to the end to which the second arm 13 is connected. The fourth arm 15 has a pair of support parts 151 and 152 facing each other. The support parts 151 and 152 are used for connection with the fifth arm 16.

  The fifth arm 16 is located between the support parts 151 and 152, and is connected to the fourth arm 15 by being connected to the support parts 151 and 152. The fourth arm 15 is not limited to this structure, and may have, for example, one support portion (cantilever).

  The sixth arm 17 has a flat plate shape and is connected to the tip of the fifth arm 16. In addition, a hand 91 is detachably attached to the distal end of the sixth arm 17 (the end opposite to the fifth arm 16). The hand 91 is not particularly limited, and may have a configuration having a plurality of finger portions (fingers), for example.

  In addition, the exteriors (members that form the outer shape) of the arms 12 to 17 described above may each be configured by one member, or may be configured by a plurality of members.

  Next, the driving of the arms 12 to 17 and the driving sources 401 to 406 will be described with reference to FIG.

  As shown in FIG. 10, the base 11 and the first arm 12 are connected via a joint (connection part) 171. The joint 171 may be included in the base 11 or may not be included.

  The joint 171 has a mechanism for rotatably supporting the first arm 12 connected to the base 11 with respect to the base 11. Thus, the first arm 12 can rotate (around the first rotation axis O1) about the first rotation axis O1 (n-th rotation axis) parallel to the vertical direction with respect to the base 11. Has become. The first rotation axis O <b> 1 is a rotation axis located on the most upstream side of the robot 1. The rotation about the first rotation axis O1 is performed by driving a first drive source 401 having a motor 401M. The motor 401M is electrically connected to a motor driver 301 via a cable (not shown), and is controlled by a control unit (not shown) via the 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 (connection part) 172. The joint 172 has a mechanism for rotatably supporting one of the first arm 12 and the second arm 13 connected to each other with respect to the other. As a result, the second arm 13 rotates (around the second rotation axis O2) with respect to the first arm 12 around the second rotation axis O2 ((n + 1) th rotation axis) parallel to the horizontal direction. It is possible to move. 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 motor 402M is electrically connected to a motor driver 302 via a cable (not shown), and is controlled by a control unit (not shown) via the 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. Also, the axial directions may be different from each other.

  The second arm 13 and the third arm 14 are connected via a joint (connection part) 173. The joint 173 has a mechanism for rotatably supporting one of the second arm 13 and the third arm 14 connected to each other with respect to the other. Thus, the third arm 14 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 O3 is performed by driving a third drive source 403 having a motor 403M. Further, the motor 403M is electrically connected via a motor driver 303 via a cable (not shown), and is controlled by a control unit (not shown) via the motor driver 303. The third drive source 403 may be configured to transmit the driving force from the motor 403M by a speed reducer (not shown) provided with the motor 403M, or the speed reducer may be omitted.

  The third arm 14 and the fourth arm 15 are connected via a joint (connection part) 174. The joint 174 has a mechanism for rotatably supporting one of the third arm 14 and the fourth arm 15 connected to each other with respect to the other. Thus, the fourth arm 15 can rotate (around the fourth rotation axis O4) with respect to the third arm 14 around the fourth rotation axis O4 parallel to the central axis direction of the third arm 14. Has become. 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 a fourth drive source 404 having a motor 404M. The motor 404M is electrically connected to a motor driver 304 via a cable (not shown), and is controlled by a control unit (not shown) via the 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. Also, the axial directions may be different from each other.

  The fourth arm 15 and the fifth arm 16 are connected via a joint (connection part) 175. The joint 175 has a mechanism for rotatably supporting one of the fourth arm 15 and the fifth arm 16 connected to each other with respect to the other. Thereby, the fifth arm 16 can rotate (around the fifth rotation axis O5) about the fifth rotation axis O5 perpendicular to the central axis direction of the fourth arm 15 with respect to the fourth arm 15. 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 a fifth drive source 405 having a motor 405M. The motor 405M is electrically connected to a motor driver 305 via a cable (not shown), and is controlled by a control unit (not shown) via the 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, and 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. Also, the axial directions may be different from each other.

  The fifth arm 16 and the sixth arm 17 are connected via a joint (connection portion) 176. The joint 176 has a mechanism for rotatably supporting one of the fifth arm 16 and the sixth arm 17 connected to each other with respect to the other. Thus, the sixth arm 17 is rotatable with respect to the fifth arm 16 around 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 O6 is performed by driving a sixth drive source 406 having a motor 406M. The motor 406M is electrically connected to a motor driver 306 via a cable (not shown), and is controlled by a control unit (not shown) via the 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 sixth rotation axis O6 may be parallel to an axis orthogonal to the fourth rotation axis O4, and the sixth rotation axis O6 may be parallel to an axis orthogonal to the fifth rotation axis O5. The sixth rotation axis O6 may not be orthogonal to the fifth rotation axis O5, as long as the axial directions are different from each other.

  The robot 1 that drives in this manner controls the operation of each of the arms 12 to 17 while holding precision equipment, components, and the like with the hand 91 connected to the distal end of the sixth arm 17. Each operation such as transportation of the precision equipment and parts can be performed. The driving of the hand 91 is controlled by a control unit (not shown).

  The basic configuration of the robot 1 has been briefly described above. As described above, since the robot 1 having such a configuration is a vertical articulated robot having six (plural) arms 12 to 17, it has a wide driving range and can exhibit high workability.

  Further, in the robot 1, as described above, the base end side of the first arm 12 is attached to the base 11, whereby each of the arms 12 to 17 can be rotated with respect to the base 11. . In the present embodiment, the robot 1 is a ceiling-suspended type in which the base 11 is attached to the ceiling 101, and the joint 171 that is a connection portion between the base 11 and the first arm 12 is connected to the first arm 12. It is located vertically above a joint 172 which is a connection portion between the first arm 13 and the second arm 13. For this reason, the work range of the robot 1 vertically lower than the robot 1 can be made wider.

  Next, the relationship between the arms 12 to 17 will be described with reference to FIGS. 11, 12, 13, 14, and 15. FIG.

  FIG. 11 is a schematic side view of the robot shown in FIG. 1 in a state where the first arm, the second arm, and the third arm are not overlapped. FIG. 12 is a schematic side view of a state where the first arm, the second arm, and the third arm of the robot shown in FIG. 1 are overlapped. FIG. 13 is a diagram for explaining the operation of the robot shown in FIG. FIG. 14 is a diagram showing a movement path of the hand in the operation of the robot shown in FIG. FIG. 15 is a diagram for explaining the length and arrangement of the arms of the robot shown in FIG.

  In the following description, the third arm 14, the fourth arm 15, the fifth arm 16, and the sixth arm 17 are in a state where they are straightened, in other words, as shown in FIGS. , The fourth rotation axis O4 and the sixth rotation axis O6 are assumed to be coincident or parallel.

  First, as shown in FIG. 11, the length L1 of the first arm 12 is set longer than the length L2 of the second arm 13.

  Here, the length L1 of the first arm 12 is a distance between the second rotation axis O2 and the mounting surface 102 when viewed from the axial direction of the second rotation axis O2. 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.

  When the length L1 of the first arm 12 is viewed from the axial direction of the second rotation axis O2, the second rotation axis O2 and the bearing 61 (joint 171) that rotatably supports the first arm 12 are provided. May be regarded as a distance between the center line 611 extending in the left-right direction in FIG. Further, when the length L1 of the first arm 12 is viewed from the axial direction of the second rotation axis O2, the length L1 is between the distal end surface of the first arm 12 (the end surface opposite to the bearing 61) and the mounting surface 102. And the distance L2 between the distal end surface of the second arm 13 and the proximal end surface of the second arm 13 when the length L2 of the second arm 13 is viewed from the axial direction of the second rotation axis O2. You may think that.

  As shown in FIGS. 11 and 12, the robot 1 can set the angle θ between the first arm 12 and the second arm 13 to 0 ° when viewed from the axial direction of the second rotation axis O2. It is configured as possible. That is, the robot 1 is configured such that the first arm 12 and the second arm 13 can overlap each other when viewed from the axial direction of the second rotation axis O2.

  Then, in a state where the first arm 12 and the second arm 13 overlap (hereinafter, referred to as “state A”), as viewed from the axial direction of the second rotation axis O2, the first arm 12 and the second arm 13 A predetermined interval is provided between the two. That is, the robot 1 is configured so that the second arm 13 does not interfere with the first arm 12 in the state A.

  In particular, as described above, since the length L1 of the first arm 12 is set longer than the length L2 of the second arm 13, in the state A, the distance between the second arm 13 and the first portion 121 is increased. Can be provided with a predetermined space. Therefore, the state A can be attained while preventing the second arm 13 from interfering with the first portion 121.

  Here, the angle θ between 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 the angle between the straight line 621 (the center axis of the second arm 13 as viewed from the axial direction of the second rotation axis O2) and the first rotation axis O1 (see FIG. 11).

  As shown in FIG. 12, the robot 1 is configured such that the second arm 13 and the third arm 14 can overlap each other when viewed from the axial direction of the second rotation axis O2.

  When the second arm 13 and the third arm 14 are overlapped with each other (hereinafter, referred to as “state B”) when viewed from the axial direction of the second rotation axis O2, the second arm 13 and the third arm 14 A predetermined interval is provided between the two. That is, the robot 1 is configured so that the second arm 13 and the third arm 14 do not interfere in the state B.

  From the above, as shown in FIG. 12, the robot 1 has the first arm 12, the second arm 13, and the third arm 14 simultaneously viewed from the axial direction of the second rotation axis O2. It is configured to be able to overlap. Thus, the state in which the first arm 12, the second arm 13, and the third arm 14 are overlapped when viewed from the axial direction of the second rotation axis O2 (hereinafter, referred to as "state C (first state)"). The first part 121 of the first arm 12 overlaps the second arm 13 and the third arm 14 when viewed from the first rotation axis O1. Also, a predetermined interval is provided between the first portion 121 of the first arm 12 and the third arm 14. That is, the robot 1 is configured so that the first arm 12 and the third arm 14 do not interfere in the state C.

  As shown in FIG. 11, the total length L3 of the third arm 14, the fourth arm 15, and the fifth arm 16 is set to be longer than the length L2 of the second arm 13. Also, the total length R3 of the third arm 14 and the fourth arm 15 is set longer than the length L2 of the second arm 13. For this reason, as shown in FIG. 12, in state C, the distal end of the robot arm 10 can be made to protrude below the base end of the second arm 13 from the second arm 13. As a result, as shown in FIG. 9, the tip of the robot arm 10 is formed in a region (hereinafter, also referred to as a “tip region 107”) opposite to the base 11 of the second arm 13 formed in the state C. In addition, a wide range in which the hand 91 can operate without interfering with the first arm 12 and the second arm 13 can be secured.

  Here, the total length L3 of the third arm 14, the fourth arm 15, and the fifth arm 16 corresponds to the third rotation axis O3 and the fifth rotation when viewed from the axial direction of the second rotation axis O2. This is the distance from the axis O5 (see FIG. 12). Note that the length L3 may be regarded as a distance between the base end surface of the third arm 14 and the front end surface of the fifth arm 16 when viewed from the axial direction of the second rotation axis O2. In this case, the third arm 14, the fourth arm 15, and the fifth arm 16 are in a state where the fourth rotation axis O4 and the sixth rotation axis O6 are coincident or parallel as shown in FIG. It is.

  In the robot 1 having such a robot arm 10, as described above, the first arm 12, the second arm 13, and the third arm 14 can overlap with each other when viewed from the axial direction of the second rotation axis O2. is there. For this reason, as shown in FIG. 13, by rotating the second arm 13 and the third arm 14 without rotating the first arm 12, the second arm 13 and the third arm 14 are rotated in the axial direction of the second rotation axis O <b> 2. Through the state in which the first arm 12, the second arm 13, and the third arm 14 overlap, the tip of the robot arm 10 and the hand 91 can be moved to positions different by 180 ° around the first rotation axis O1.

  By such driving of the robot arm 10, the robot 1 moves the hand 91 as shown by the arrow 64 without performing the operation of moving the hand 91 as shown by the arrows 62 and 63 as shown in FIG. Operation can be performed. That is, the robot 1 can perform an operation of moving the hand 91 (the tip of the robot arm 10) on a straight line when viewed from the axial direction of the first rotation axis O1. Thus, the space for preventing the robot 1 from interfering can be reduced. For this reason, the area S (installation area) of the installation space for installing the robot 1 can be made smaller than before.

  Specifically, as shown in FIG. 14, the width W of the installation space of the robot 1 can be smaller than the width WX of the conventional installation space, for example, 80% or less of the width WX. Therefore, the operating area of the robot 1 in the width direction (the direction of the production line) can be reduced. Thereby, many robots 1 can be arranged per unit length along the production line, and the production line can be shortened.

  Similarly, the height (vertical length) of the installation space for the robot 1 can be lower than the conventional height, specifically, for example, 80% or less of the conventional height.

  Further, since it is possible to perform an operation of moving the hand 91 as indicated by the arrow 64, when the hand 91 is moved to a position different by 180 ° around the first rotation axis O1, for example, the first arm 12 is moved. It is possible not to rotate, or the rotation angle (rotation amount) of the first arm 12 can be reduced. By reducing the rotation angle of the first arm 12 around the first rotation axis O1, a portion that projects outside the base 11 when viewed from the axial direction of the first rotation axis O1 (a second portion) Since the rotation of the first arm 12 having the second portion 122 and the third portion 123) can be reduced, interference with peripheral devices of the robot 1 can be reduced.

  Further, since the operation of moving the hand 91 as indicated by the arrow 64 can be performed, the movement of the robot 1 can be reduced, and thus the robot 1 can be driven efficiently. Therefore, the tact time can be reduced, and the working efficiency can be improved. Further, since the tip of the robot arm 10 can be moved in a straight line, the movement of the robot 1 can be easily grasped.

  Here, the operation of moving the hand 91 (the end of the robot arm 10) of the robot 1 to a position different by 180 ° around the first rotation axis O1 as described above is simply performed by the first arm 12 like a conventional robot. When the robot 1 is rotated around the first rotation axis O1, the robot 1 may interfere with the peripheral device. Therefore, it is necessary to teach the robot 1 a retreat point to avoid the interference. For example, if the robot 1 also interferes with peripheral devices when only the first arm 12 is rotated by 90 ° about the first rotation axis O1, a large number of evacuation points are taught to the robot 1 so as not to interfere with peripheral devices. There is a need to. As described above, in the conventional robot, it is necessary to teach a large number of evacuation points, an enormous number of evacuation points are required, and the teaching requires much labor and a long time.

  On the other hand, in the robot 1, when performing the operation of moving the hand 91 to a position different by 180 ° around the first rotation axis O1, the area and the portion that may interfere with each other are very small. The number of points can be reduced, and the labor and time required for teaching can be reduced. That is, in the robot 1, the number of evacuation points to be taught is, for example, about 1/3 of that of a conventional robot, and teaching is greatly facilitated.

  In the robot 1, the region (portion) 105 of the third arm 14 and the fourth arm 15 surrounded by the two-dot chain line on the right side in FIG. 9 indicates whether the robot 1 interferes with the robot 1 itself and other members. Or an area (portion) that hardly interferes. For this reason, when a predetermined member is mounted on the area 105, the member hardly interferes with the robot 1, peripheral devices, and the like. For this reason, in the robot 1, it is possible to mount a predetermined member in the area 105. In particular, when the predetermined member is mounted in the region on the right side of the third arm 14 in FIG. 9 in the region 105, the probability that the member interferes with a peripheral device (not shown) is further reduced. More effective.

  Further, in the robot 1, between the ceiling 101 and the first arm 12, an area (part) 106 surrounded by a two-dot chain line on the left side in FIG. This is a region (portion) that does not interfere with itself or other members, or that does not easily interfere with itself. This region 106 is due to the configuration in which the first arm 12 has the third portion 123.

  As a device that can be mounted on the area 105, for example, a control device for controlling the driving of a sensor such as a hand or a hand-eye camera, a solenoid valve of a suction mechanism, and the like are included.

  As a specific example, for example, when a suction mechanism is provided in the hand, if an electromagnetic valve or the like is installed in the area 105, the electromagnetic valve does not interfere with the driving of the robot 1. Thus, the area 105 has high convenience.

  Further, as shown in FIG. 15, in the robot 1, the hand 91 can be positioned below the second arm 13. More specifically, as shown in FIG. 15, in state C, when viewed from the axial direction of the first rotation axis O1, the hand 91 overlaps the second arm 13 (hereinafter, referred to as “state D (second state ) ").

  According to such a robot 1, the range in which the tip of the robot arm 10 and the hand 91 can operate can be widened.

  As shown in FIG. 15, in the robot 1, in the state D, the sixth rotation axis O6 and the first rotation axis O1 can be orthogonal to each other. For this reason, the range in which the tip of the robot arm 10 and the hand 91 can operate in the tip region 107 can be made wider.

  When the distance (shortest distance) between the hand 91 and the second arm 13 when the first rotation axis O1 and the fifth rotation axis O5 are orthogonal to each other is Y, the following equation (1) is obtained. It is preferable that the above expression is satisfied, and it is more preferable that the following expression (2) is satisfied.

3 [mm] ≦ Y (1)
5 [mm] ≦ Y (2)

  By satisfying the above expression (1), it is possible to secure a wide range in which the distal end of the robot arm 10 and the hand 91 can operate without interfering with the first arm 12 and the second arm 13 in the distal end region 107. . Further, by satisfying the above expression (2), even if the hand 91 and the work (not shown) gripped by the hand 91 have a relatively large configuration, the tip of the robot arm 10 and the hand 91 can be moved to the first position. A wide range in which the operation can be performed without interfering with the arm 12 and the second arm 13 can be secured.

  Further, for example, even when wires and pipes (not shown) connected to the hand 91 are provided outside the fifth arm 16 and the sixth arm 17, the distance Y satisfies the above relationship. Accordingly, it is possible to prevent the wiring and the piping from interfering with the first arm 12 and the second arm 13 and to reduce the possibility that the operation range of the hand 91 in the distal end region 107 is significantly restricted.

  Further, in the state D, the distance Y more preferably satisfies the following expression (3).

Y ≦ (R3 / 2) (3)
Accordingly, it is possible to prevent the robot arm 10 from being enlarged due to the total length R3 of the third arm 14 and the fourth arm 15 becoming too long, and to widen the operating range of the distal end of the robot arm 10 in the distal end region 107. it can.

  Further, as described above, in the robot 1, the length L3 is set to be longer than the length L2 of the second arm 13, but in particular, the length L3 may be twice or more the length L2. preferable. Thus, in state C, the distal end of the robot arm 10 can be made to project sufficiently toward the distal end region 107 from the second arm 13. Therefore, even if the hand 91 and the work are relatively large, it is possible to secure a wide range in which the tip of the robot arm 10 and the hand 91 can operate without interfering with the first arm 12 and the second arm 13. .

  Tables 1 and 2 below show an example of the dimensions of each part of the robot 1 that satisfies the above relationship. Table 1 shows an example of the dimensions of each part of the robot 1 when, for example, wiring and piping connected to the hand 91 are provided inside the robot arm 10. Further, Table 2 shows an example of dimensions of each part of the robot 1 when, for example, wiring and piping connected to the hand 91 are provided outside the robot arm 10.

  “Arm length L” in Tables 1 and 2 indicates the sum of the length L2 and the length L3. Further, “width RJ2” in Tables 1 and 2 indicates the width of the second connection portion 1221, as shown in FIG. 15, and “RJ2 / 2” indicates half the length of the width RJ2. ing. The “hand diameter H” in Tables 1 and 2 indicates the maximum width of the hand 91 as shown in FIG. “Maximum length R1” in Tables 1 and 2 indicates the maximum length of the first arm 12 from the first rotation axis O1 when viewed from the axial direction of the first rotation axis O1. . The “distance P1” in Tables 1 and 2 is a distance P1 (shortest distance) between the first arm 12 and the end (tip) of the second arm 13 opposite to the second rotation axis O2. In the present embodiment, the distance P1 is the shortest distance between the third portion 123 and the second arm 13.

<Second embodiment>
Next, a second embodiment of the present invention will be described.

  FIG. 16 is a perspective view showing a robot according to the second embodiment of the present invention. FIG. 17 is a perspective view showing a state where a plate member is attached to the robot shown in FIG. FIGS. 18, 19 and 20 are schematic side views for explaining the mechanical calibration of the robot shown in FIG.

  The robot according to the present embodiment is the same as the first embodiment described above, except that the robot according to the present embodiment includes a mounting portion provided on a robot arm.

  In the following description, the second embodiment will be described focusing on differences from the above-described embodiment, and the description of the same items will be omitted. In FIGS. 16 to 20, the same reference numerals are given to the same components as those in the above-described first embodiment.

  The robot arm 10A of the robot 1A shown in FIG. 16 has an attachment mechanism 3 used to attach the plate member 40 to the robot arm 10A.

  The mounting mechanism 3 includes, for example, each rotating shaft (first rotating shaft O1, second rotating shaft O2, third rotating shaft O3, fourth rotating shaft O4, and fourth rotating shaft O4) together with the plate member 40 shown in FIG. The origin of the fifth rotation axis O5 and the sixth rotation axis O6) (origin of each encoder) is set, which is used for so-called mechanical calibration.

  As shown in FIG. 16, the mounting mechanism 3 includes a mounting portion 30 provided on a flange 111 of the base 11, mounting portions 31, 32, 33, and 34 provided on the robot arm 10 </ b> A, and a mounting / dismounting mechanism on the robot arm 10 </ b> A. Mounting portions 35 and 36 that are mounted so as to be capable of being mounted.

  The attachment portion 30 is a through hole penetrating the lower surface and the upper surface of the flange 111. In the present embodiment, the mounting portion 30 is a through hole, but may be a concave portion opened to the side surface and the lower surface of the flange 111, for example.

The attachment portion 31 is a hole (recess) formed on the upper surface of the first arm 12, and is provided near the motor 401M.
A rod-shaped member 41 shown in FIG. 17 can be inserted through these mounting portions 30 and 31.

  The mounting portion 32 is provided on a side surface (the front surface viewed from the arrow X direction in FIG. 16) of the first portion 121 of the first arm 12, and is located near the motor 401M. In the present embodiment, two attachment portions 32 are formed. The mounting portion 33 is provided on the side surface (the front surface viewed from the arrow X direction in FIG. 16) of the second portion 122 of the first arm 12, and is located near the motor 402M.

  Each of these two mounting portions 32 and 33 is configured by a convex portion protruding from the side surface of the first arm 12 and a hole (female screw) formed in the convex portion.

  The mounting portion 34 is provided on the side surface of the distal end of the second arm 13, and is located near the motor 403M. The mounting portion 34 includes a protrusion protruding from the side surface of the second arm 13 and a hole (female screw) formed in the protrusion.

  The mounting portion 35 is a plate-shaped member having two convex portions 351. The attachment portion 35 is attached to the fourth arm 15 such that the two protrusions 351 protrude from the side surface of the fourth arm 15 (the front surface viewed from the direction of the arrow X in FIG. 16), and the motor 404M and the motor 405M It is provided in the vicinity. Further, a hole (female screw) is formed in the convex portion 351.

  The attachment portion 36 is also a plate-like member having two convex portions 361, like the attachment portion 35. The attachment portion 36 is attached to the sixth arm 17 such that the two protrusions 361 protrude from the side surface of the fifth arm 16 (the front surface viewed from the arrow X direction in FIG. 16), and is provided near the motor 406M. Have been. Further, a hole (female screw) is formed in the convex portion 361.

  When the plate member 40 is attached to the robot 1A having the attachment mechanism 3 having such a configuration, a state as shown in FIG. 17 is obtained.

  The plate member 40 is, for example, a reference plate used for mechanical calibration, and is a member that can be detachably attached to the robot arm 10A.

  The plate member 40 has a plurality of holes 42, 43, 44, 45, 46 penetrating in the thickness direction.

  In the present embodiment, two holes 42 are formed, and the shape and arrangement of the two holes 42 correspond to the mounting portions 32, respectively. Similarly, the hole 43 corresponds to the mounting portion 33, and the hole 44 corresponds to the mounting portion 34. Similarly, two holes 45 are formed in the present embodiment, and the two holes 45 correspond to the protrusions 351. Similarly, two holes 46 are formed in the present embodiment, and the two holes 46 correspond to the protrusions 361.

  The plate member 40 may be opaque, for example, but is preferably transparent, that is, preferably has light transmittance. Thereby, the robot 1A can be visually recognized through the plate member 40.

  Hereinafter, an example of the mechanical calibration will be described. The mechanical calibration is performed in a state where the driving of the brakes of the arms 12 to 17 is stopped.

  First, one end of the rod-shaped member 41 is inserted into the mounting portion 30, and the other end is inserted into the mounting portion 31. Thereby, the first arm 12 is positioned with respect to the base 11.

  Next, as shown in FIG. 18, the plate member 40 is attached to the attachment portions 32 and 33 provided on the first arm 12. At this time, the plate member 40 is arranged such that the holes 42 correspond to the mounting portions 32 and the holes 43 correspond to the mounting portions 33. The mounting of the plate member 40 is performed by inserting the male screw 421 into the hole 42 and the hole of the mounting portion 32 and screwing the male member 431 into the hole 43 and the hole of the mounting portion 33 and screwing the male member 431 ( Screwing).

  When the plate member 40 is attached to the attachment portions 32 and 33, as shown in FIG. 18, the distal end of the second arm 13 is arranged at a position where it does not come into contact with the plate member 40.

  Next, as shown in FIG. 19, the second arm 13 is rotated around the second rotation axis O2, and the mounting portion 34 provided at the distal end of the second arm 13 is brought into contact with the plate member 40.

  Next, the plate member 40 is attached to the attachment portion 34. At this time, the plate member 40 is arranged so that the holes 44 correspond to the mounting portions 34. The attachment of the plate member 40 is performed by screwing using the male screw 441.

  When attaching the plate member 40 to the attachment portion 34, the base end of the third arm 14, the fourth arm 15, the fifth arm 16 and the sixth arm 17 are applied to the plate member 40 as shown in FIG. Place it in a position where it will not touch.

  Next, as shown in FIG. 20, the third arm 14 is turned around the third turning axis O3, and the fourth arm 15 is turned around the fourth turning axis O4, so that the fourth arm The mounting part 35 mounted on the plate 15 is brought into contact with the plate member 40.

  Next, the plate member 40 is attached to the attachment portion 35. At this time, the plate member 40 is arranged so that the holes 45 correspond to the convex portions 351 of the mounting portion 35. The attachment of the plate member 40 is performed by screwing using a male screw 451.

  When attaching the plate member 40 to the attachment portion 35, as shown in FIG. 20, the sixth arm 17 is arranged at a position where it does not come into contact with the plate member 40.

  Next, the fifth arm 16 is turned around the fifth turning axis O5, and the sixth arm 17 is turned around the sixth turning axis O6, so that the mounting portion 36 attached to the sixth arm 17 is rotated. Is brought into contact with the plate member 40.

  Next, the plate member 40 is attached to the attachment portion 36. At this time, the plate member 40 is arranged so that the holes 46 correspond to the convex portions 361 of the mounting portion 36. The attachment of the plate member 40 is performed by screwing using a male screw 461.

  In this way, the arms 12 to 16 are brought into contact with the plate member 40 so as to follow the order. Thereby, as shown in FIG. 17, the plate member 40 is attached to the robot arm 10A.

  Next, the origin (zero point) of each encoder for the motors 401M, 402M, 403M, 404M, 405M, and 406M is set. Thereby, the origin of each rotation axis is set.

When the origin (zero point) of each encoder is set, the plate member 40 and the mounting portions 35 and 36 are removed from the robot 1A.
As described above, the mechanical calibration of the robot 1A ends.

  As described above, since the robot arm 10A has the attachment portions 32 to 36 to which the plate member can be attached, the robot arm 10A can use the plate member 40 used for setting the origin of each rotation axis (the origin of each encoder). Can be attached to In particular, since the mounting portions 32 to 36 are provided with holes (female screws), the plate member 40 can be mounted by a relatively simple method of screwing.

  In addition, the mechanical calibration can be performed by bringing one plate member 40 into contact with the robot arm 10A, so that the accuracy of the calibration can be improved.

  Further, as described above, when the plate member 40 has a light transmitting property, the plurality of holes 42, 43, 44, 45, 46 and the mounting portions 32 corresponding to these holes, It is easy to grasp the positional relationship with 33, 34, 35, 36. Therefore, the plate member 40 can be easily attached to the robot arm 10A, and the mechanical calibration can be quickly performed.

  Even with such a robot 1A, the space for preventing the robot 1A from interfering can be reduced.

  As described above, 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 a similar function. Can be. Further, 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.

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

  In the above-described embodiment, the number of robot arms included in the robot is one. However, the present invention is not limited to this. For example, the number of robot arms included in the robot may be two or more. That is, the robot may be, for example, a multi-arm robot such as a dual-arm robot.

  In the above embodiment, the first member is configured by one arm (first arm), and the second member is configured by one arm (second arm). Depending on the number, the first member may be configured with two or more arms, or the second member may be configured with two or more arms.

  In the above-described embodiment, the third member includes two arms (a third arm and a fourth arm), and the fourth member includes two arms (a fifth arm and a sixth arm). However, for example, the third member may be configured with one or three or more arms, or the fourth member may be configured with one or three or more arms, depending on the number of arms that the robot has, for example. It may be.

  Further, in the above-described embodiment, the end effector provided at the tip of the robot arm is in the second state, in the first state, overlapping the second member when viewed from the axial direction of the rotation axis of the first member. In the first state, when viewed from the axial direction of the rotation axis of the first member, the robot is configured to be in the second state overlapping the second member. You may. The same effect as in the above embodiment can be exerted even with a robot having a configuration in which the tip of the robot arm is in the second state in which the robot arm overlaps the second member.

  In the above embodiment, the rotation axis of the first member with respect to the base (the first rotation axis of the first arm) and the rotation axis of the second member with respect to the first member (the second rotation axis of the second arm). And the axis of the first member have been described as an example, but the robot of the present invention is, for example, a rotation axis of the first member with respect to the base and a rotation axis of the second member with respect to the first member. May be parallel robots.

DESCRIPTION OF SYMBOLS 1 ... Robot, 1A ... Robot, 3 ... Mounting mechanism, 10 ... Robot arm, 10A ... Robot arm, 11 ... Base, 12 ... First arm, 13 ... Second arm, 14 ... Third arm, 15 ... Fourth Arm, 16: Fifth arm, 17: Sixth arm, 30: Mounting part, 31: Mounting part, 32: Mounting part, 33: Mounting part, 34: Mounting part, 35: Mounting part, 36: Mounting part, 40 ... plate member, 41 ... rod member, 42 ... hole, 43 ... hole, 44 ... hole, 45 ... hole, 46 ... hole, 61 ... bearing part, 62 ... arrow, 63 ... arrow, 64 ... arrow, 91 ... hand, 101: ceiling, 102: mounting surface, 105: area, 106: area, 107: tip area, 111: flange, 121: first part, 122: second part, 123: third part, 141: first part, 142 ... second part, 144 ... second connection part, 151 ... support Part, 152 ... supporting part, 171 ... joint, 172 ... joint, 173 ... joint, 174 ... joint, 175 ... joint, 176 ... joint, 301 ... motor driver, 302 ... motor driver, 303 ... motor driver, 304 ... motor driver , 305: motor driver, 306: motor driver, 351: convex portion, 361: convex portion, 401: first driving source, 401M: motor, 402: second driving source, 402M: motor, 403: third driving source, 403M: motor, 404: fourth drive source, 404M: motor, 405: fifth drive source, 405M: motor, 406: sixth drive source, 406M: motor, 421: male screw, 431: male screw, 441: male Screw, 451: male screw, 461: male screw, 611: center line, 1211: first connection portion, 122 ... Second connecting portion, H. Hand diameter, L3. Length, O1. First rotating shaft, O2. Second rotating shaft, O3. Third rotating shaft, O4. Fourth rotating shaft, O5. Fifth rotation axis, O6 sixth rotation axis, P1 distance, S area, X arrow, Y distance, θ angle, L1 length, L2 length, R3 length, R1 ... Maximum length, 621 ... Line, W ... Width, WX ... Width, RJ2 ... Width

Claims (6)

A first arm provided on the base and rotating about the first rotation axis; and a second arm provided on the first arm and having a different axis direction from the first rotation axis. A second arm, which is provided on the second arm, and a third arm, which is provided on the second arm and rotates about the third rotation axis; and a third arm, which is provided on the third arm and which is provided around the fourth rotation axis. A fourth arm, which is provided on the fourth arm, and a fifth arm, which is provided on the fourth arm and rotates about an axis of a fifth rotation axis having a different axis direction of the fourth rotation axis; A sixth arm that is provided and that rotates around an axis of a sixth rotation axis.
When viewed from the axial direction of the second rotation axis, the first arm, the second arm, and the third arm can be in a first state in which the first arm overlaps with the third arm,
In the first state, when viewed from the axial direction of the first rotation axis, the fifth arm rotates, so that the end effector provided at the distal end of the robot arm or the distal end of the robot arm has the above-described configuration. A robot capable of entering a second state overlapping with a second arm. In the second state, the first rotation axis and the sixth rotation axis are orthogonal to each other, and a distance between the tip of the robot arm or the end effector and the second arm is set to Y, When the total length of the third arm and the fourth arm in the axial direction of the first rotation shaft is R3,
2. The robot according to claim 1, wherein a relationship of Y ≦ (R3 / 2) is satisfied.   In the first state, a length of the first arm in an axial direction of the first rotation axis is longer than a length of the second arm in an axial direction of the first rotation axis. The described robot.   In the first state, the total length of the third arm and the fourth arm in the axial direction of the first rotation axis is longer than the length of the second arm in the axial direction of the first rotation axis. The robot according to any one of claims 1 to 3, which is long. The first arm has a first portion extending in a direction different from the axial direction of the first rotating shaft, a second portion extending in a direction along the axial direction of the first rotating shaft, and the first portion. The robot according to any one of claims 1 to 4 , further comprising: a third part extending in a direction different from the second part. The robot according to any one of claims 1 to 5 , wherein the robot arm has a mounting portion for mounting a plate member.

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