JP7000535B1

JP7000535B1 - Multi-axis robot

Info

Publication number: JP7000535B1
Application number: JP2020189142A
Authority: JP
Inventors: 彰浩石谷; 卓也青木
Original assignee: Sugino Machine Ltd
Current assignee: Sugino Machine Ltd
Priority date: 2020-08-25
Filing date: 2020-11-13
Publication date: 2022-01-19
Anticipated expiration: 2040-11-13
Also published as: JP2022037846A

Abstract

【課題】主アームの質量を軽量化できる多軸ロボットを提供する。【解決手段】多軸ロボットにおいて、第１直線ガイド８７は、支持部材５に配置される。第１スライダ８５は、連結部８１を有し、第１直線ガイド８７上に移動可能に設置される。主アーム２は、連結部８１に回動自在に連結された基端部２２を有する。副アーム４は、支持部材５の一端部に回動自在に連結された基端部４２と、主アーム２の胴部に対して回動自在に連結された先端部４１とを有する。フランジ部３は、フランジ面３１ａを有し、主アーム２の先端部２１に連結されて対象物を取り付ける。姿勢保持機構９は、主アーム２の支持部材５に対する第１角度αに応じて、フランジ部３の主アーム２に対する第２角度βを変化させることで、フランジ部３の向きを一定に保つ。【選択図】図５PROBLEM TO BE SOLVED: To provide a multi-axis robot capable of reducing the mass of a main arm. In a multi-axis robot, a first straight line guide 87 is arranged on a support member 5. The first slider 85 has a connecting portion 81 and is movably installed on the first straight line guide 87. The main arm 2 has a base end portion 22 rotatably connected to the connecting portion 81. The sub-arm 4 has a base end portion 42 rotatably connected to one end of the support member 5, and a tip end portion 41 rotatably connected to the body portion of the main arm 2. The flange portion 3 has a flange surface 31a and is connected to the tip portion 21 of the main arm 2 to attach an object. The posture holding mechanism 9 keeps the orientation of the flange portion 3 constant by changing the second angle β of the flange portion 3 with respect to the main arm 2 according to the first angle α of the main arm 2 with respect to the support member 5. [Selection diagram] FIG. 5

Description

本発明は、多軸ロボットに関する。 The present invention relates to a multi-axis robot.

ハンド部と、ハンド部を回転自在に支持するハンド部支持部と、ハンド部揺動駆動装置とを備えた主アームを有するリンク式多関節ロボットが知られている（例えば、特許第６６８８２０４号、以下、特許文献１）。 A link-type articulated robot having a hand portion, a hand portion support portion that rotatably supports the hand portion, and a main arm including a hand portion swing drive device is known (for example, Japanese Patent No. 6688204, Hereinafter, Patent Document 1).

特許文献１の多関節ロボットは、ハンド部の位置及び姿勢を６自由度で決められる。他方、主アーム内にハンド部揺動駆動装置を備えるため、主アームの質量が増大し、主アームの支持部に加わる慣性モーメントが増加する。本発明は、主アームの質量を軽量化できる多軸ロボットを提供する。 In the articulated robot of Patent Document 1, the position and posture of the hand portion can be determined with 6 degrees of freedom. On the other hand, since the hand portion swing drive device is provided in the main arm, the mass of the main arm increases and the moment of inertia applied to the support portion of the main arm increases. The present invention provides a multi-axis robot capable of reducing the mass of the main arm.

本発明の第１の側面は、多軸ロボットであって、
支持部材と、
前記支持部材に配置された第１直線ガイドと、
連結部を有し、前記第１直線ガイド上に移動可能に設置された第１スライダと、
前記連結部に回動自在に連結された基端部を有する主アームと、
前記支持部材の一端部に回動自在に連結された基端部と、前記主アームの胴部に対して回動自在に連結された先端部と、を有する副アームと、
フランジ面を有し、前記主アームの先端部に連結され、対象物を取り付けるフランジ部と、
前記主アームの前記支持部材に対する第１角度に応じて、前記フランジ部の前記主アームに対する第２角度を変化させることで、前記フランジ部の向きを一定に保つ姿勢保持機構と、
を備え、
前記姿勢保持機構は、
前記連結部に設けられ、前記主アームが前記連結部に対して回動する中心となる第１回動軸と、
前記第１回動軸に設置された第１プーリと、
前記フランジ部に固定して設けられ、前記フランジ部が前記主アームの先端部に対して回動する中心となる第２回動軸と、
前記第２回動軸に固定された第２プーリと、
前記第１プーリと前記第２プーリとに掛け渡された動力伝達部材と、を有し、
前記第１プーリの歯数は、前記第２プーリの歯数と同一であり、
前記第１プーリは、前記第１スライダに回転不能に設置される。 The first aspect of the present invention is a multi-axis robot.
Support members and
The first straight line guide arranged on the support member and
A first slider having a connecting portion and movably installed on the first straight line guide,
A main arm having a base end portion rotatably connected to the connecting portion,
A sub-arm having a base end portion rotatably connected to one end of the support member and a tip end rotatably connected to the body portion of the main arm.
A flange portion having a flange surface, connected to the tip portion of the main arm, and attaching an object,
A posture holding mechanism that keeps the orientation of the flange portion constant by changing the second angle of the flange portion with respect to the main arm according to the first angle of the main arm with respect to the support member.
Equipped with
The posture holding mechanism is
A first rotation shaft provided in the connecting portion and serving as a center for the main arm to rotate with respect to the connecting portion.
The first pulley installed on the first rotation shaft and
A second rotation shaft fixed to the flange portion and a center on which the flange portion rotates with respect to the tip end portion of the main arm.
The second pulley fixed to the second rotation shaft and
It has a power transmission member spanned by the first pulley and the second pulley.
The number of teeth of the first pulley is the same as the number of teeth of the second pulley.
The first pulley is non-rotatably installed on the first slider .

本発明によれば、主アームの質量を軽量化できる多軸ロボットを提供できる。 According to the present invention, it is possible to provide a multi-axis robot capable of reducing the mass of the main arm.

第１実施形態に係る多軸ロボットの外観を示す斜視図である。It is a perspective view which shows the appearance of the multi-axis robot which concerns on 1st Embodiment. 図１の多軸ロボットの正面図である。It is a front view of the multi-axis robot of FIG. 図１の多軸ロボットの右側面図である。It is a right side view of the multi-axis robot of FIG. 図２のＩＶ－ＩＶ線に沿う断面図である。It is sectional drawing which follows the IV-IV line of FIG. 第１実施形態の多軸ロボットの主要部を示す正面図である。It is a front view which shows the main part of the multi-axis robot of 1st Embodiment. 図５の右側面図である。It is a right side view of FIG. 図１の多軸ロボットの平面図である。It is a top view of the multi-axis robot of FIG. 図１の多軸ロボットにおける支持部材の水平方向の移動の様子を示す正面図である。It is a front view which shows the state of the horizontal movement of the support member in the multi-axis robot of FIG. 第１変形例に係る姿勢保持機構を備える多軸ロボットの主要部を示す正面図である。It is a front view which shows the main part of the multi-axis robot provided with the posture holding mechanism which concerns on the 1st modification. 図９の要部拡大斜視図である。FIG. 9 is an enlarged perspective view of a main part of FIG. 第２変形例に係る姿勢保持機構を備える多軸ロボットの主要部を示す正面図である。It is a front view which shows the main part of the multi-axis robot provided with the posture holding mechanism which concerns on the 2nd modification. 図１１の要部拡大斜視図である。11 is an enlarged perspective view of a main part of FIG. 第３変形例に係る姿勢保持機構を備える多軸ロボットの主要部を示す斜視図である。It is a perspective view which shows the main part of the multi-axis robot provided with the posture holding mechanism which concerns on 3rd modification. 第３変形例に係る姿勢保持機構を備える多軸ロボットの主要部を示す正面図である。It is a front view which shows the main part of the multi-axis robot provided with the posture holding mechanism which concerns on 3rd modification. 第２実施形態に係る多軸ロボットの概略構成を示す側面図である。It is a side view which shows the schematic structure of the multi-axis robot which concerns on 2nd Embodiment.

本発明の実施形態について、適宜図面を参照しながら詳細に説明する。
なお、各図において、共通する構成要素や同種の構成要素については、同一の符号を付し、それらの重複する説明を適宜省略する。 Embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
In each figure, common components and components of the same type are designated by the same reference numerals, and overlapping description thereof will be omitted as appropriate.

本発明の第１実施形態に係る多軸ロボット１について図１から図８を適宜参照しながら詳細に説明する。以下、説明の都合上、図１に示すように、多軸ロボット１について上下左右前後の方向を設定する。ただし、図１に示す方向は一例であって、多軸ロボット１の実際の設置方向がこれに限定されるものではない。 The multi-axis robot 1 according to the first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 8 as appropriate. Hereinafter, for convenience of explanation, as shown in FIG. 1, the directions of the multi-axis robot 1 are set up, down, left, right, front and back. However, the direction shown in FIG. 1 is an example, and the actual installation direction of the multi-axis robot 1 is not limited to this.

多軸ロボット１は、図１～図３に示すように、主アーム２と、フランジ部３と、副アーム４と、支持部材５と、支持部材回転駆動装置６と、支持部材移動装置７と、直動装置８と、姿勢保持機構９（図５参照）とを備える。 As shown in FIGS. 1 to 3, the multi-axis robot 1 includes a main arm 2, a flange portion 3, a sub arm 4, a support member 5, a support member rotation drive device 6, and a support member moving device 7. A linear motion device 8 and a posture holding mechanism 9 (see FIG. 5) are provided.

フランジ部３は、主アーム２の先端部２１に連結される。副アーム４の先端部４１（図２参照）は、主アーム２の胴部に対して回動自在に連結され、副アーム４の基端部４２は、支持部材５の一端部（図２では左端部）に対して回動自在に連結される。 The flange portion 3 is connected to the tip portion 21 of the main arm 2. The tip end 41 (see FIG. 2) of the sub-arm 4 is rotatably connected to the body of the main arm 2, and the base end 42 of the sub-arm 4 is one end of the support member 5 (in FIG. 2). It is rotatably connected to the left end).

多軸ロボット１は、フランジ部３に取り付けた対象物である工具、治具、クランプ装置等を移動させるロボットである。例えば、エアクランプやマグネット等でワーク１５（図８参照）を把持するクランプ装置１６を、フランジ部３（図８参照）に取り付ける。 The multi-axis robot 1 is a robot that moves tools, jigs, clamp devices, and the like, which are objects attached to the flange portion 3. For example, a clamp device 16 that grips the work 15 (see FIG. 8) with an air clamp, a magnet, or the like is attached to the flange portion 3 (see FIG. 8).

支持部材５は、主アーム２および副アーム４を支持する。支持部材５には、直動装置８が設けられる。直動装置８は、主アーム２の基端部２２が回動自在に連結された連結部８１を有する。直動装置８は、連結部８１を支持部材５の長手方向（図１のＪ３方向；図２では左右方向）に沿って移動させる。 The support member 5 supports the main arm 2 and the sub arm 4. The support member 5 is provided with a linear motion device 8. The linear motion device 8 has a connecting portion 81 to which the base end portion 22 of the main arm 2 is rotatably connected. The linear motion device 8 moves the connecting portion 81 along the longitudinal direction of the support member 5 (J3 direction in FIG. 1; left-right direction in FIG. 2).

支持部材回転駆動装置６は、支持部材５を鉛直軸Ｃ１（図２参照）のまわりに、図１のＪ２方向に回転駆動させる。支持部材回転駆動装置６は、図３に示すように、支持部材５の上部に設置された取付台５３（図２も参照）に固定された旋回ブラケット６１を、減速装置６２およびベルト６３を介して回転させるモータ６４を有する。減速装置６２は、好ましくは、ノンバックラッシ減速機である。 The support member rotation drive device 6 rotationally drives the support member 5 around the vertical axis C1 (see FIG. 2) in the J2 direction of FIG. As shown in FIG. 3, the support member rotation drive device 6 has a swivel bracket 61 fixed to a mounting base 53 (see also FIG. 2) installed on the support member 5 via a speed reducer 62 and a belt 63. It has a motor 64 to rotate the belt. The speed reducer 62 is preferably a non-backlash speed reducer.

また、図１～図３に示すように、支持部材移動装置７は、支持部材５を水平方向（図１のＪ１方向；図２では左右方向）に移動させる。支持部材移動装置７は、支持部材回転駆動装置６を介して支持部材５を水平方向に移動させるように構成される。 Further, as shown in FIGS. 1 to 3, the support member moving device 7 moves the support member 5 in the horizontal direction (J1 direction in FIG. 1; left-right direction in FIG. 2). The support member moving device 7 is configured to move the support member 5 in the horizontal direction via the support member rotation drive device 6.

支持部材移動装置７は、ビーム７０と、第２直線ガイド７７と、第２スライダ７９と、カバー６５とを有する。ビーム７０は、水平方向に延びる。第２直線ガイド７７は、ビーム７０上に水平方向に設置される。第２スライダ７９は、第２直線ガイド７７上を移動可能に設置される。支持部材回転駆動装置６は、取付台５３を介して第２スライダ７９に設置され、支持部材５の一端部を回動自在に支持する。 The support member moving device 7 has a beam 70, a second straight line guide 77, a second slider 79, and a cover 65. The beam 70 extends horizontally. The second straight guide 77 is installed horizontally on the beam 70. The second slider 79 is movably installed on the second straight line guide 77. The support member rotation drive device 6 is installed on the second slider 79 via the mounting base 53, and rotatably supports one end of the support member 5.

支持部材移動装置７は、ボールねじ７８と、支持板７２，７２と、取付板７３と、モータ７６とを有する。ボールねじ７８は、ナット回転型であり、固定されたねじ軸７１と、ナット７４（図４参照）を含む。ボールねじ７８は、水平方向に設置される。支持板７２，７２は、ねじ軸７１の両端をそれぞれ固定して支持する。取付板７３は、支持板７２，７２の下端に取り付けられる。取付板７３が加工機や洗浄機等の作業機械における所定の台座（図示せず）に取り付けられることで、多軸ロボット１を設作業機械内に設置する。 The support member moving device 7 has a ball screw 78, support plates 72 and 72, a mounting plate 73, and a motor 76. The ball screw 78 is a rotary nut type and includes a fixed screw shaft 71 and a nut 74 (see FIG. 4). The ball screw 78 is installed in the horizontal direction. The support plates 72 and 72 are supported by fixing both ends of the screw shaft 71, respectively. The mounting plate 73 is mounted on the lower ends of the support plates 72 and 72. The multi-axis robot 1 is installed in the installation work machine by attaching the attachment plate 73 to a predetermined pedestal (not shown) in a work machine such as a processing machine or a washing machine.

図４に示すように、モータ７６は、支持部材回転駆動装置６の上部に固定して設置される。ナット７４は、第２スライダ７９（図１参照）に回転可能に支持される。モータ７６は、ベルト機構７５を介してナット７４を回転する。ベルト機構７５は、タイミングベルト機構であり、原動プーリ７５ａ、従動プーリ７５ｂ及び無端ベルト７５ｃを含む。原動プーリ７５ａはモータ７６に設置される。従動プーリ７５ｂはナット７４に締結される。モータ７６が作動するとナット７４が回転し、ナット７４は、ねじ送り作用によって、モータ７６とともにねじ軸７１に沿って移動させられる。ナット７４およびモータ７６の移動によって、支持部材回転駆動装置６および支持部材５は、第２直線ガイド７７に案内されて支持部材移動装置７の長手方向に沿って移動させられる。モータ７６等のケーブルは、ケーブル保護管１７（図１参照）に収容されている。カバー６５は、第２スライダ７９と、原動プーリ７５ａと、従動プーリ７５ｂと、無端ベルト７５ｃと、ナット７４とを覆う。 As shown in FIG. 4, the motor 76 is fixedly installed on the upper part of the support member rotation drive device 6. The nut 74 is rotatably supported by a second slider 79 (see FIG. 1). The motor 76 rotates the nut 74 via the belt mechanism 75. The belt mechanism 75 is a timing belt mechanism and includes a driving pulley 75a, a driven pulley 75b, and an endless belt 75c. The driving pulley 75a is installed in the motor 76. The driven pulley 75b is fastened to the nut 74. When the motor 76 operates, the nut 74 rotates, and the nut 74 is moved along the screw shaft 71 together with the motor 76 by the screw feeding action. By moving the nut 74 and the motor 76, the support member rotation drive device 6 and the support member 5 are guided by the second straight line guide 77 and moved along the longitudinal direction of the support member moving device 7. The cable such as the motor 76 is housed in the cable protection tube 17 (see FIG. 1). The cover 65 covers the second slider 79, the driving pulley 75a, the driven pulley 75b, the endless belt 75c, and the nut 74.

図６は、図５の右側面図である。なお、図５および図６においては、主アーム２の前面に取り付けられるカバー２４（図１参照）、および支持部材５の上面、右側面にそれぞれ取り付けられるカバー５４，５５（図１参照）は、省略した。 FIG. 6 is a right side view of FIG. In FIGS. 5 and 6, the cover 24 (see FIG. 1) attached to the front surface of the main arm 2 and the covers 54 and 55 (see FIG. 1) attached to the upper surface and the right side surface of the support member 5, respectively, are shown. Omitted.

図５に示すように、直動装置８は、基端部２２を支持部材５の長手方向に沿って移動させる装置である。直動装置８は、第１直線ガイド８７と、第１スライダ８５とを有する。第１直線ガイド８７は、支持部材５に配置される。第１スライダ８５は、第１直線ガイド８７上に移動可能に設置される。本実施形態の多軸ロボット１において、支持部材５の長手方向は、水平方向に設定される。すなわち、第１直線ガイド８７は、水平方向に延びる。第１スライダ８５は、移動ブロック８６と、連結部８１とを有する。移動ブロック８６は、第１直線ガイド８７に案内されて移動する。連結部８１は、移動ブロック８６に連動するように接続される。 As shown in FIG. 5, the linear motion device 8 is a device that moves the proximal end portion 22 along the longitudinal direction of the support member 5. The linear motion device 8 has a first straight line guide 87 and a first slider 85. The first straight line guide 87 is arranged on the support member 5. The first slider 85 is movably installed on the first straight line guide 87. In the multi-axis robot 1 of the present embodiment, the longitudinal direction of the support member 5 is set to the horizontal direction. That is, the first straight line guide 87 extends in the horizontal direction. The first slider 85 has a moving block 86 and a connecting portion 81. The movement block 86 is guided by the first straight line guide 87 and moves. The connecting portion 81 is connected so as to be interlocked with the moving block 86.

なお、第１直線ガイド８７は、平行に一対設けられていてもよい。また、第１直線ガイド８７の長手方向に垂直な断面の形状は、例えば、矩形形状でもよいし、移動ブロック８６が移動可能に収容される溝形状でもよい。 A pair of first straight line guides 87 may be provided in parallel. Further, the shape of the cross section perpendicular to the longitudinal direction of the first straight line guide 87 may be, for example, a rectangular shape or a groove shape in which the moving block 86 is movably accommodated.

また、直動装置８は、図６に示すように、モータ８２と、ボールねじ８４とを備える。モータ８２は、駆動源として使用される。ボールねじ８４のねじ軸８４ａは、モータ８２によってベルト８３を介して回転駆動される。ボールねじ８４のナット（不図示）は、ねじ軸８４ａに取り付ける。ボールねじ８４のナットは、第１スライダ８５の移動ブロック８６に固定される。 Further, as shown in FIG. 6, the linear motion device 8 includes a motor 82 and a ball screw 84. The motor 82 is used as a drive source. The screw shaft 84a of the ball screw 84 is rotationally driven by the motor 82 via the belt 83. The nut (not shown) of the ball screw 84 is attached to the screw shaft 84a. The nut of the ball screw 84 is fixed to the moving block 86 of the first slider 85.

図５に示すように、主アーム２には、姿勢保持機構９が設けられる。姿勢保持機構９は、主アーム２の支持部材５に対する第１角度αに応じて、フランジ部３の主アーム２に対する第２角度βを変化させる（図ではα＋β＝９０度）ことで、フランジ部３の向きを一定に保つ機械式の機構である。 As shown in FIG. 5, the main arm 2 is provided with a posture holding mechanism 9. The posture holding mechanism 9 changes the second angle β of the flange portion 3 with respect to the main arm 2 according to the first angle α of the main arm 2 with respect to the support member 5 (α + β = 90 degrees in the figure), whereby the flange portion It is a mechanical mechanism that keeps the direction of 3 constant.

姿勢保持機構９は、第１回動軸９１と、第１プーリ９２と、第２回動軸９３と、第２プーリ９４と、動力伝達部材９０とを有する。本実施形態では、動力伝達部材９０は、無端状のベルト９５である。動力伝達部材９０は、チェーンでもよい。第１回動軸９１は、連結部８１に固定して設けられ、主アーム２が連結部８１に対して回動する中心となる軸である。本実施形態では、第１プーリ９２は、第１回動軸９１の先端側に固定される。ベルト９５は、第１プーリ９２と第２プーリ９４とに掛け渡されている。 The posture holding mechanism 9 includes a first rotation shaft 91, a first pulley 92, a second rotation shaft 93, a second pulley 94, and a power transmission member 90. In the present embodiment, the power transmission member 90 is an endless belt 95. The power transmission member 90 may be a chain. The first rotation shaft 91 is fixed to the connecting portion 81 and is provided as a center for the main arm 2 to rotate with respect to the connecting portion 81. In the present embodiment, the first pulley 92 is fixed to the tip end side of the first rotation shaft 91. The belt 95 is hung on the first pulley 92 and the second pulley 94.

第２回動軸９３は、フランジ部３に取付けブロック９６を介して固定して設けられ、フランジ部３が先端部２１に対して回動する中心となる軸である。取付けブロック９６は、第２回動軸９３の基端側（後側）に固定される。取付けブロック９６と第２回動軸９３とは一体に形成されてもよい。第２プーリ９４は、第２回動軸９３の先端側（前側）に固定される。 The second rotation shaft 93 is fixedly provided to the flange portion 3 via the mounting block 96, and is a shaft at which the flange portion 3 rotates with respect to the tip portion 21. The mounting block 96 is fixed to the base end side (rear side) of the second rotation shaft 93. The mounting block 96 and the second rotating shaft 93 may be integrally formed. The second pulley 94 is fixed to the tip end side (front side) of the second rotation shaft 93.

第１プーリ９２および第２プーリ９４として、ここでは歯付きプーリが使用される。第１プーリ９２の歯数は、第２プーリ９４の歯数と同一である。ベルト９５として、ここでは歯付きベルトが使用される。これにより、ベルト９５の滑りを防止できるため、フランジ部３の向きをより精度良く一定に保つ。また、姿勢保持機構９は、ベルト９５の張力を調整するためのテンショナプーリ９７，９７を有する。 As the first pulley 92 and the second pulley 94, a toothed pulley is used here. The number of teeth of the first pulley 92 is the same as the number of teeth of the second pulley 94. As the belt 95, a toothed belt is used here. As a result, the belt 95 can be prevented from slipping, so that the orientation of the flange portion 3 is kept more accurate and constant. Further, the posture holding mechanism 9 has tensioner pulleys 97 and 97 for adjusting the tension of the belt 95.

主アーム２は、ベース部２３と、カバー２４（図１参照）とを有する。ベース部２３には、第１回動軸９１および第２回動軸９３を取り付ける。カバー２４は、ベース部２３を覆う。ベルト９５、第１プーリ９２および第２プーリ９４は、ベース部２３とカバー２４との間に形成された空間内に配置される。これにより、姿勢保持機構９の構成部品を保護し得る。 The main arm 2 has a base portion 23 and a cover 24 (see FIG. 1). The first rotation shaft 91 and the second rotation shaft 93 are attached to the base portion 23. The cover 24 covers the base portion 23. The belt 95, the first pulley 92, and the second pulley 94 are arranged in the space formed between the base portion 23 and the cover 24. Thereby, the components of the posture holding mechanism 9 can be protected.

図２に示すように、フランジ部３は、被取付部３１と、被取付部支持部３２と、モータ３３とを有する。被取付部３１には、対象物を取り付ける。被取付部支持部３２は、被取付部３１を回転自在に支持する。モータ３３は、被取付部３１をＪ４方向（図１参照）に回転させる。被取付部３１は、先端にフランジ面３１ａを有する。被取付部支持部３２には、第２回動軸９３の基端側（後側）に固定された取付けブロック９６が取り付けられる。 As shown in FIG. 2, the flange portion 3 has a mounted portion 31, a mounted portion support portion 32, and a motor 33. An object is attached to the attached portion 31. The attached portion support portion 32 rotatably supports the attached portion 31. The motor 33 rotates the mounted portion 31 in the J4 direction (see FIG. 1). The attached portion 31 has a flange surface 31a at its tip. A mounting block 96 fixed to the base end side (rear side) of the second rotating shaft 93 is mounted on the mounted portion support portion 32.

次に、以上のように構成された多軸ロボット１の動作について説明する。
図１に示すように、多軸ロボット１は、直動装置８によって、支持部材５の長手方向（Ｊ３方向）に沿って所定の可動範囲で、基端部２２を、連結部８１を介して直線往復移動させる。 Next, the operation of the multi-axis robot 1 configured as described above will be described.
As shown in FIG. 1, the multi-axis robot 1 uses a linear motion device 8 to connect the base end portion 22 via the connecting portion 81 within a predetermined movable range along the longitudinal direction (J3 direction) of the support member 5. Move in a straight line reciprocating.

図２に示すように、多軸ロボット１は、基端部２２を基端部４２に近接する方向に移動させることで、主アーム２の支持部材５に対する第１角度α（図５参照）を増大させる。これにより、図２の二点鎖線で示すように、フランジ部３を支持部材５から離隔する方向（図２では下方向）に移動させる。一方、多軸ロボット１は、基端部２２を基端部４２から離隔する方向に移動させることで、主アーム２の支持部材５に対する第１角度α（図５参照）を減少させる。これにより、図２の実線で示すように、フランジ部３を支持部材５に近接する方向（図２では上方向）に移動させる。 As shown in FIG. 2, the multi-axis robot 1 moves the proximal end portion 22 in a direction close to the proximal end portion 42 to set a first angle α (see FIG. 5) with respect to the support member 5 of the main arm 2. Increase. As a result, as shown by the alternate long and short dash line in FIG. 2, the flange portion 3 is moved in the direction away from the support member 5 (downward in FIG. 2). On the other hand, the multi-axis robot 1 reduces the first angle α (see FIG. 5) of the main arm 2 with respect to the support member 5 by moving the proximal end portion 22 in a direction away from the proximal end portion 42. As a result, as shown by the solid line in FIG. 2, the flange portion 3 is moved in the direction close to the support member 5 (upward in FIG. 2).

本実施形態では、第１回動軸９１と第２回動軸９３との中央位置に先端部４１が回動可能に連結される。また、先端部４１側の回動中心と基端部４２側の回動中心との間の距離は、第１回動軸９１と第２回動軸９３との間の距離の１／２に設定される。このような構成では、フランジ部３を一の鉛直線上で昇降させる。 In the present embodiment, the tip portion 41 is rotatably connected to the central position of the first rotation shaft 91 and the second rotation shaft 93. Further, the distance between the rotation center on the tip 41 side and the rotation center on the base 42 side is halved from the distance between the first rotation shaft 91 and the second rotation shaft 93. Set. In such a configuration, the flange portion 3 is moved up and down on one vertical line.

このとき、多軸ロボット１は、図５に示すように、姿勢保持機構９によって、主アーム２の支持部材５に対する第１角度αに応じてフランジ部３の主アーム２に対する第２角度βを変化させることでフランジ部３の向きを一定（図５では下向き）に保つ。
すなわち、フランジ面３１ａは、第１直線ガイド８７（図５参照）と平行（図５では水平）に保たれる。ただし、フランジ面３１ａが、第１直線ガイド８７と垂直に保たれるように構成されてもよい。このようにすれば、例えばワーク１５等を上方または側方から把持してそのままの姿勢で移動させる。 At this time, as shown in FIG. 5, the multi-axis robot 1 uses the posture holding mechanism 9 to set the second angle β of the flange portion 3 with respect to the main arm 2 according to the first angle α of the main arm 2 with respect to the support member 5. By changing the direction, the direction of the flange portion 3 is kept constant (downward in FIG. 5).
That is, the flange surface 31a is kept parallel to the first straight guide 87 (see FIG. 5) (horizontal in FIG. 5). However, the flange surface 31a may be configured to be kept perpendicular to the first straight guide 87. By doing so, for example, the work 15 or the like is gripped from above or from the side and moved in the same posture.

前記したように本実施形態に係る多軸ロボット１は、支持部材５と、第１直線ガイド８７と、第１スライダ８５と、主アーム２と、副アーム４と、フランジ部３と、姿勢保持機構９とを備える。第１直線ガイド８７は、支持部材５に配置される。第１スライダ８５は、連結部８１を有し、第１直線ガイド８７上に移動可能に設置される。主アーム２は、連結部８１に回動自在に連結された基端部２２を有する。副アーム４は、支持部材５の一端部に回動自在に連結された基端部４２と、主アーム２の胴部に対して回動自在に連結された先端部４１とを有する。フランジ部３は、フランジ面３１ａを有し、先端部２１に連結されて対象物を取り付ける。姿勢保持機構９は、主アーム２の支持部材５に対する第１角度αに応じて、フランジ部３の主アーム２に対する第２角度βを変化させることで、フランジ部３の向きを一定に保つ。 As described above, the multi-axis robot 1 according to the present embodiment includes the support member 5, the first straight line guide 87, the first slider 85, the main arm 2, the sub arm 4, the flange portion 3, and the posture holding. It is provided with a mechanism 9. The first straight line guide 87 is arranged on the support member 5. The first slider 85 has a connecting portion 81 and is movably installed on the first straight line guide 87. The main arm 2 has a base end portion 22 rotatably connected to the connecting portion 81. The sub-arm 4 has a base end portion 42 rotatably connected to one end of the support member 5, and a tip end portion 41 rotatably connected to the body portion of the main arm 2. The flange portion 3 has a flange surface 31a and is connected to the tip portion 21 to attach an object. The posture holding mechanism 9 keeps the orientation of the flange portion 3 constant by changing the second angle β of the flange portion 3 with respect to the main arm 2 according to the first angle α of the main arm 2 with respect to the support member 5.

本実施形態では、姿勢保持機構９によってフランジ部３の向きを一定に保つため、主アーム２内にフランジ部３を揺動させる駆動装置を備える必要がない。
したがって、本実施形態によれば、主アーム２の質量を軽量化できる多軸ロボット１を提供できる。 In the present embodiment, since the orientation of the flange portion 3 is kept constant by the posture holding mechanism 9, it is not necessary to provide a drive device for swinging the flange portion 3 in the main arm 2.
Therefore, according to the present embodiment, it is possible to provide the multi-axis robot 1 capable of reducing the mass of the main arm 2.

また、一般的な垂直多関節ロボットのように、稼働中にアーム等の構成部材が背面側（フランジ部３の反対側）に飛び出すことがない。このため、多軸ロボット１を加工機や洗浄機等の作業機械内に設置した場合でも装置全体が大型化することがない。
また、フランジ部３の向きが一定に保たれるため、フランジ部３に例えばクランプ装置１６（図８参照）を取り付けてワーク１５（図８参照）を把持することで、機内に対してワーク１５をそのままの姿勢で移動できる。 Further, unlike a general vertical articulated robot, components such as an arm do not pop out to the back surface side (opposite side of the flange portion 3) during operation. Therefore, even when the multi-axis robot 1 is installed in a work machine such as a processing machine or a washing machine, the entire device does not become large.
Further, since the orientation of the flange portion 3 is kept constant, for example, by attaching a clamp device 16 (see FIG. 8) to the flange portion 3 and gripping the work 15 (see FIG. 8), the work 15 can be referred to the inside of the machine. Can be moved in the same posture.

また、本実施形態では、図５に示すように、姿勢保持機構９は、連結部８１に設けられた第１回動軸９１に設置された第１プーリ９２と、フランジ部３に固定して設けられた第２回動軸９３に固定された第２プーリ９４とに掛け渡されたベルト９５を持つ。そして、本実施形態では、第１プーリ９２は、第１スライダ８５に回転不能に設置される。 Further, in the present embodiment, as shown in FIG. 5, the posture holding mechanism 9 is fixed to the first pulley 92 installed on the first rotation shaft 91 provided in the connecting portion 81 and the flange portion 3. It has a belt 95 hung on a second pulley 94 fixed to a second rotating shaft 93 provided. Then, in the present embodiment, the first pulley 92 is non-rotatably installed on the first slider 85.

主アーム２が第１回動軸９１を中心として図５における反時計回りに回動すると、主アーム２の支持部材５に対する第１角度αが増大する。この場合、第１プーリ９２が固定された第１回動軸９１が連結部８１に固定されているため、ベルト９５の上側部分９５ａ（副アーム４に近い側の部分）が伸びて張力が大きくなる。一方、ベルト９５の下側部分９５ｂ（副アーム４から遠い側の部分）が縮んで張力が小さくなる。したがって、第２プーリ９４は、図５における時計回りに回動し、フランジ部３の向きが常に下向きに保たれる。姿勢保持機構９は機械式の簡易な構成として実現され、フランジ部３の向きを一定に保つ。 When the main arm 2 rotates counterclockwise in FIG. 5 about the first rotation shaft 91, the first angle α of the main arm 2 with respect to the support member 5 increases. In this case, since the first rotation shaft 91 to which the first pulley 92 is fixed is fixed to the connecting portion 81, the upper portion 95a (the portion closer to the auxiliary arm 4) of the belt 95 extends and the tension is large. Become. On the other hand, the lower portion 95b (the portion far from the auxiliary arm 4) of the belt 95 contracts to reduce the tension. Therefore, the second pulley 94 rotates clockwise in FIG. 5, and the direction of the flange portion 3 is always kept downward. The posture holding mechanism 9 is realized as a simple mechanical configuration, and keeps the orientation of the flange portion 3 constant.

また、本実施形態は、支持部材５を鉛直軸Ｃ１（図２参照）のまわりに、回転駆動させる支持部材回転駆動装置６を備える。
図７は、図１に示される多軸ロボット１の平面図である。図７に示すように、支持部材回転駆動装置６によって、支持部材５が、例えば、実線で示すように支持部材移動装置７に平行でフランジ部３が支持部材移動装置７に近接する位置から、二点鎖線で示すように支持部材移動装置７に垂直でフランジ部３が支持部材移動装置７から離隔する位置まで、回転され得る。これにより、フランジ部３を移動させる範囲が、支持部材移動装置７の長手方向に垂直な水平方向（図７では前後方向）に拡大する。 Further, the present embodiment includes a support member rotation drive device 6 for rotationally driving the support member 5 around the vertical shaft C1 (see FIG. 2).
FIG. 7 is a plan view of the multi-axis robot 1 shown in FIG. As shown in FIG. 7, the support member rotation drive device 6 allows the support member 5 to be parallel to the support member moving device 7, and the flange portion 3 is close to the support member moving device 7, for example, as shown by a solid line. As shown by the alternate long and short dash line, the flange portion 3 can be rotated to a position perpendicular to the support member moving device 7 and separated from the support member moving device 7. As a result, the range in which the flange portion 3 is moved is expanded in the horizontal direction (the front-rear direction in FIG. 7) perpendicular to the longitudinal direction of the support member moving device 7.

また、本実施形態は、支持部材５を水平方向（図２では左右方向）に移動させる支持部材移動装置７を備える。
図８は、図１に示される多軸ロボット１における支持部材５の水平方向の移動の様子を示す正面図である。図８に示すように、支持部材移動装置７によって、支持部材回転駆動装置６を介して支持部材５が、二点鎖線で示す右側位置と実線で示す左側位置との間を水平方向に移動させられる。これにより、フランジ部３を移動させる範囲が、支持部材移動装置７の長手方向（図８では左右方向）に拡大する。このため、図８の実線で示すように、フランジ部３を支持部材移動装置７の左端部から長手方向の外側に飛び出させる。また、支持部材５が二点鎖線で示す右側位置にある場合、支持部材回転駆動装置６によって支持部材５を１８０度回転させることで、フランジ部３を支持部材移動装置７の右端部から長手方向の外側に飛び出させる。したがって、例えば機外から機内へのワーク１５の搬入、機内から機外へのワーク１５の搬出をより容易に行う。 Further, the present embodiment includes a support member moving device 7 that moves the support member 5 in the horizontal direction (left-right direction in FIG. 2).
FIG. 8 is a front view showing a state of horizontal movement of the support member 5 in the multi-axis robot 1 shown in FIG. As shown in FIG. 8, the support member moving device 7 causes the support member 5 to move horizontally between the right side position shown by the alternate long and short dash line and the left side position shown by the solid line via the support member rotation drive device 6. Be done. As a result, the range in which the flange portion 3 is moved is expanded in the longitudinal direction (left-right direction in FIG. 8) of the support member moving device 7. Therefore, as shown by the solid line in FIG. 8, the flange portion 3 is projected outward from the left end portion of the support member moving device 7 in the longitudinal direction. When the support member 5 is in the right position indicated by the alternate long and short dash line, the support member 5 is rotated 180 degrees by the support member rotation drive device 6 to rotate the flange portion 3 in the longitudinal direction from the right end portion of the support member moving device 7. Let it pop out of. Therefore, for example, the work 15 can be carried in from the outside of the machine to the inside of the machine, and the work 15 can be carried out from the inside of the machine to the outside of the machine more easily.

図９は、第１変形例に係る姿勢保持機構９ａを備える多軸ロボット１の主要部を示す正面図である。図１０は、図９の要部拡大斜視図である。なお、図９および図１０においては、カバー２４は、省略した。
図９、図１０に示すように、第１変形例に係る姿勢保持機構９ａは、第１プーリ９２と第２プーリ９４とに掛け渡される動力伝達部材９０ａとして、帯状の第１ベルト１０１と、帯状の第２ベルト１０２と、第１ロッド１０３と、第２ロッド１０４とを有する。第１ベルト１０１は、第１プーリ９２と接触する。第２ベルト１０２は、第２プーリ９４と接触する。第１ロッド１０３は、第１ベルト１０１の第１直線ガイド８７（図５参照；以下同様）に近い側の端部と第２ベルト１０２の第１直線ガイド８７に近い側の端部とを繋ぐ。第２ロッド１０４は、第１ベルト１０１の第１直線ガイド８７から遠い側の端部と第２ベルト１０２の第１直線ガイド８７から遠い側の端部とを繋ぐ。第１ロッド１０３および第２ロッド１０４は、接続用金具１０５を介して、第２ベルト１０２とそれぞれ接続される。接続用金具１０５は、第２ベルト１０２の張力を調整可能に接続される。第１ロッド１０３および第２ロッド１０４は、第２ベルト１０２との接続と同様にして、第１ベルト１０１ともそれぞれ接続される。第１ロッド１０３および第２ロッド１０４の素材は、駆動時の負荷に耐えられる強度と剛性を有する素材であれば特に限定されず、例えば、チタン等の金属であったり、炭素繊維等を含む繊維強化複合材である。 FIG. 9 is a front view showing a main part of the multi-axis robot 1 provided with the posture holding mechanism 9a according to the first modification. FIG. 10 is an enlarged perspective view of a main part of FIG. In addition, in FIG. 9 and FIG. 10, the cover 24 is omitted.
As shown in FIGS. 9 and 10, the posture holding mechanism 9a according to the first modification includes a band-shaped first belt 101 and a band-shaped first belt 101 as a power transmission member 90a to be hung between the first pulley 92 and the second pulley 94. It has a band-shaped second belt 102, a first rod 103, and a second rod 104. The first belt 101 comes into contact with the first pulley 92. The second belt 102 comes into contact with the second pulley 94. The first rod 103 connects the end of the first belt 101 on the side close to the first straight guide 87 (see FIG. 5; the same applies hereinafter) and the end of the second belt 102 on the side close to the first straight guide 87. .. The second rod 104 connects the end of the first belt 101 on the side far from the first straight guide 87 and the end of the second belt 102 on the side far from the first straight guide 87. The first rod 103 and the second rod 104 are connected to the second belt 102 via the connecting metal fitting 105, respectively. The connecting metal fitting 105 is connected so that the tension of the second belt 102 can be adjusted. The first rod 103 and the second rod 104 are also connected to the first belt 101 in the same manner as the connection to the second belt 102. The material of the first rod 103 and the second rod 104 is not particularly limited as long as it is a material having strength and rigidity that can withstand the load during driving, and is, for example, a metal such as titanium or a fiber containing carbon fiber or the like. It is a reinforced composite material.

図１１は、第２変形例に係る姿勢保持機構９ｂを備える多軸ロボット１の主要部を示す正面図である。図１２は、図１１の要部拡大斜視図である。なお、図１１および図１２においては、カバー２４は、省略した。
図１１、図１２に示すように、第２変形例に係る姿勢保持機構９ｂは、第１回動軸９１と、第１連結部材２０１と、第２回動軸９３と、第２連結部材２０２と、第１ロッド２０３と、第２ロッド２０４とを有する。第１回動軸９１は、連結部８１に設けられ、主アーム２が連結部８１に対して回動する中心となる軸である。第１連結部材２０１は、第１回動軸９１に設置される。第１連結部材２０１は、基部２１３、第１連結部２１１および第２連結部２１２を有する。基部２１３は、筒状を呈している。基部２１３の外周面に第１連結部２１１と第２連結部２１２とが設けられる。第１連結部２１１は、第１回動軸９１の径方向外側に位置する。第２連結部２１２は、第１回動軸９１の径方向外側、かつ第１連結部２１１よりも第１直線ガイド８７から遠い側に位置する。第１連結部２１１と第２連結部２１２とは、第１回動軸９１を間に挟んで、互いに反対側に位置する。第２回動軸９３は、フランジ部３に固定して設けられ、フランジ部３が主アーム２の先端部２１に対して回動する中心となる軸である。第２連結部材２０２は、第２回動軸９３に固定される。第２連結部材２０２は、基部２２３、第３連結部２２１および第４連結部２２２を有する。基部２２３は、筒状を呈している。基部２２３の外周面に第３連結部２２１と第４連結部２２２とが設けられる。第３連結部２２１は、第２回動軸９３の径方向外側に位置する。第４連結部２２２は、第２回動軸９３の径方向外側、かつ第３連結部２２１よりも第１直線ガイド８７から遠い側に位置する。第３連結部２２１と第４連結部２２２とは、第２回動軸９３を間に挟んで、互いに反対側に位置する。第１ロッド２０３は、第１連結部２１１と第３連結部２２１とを繋ぐ。第２ロッド２０４は、第２連結部２１２と第４連結部２２２とを繋ぐ。第１ロッド２０３および第２ロッド２０４の各々の両端は、接続用金具２０５を介して、第１連結部２１１、第２連結部２１２、第３連結部２２１および第４連結部２２２とそれぞれ接続される。第１ロッド２０３および第２ロッド２０４の素材は、駆動時の負荷に耐えられる強度と剛性を有する素材であれば特に限定されず、例えば、チタン等の金属であったり、炭素繊維等を含む繊維強化複合材である。 FIG. 11 is a front view showing a main part of the multi-axis robot 1 provided with the posture holding mechanism 9b according to the second modification. FIG. 12 is an enlarged perspective view of a main part of FIG. In addition, in FIG. 11 and FIG. 12, the cover 24 is omitted.
As shown in FIGS. 11 and 12, the posture holding mechanism 9b according to the second modification includes the first rotating shaft 91, the first connecting member 201, the second rotating shaft 93, and the second connecting member 202. And a first rod 203 and a second rod 204. The first rotation shaft 91 is provided on the connecting portion 81 and is a central shaft on which the main arm 2 rotates with respect to the connecting portion 81. The first connecting member 201 is installed on the first rotating shaft 91. The first connecting member 201 has a base portion 213, a first connecting portion 211, and a second connecting portion 212. The base 213 has a cylindrical shape. A first connecting portion 211 and a second connecting portion 212 are provided on the outer peripheral surface of the base portion 213. The first connecting portion 211 is located on the outer side in the radial direction of the first rotating shaft 91. The second connecting portion 212 is located on the radial side of the first rotating shaft 91 and on the side farther from the first straight line guide 87 than the first connecting portion 211. The first connecting portion 211 and the second connecting portion 212 are located on opposite sides of each other with the first rotating shaft 91 interposed therebetween. The second rotation shaft 93 is fixedly provided to the flange portion 3 and is a shaft at which the flange portion 3 rotates with respect to the tip portion 21 of the main arm 2. The second connecting member 202 is fixed to the second rotation shaft 93. The second connecting member 202 has a base portion 223, a third connecting portion 221 and a fourth connecting portion 222. The base 223 has a cylindrical shape. A third connecting portion 221 and a fourth connecting portion 222 are provided on the outer peripheral surface of the base portion 223. The third connecting portion 221 is located on the outer side in the radial direction of the second rotating shaft 93. The fourth connecting portion 222 is located on the radial outside of the second rotating shaft 93 and on the side farther from the first straight line guide 87 than the third connecting portion 221. The third connecting portion 221 and the fourth connecting portion 222 are located on opposite sides of each other with the second rotating shaft 93 interposed therebetween. The first rod 203 connects the first connecting portion 211 and the third connecting portion 221. The second rod 204 connects the second connecting portion 212 and the fourth connecting portion 222. Both ends of the first rod 203 and the second rod 204 are connected to the first connecting portion 211, the second connecting portion 212, the third connecting portion 221 and the fourth connecting portion 222, respectively, via the connecting metal fitting 205. To. The material of the first rod 203 and the second rod 204 is not particularly limited as long as it is a material having strength and rigidity that can withstand the load during driving, and is, for example, a metal such as titanium or a fiber containing carbon fiber or the like. It is a reinforced composite material.

図１３は、第３変形例に係る姿勢保持機構９ｃを備える多軸ロボット１の主要部を示す斜視図である。図１４は、第３変形例に係る姿勢保持機構９ｃを備える多軸ロボット１の主要部を示す正面図である。なお、図１３および図１４においては、カバー２４は、省略した。
図１３、図１４に示すように、この第３変形例では、姿勢保持機構９ｃは、回転する出力軸２６を有する姿勢変更装置２５を含んでいる。姿勢変更装置２５は、第１スライダ８５に固定される。姿勢変更装置２５は、例えば、サーボモータ、回転シリンダである。第１プーリ９２は、第１回動軸９１を介して出力軸２６に接続される。そして、第１プーリ９２は、姿勢変更装置２５によって回転されるように構成される。 FIG. 13 is a perspective view showing a main part of the multi-axis robot 1 provided with the posture holding mechanism 9c according to the third modification. FIG. 14 is a front view showing a main part of the multi-axis robot 1 provided with the posture holding mechanism 9c according to the third modification. In addition, in FIG. 13 and FIG. 14, the cover 24 is omitted.
As shown in FIGS. 13 and 14, in this third modification, the posture holding mechanism 9c includes a posture changing device 25 having a rotating output shaft 26. The posture changing device 25 is fixed to the first slider 85. The posture changing device 25 is, for example, a servomotor or a rotary cylinder. The first pulley 92 is connected to the output shaft 26 via the first rotation shaft 91. The first pulley 92 is configured to be rotated by the posture changing device 25.

姿勢変更装置２５を利用すれば、姿勢変更装置２５が第１プーリ９２を回転しないときには、α＋β＝９０度に保持されて、角度αに関わらず、フランジ部３の姿勢が保持される。言い換えると、図１１では、角度αに関わらず、フランジ面３１ａは、常に鉛直下方を向く。他方、姿勢変更装置２５が第１プーリ９２を角度γ（不図示）回転した場合、角度γだけ、第２プーリ９４が更に回転して、フランジ部３の姿勢を変更できる。
なお、この第３変形例は、図１～図８に示す第１実施形態に対して適用されているが、図９、図１０に示す第１変形例、図１１、図１２に示す第２変形例に対しても適用可能である。 If the posture changing device 25 is used, when the posture changing device 25 does not rotate the first pulley 92, it is held at α + β = 90 degrees, and the posture of the flange portion 3 is held regardless of the angle α. In other words, in FIG. 11, the flange surface 31a always faces vertically downward regardless of the angle α. On the other hand, when the posture changing device 25 rotates the first pulley 92 at an angle γ (not shown), the second pulley 94 further rotates by the angle γ, and the posture of the flange portion 3 can be changed.
Although this third modification is applied to the first embodiment shown in FIGS. 1 to 8, the first modification shown in FIGS. 9 and 10 and the second modification shown in FIGS. 11 and 12 are shown. It can also be applied to modified examples.

図１５は、第２実施形態に係る多軸ロボット１ａの概略構成を示す側面図である。
以下、多軸ロボット１ａについて、図１～図１４に示す実施形態に係る多軸ロボット１と相違する点を主に説明し、共通する構成要素や同種の構成要素については同一の符号を付して適宜説明を省略する。 FIG. 15 is a side view showing a schematic configuration of the multi-axis robot 1a according to the second embodiment.
Hereinafter, the differences between the multi-axis robot 1a and the multi-axis robot 1 according to the embodiments shown in FIGS. 1 to 14 will be mainly described, and common components and components of the same type are designated by the same reference numerals. The explanation will be omitted as appropriate.

図１５に示すように、多軸ロボット１ａにおいて、支持部材５の長手方向は、鉛直方向に設定される。すなわち、第１直線ガイド８７（図５参照）は、鉛直方向に延びる。支持部材回転駆動装置６ａは、支持部材５の長手方向の端部（図１１では上部）に設置される。支持部材回転駆動装置６ａの上部が天井１０に取り付けられる。支持部材回転駆動装置６ａによって、支持部材５は、鉛直軸Ｃ１（図２参照）のまわりに、Ｊ１ａ方向に回転駆動させられる。 As shown in FIG. 15, in the multi-axis robot 1a, the longitudinal direction of the support member 5 is set to the vertical direction. That is, the first straight line guide 87 (see FIG. 5) extends in the vertical direction. The support member rotation drive device 6a is installed at an end portion (upper portion in FIG. 11) of the support member 5 in the longitudinal direction. The upper part of the support member rotation drive device 6a is attached to the ceiling 10. The support member rotation drive device 6a rotationally drives the support member 5 around the vertical axis C1 (see FIG. 2) in the J1a direction.

多軸ロボット１ａは、先端部２１に連結されたフランジ部３ａと、フランジ部３ａに設置された鉛直方向に沿うボールねじ１１と、ボールねじ１１の下部に設置された回動部材１２と、回動部材１２の側端部に設置された第２フランジ部１３とを備える。第２フランジ部１３の端面に、例えば、ワーク１５を把持するクランプ装置１６を取り付ける。 The multi-axis robot 1a includes a flange portion 3a connected to the tip portion 21, a ball screw 11 installed in the flange portion 3a along the vertical direction, and a rotating member 12 installed in the lower part of the ball screw 11. A second flange portion 13 installed at a side end portion of the moving member 12 is provided. For example, a clamp device 16 for gripping the work 15 is attached to the end surface of the second flange portion 13.

基端部２２が支持部材５の長手方向に沿ってＪ２ａ方向（鉛直方向）に移動することで、フランジ部３を支持部材５に近接または離隔する方向（水平方向）に移動させる。このとき、姿勢保持機構９，９ａ～９ｃ（図５、図１０～図１４参照）によって、フランジ部３の向きは一定に保たれる。また、フランジ部３ａは、ボールねじ１１を回り止めしつつ、ねじ送り作用によってＪ４ａ方向（鉛直方向）に移動させる。回動部材１２は、ボールねじ１１の中心軸（鉛直軸）のまわりでＪ３ａ方向に回転する。第２フランジ部１３は、水平軸のまわりでＪ５ａ方向に回転する。 By moving the base end portion 22 in the J2a direction (vertical direction) along the longitudinal direction of the support member 5, the flange portion 3 is moved in the direction closer to or away from the support member 5 (horizontal direction). At this time, the orientation of the flange portion 3 is kept constant by the posture holding mechanisms 9, 9a to 9c (see FIGS. 5, 10 to 14). Further, the flange portion 3a is moved in the J4a direction (vertical direction) by the screw feeding action while preventing the ball screw 11 from rotating. The rotating member 12 rotates in the J3a direction around the central axis (vertical axis) of the ball screw 11. The second flange portion 13 rotates in the J5a direction around the horizontal axis.

この多軸ロボット１ａによっても、前記した実施形態と同様の作用効果を奏する。
また、多軸ロボット１ａは、例えば、天井１０から吊り下げて設置する。したがって、多軸ロボット１ａの占有スペースをより小さくする。なお、多軸ロボット１ａを、支持部材５の長手方向が鉛直方向となるように、例えば床面に立設して設置することも可能である。 The multi-axis robot 1a also has the same effect as that of the above-described embodiment.
Further, the multi-axis robot 1a is installed, for example, by suspending it from the ceiling 10. Therefore, the occupied space of the multi-axis robot 1a is made smaller. It is also possible to install the multi-axis robot 1a upright on the floor, for example, so that the longitudinal direction of the support member 5 is the vertical direction.

以上、本発明について、実施形態に基づいて説明したが、本発明は、前記実施形態に記載した構成に限定されるものではない。本発明は、前記実施形態に記載した構成を適宜組み合わせ乃至選択することを含め、その趣旨を逸脱しない範囲において適宜その構成を変更できる。また、前記実施形態の構成の一部について、追加、削除、置換できる。 Although the present invention has been described above based on the embodiment, the present invention is not limited to the configuration described in the embodiment. The present invention can appropriately change the configuration within a range not deviating from the gist thereof, including appropriately combining or selecting the configurations described in the above embodiments. In addition, a part of the configuration of the embodiment can be added, deleted, or replaced.

例えば、前記した実施形態では、多軸ロボット１，１ａは、支持部材５の長手方向が水平方向または鉛直方向となるように設置されるが、これに限定されるものではなく、支持部材５の長手方向が水平方向または鉛直方向に対して傾くように設置されてもよい。 For example, in the above-described embodiment, the multi-axis robots 1 and 1a are installed so that the longitudinal direction of the support member 5 is the horizontal direction or the vertical direction, but the present invention is not limited to this, and the support member 5 is not limited to this. It may be installed so that the longitudinal direction is tilted with respect to the horizontal direction or the vertical direction.

また、前記した実施形態では、多軸ロボット１，１ａは、台座、天井または床に固定して設置される場合について説明したが、これに限定されるものではない。多軸ロボット１，１ａは、例えば移動装置に搭載することによって、移動可能に構成されてもよい。 Further, in the above-described embodiment, the case where the multi-axis robots 1 and 1a are fixedly installed on a pedestal, a ceiling or a floor has been described, but the present invention is not limited thereto. The multi-axis robots 1, 1a may be configured to be movable, for example, by mounting them on a moving device.

１，１ａ多軸ロボット
２主アーム
２１先端部
２２基端部
２３ベース部
２４カバー
２５姿勢変更装置
２６出力軸
３，３ａフランジ部
３１ａフランジ面
４副アーム
４１先端部
４２基端部
５支持部材
６，６ａ支持部材回転駆動装置
７支持部材移動装置
７０ビーム
７７第２直線ガイド
７９第２スライダ
８直動装置
８１連結部
８５第１スライダ
８６移動ブロック
８７第１直線ガイド
９，９ａ～９ｃ姿勢保持機構
９０，９０ａ動力伝達部材
９１第１回動軸
９２第１プーリ
９３第２回動軸
９４第２プーリ
９５ベルト（動力伝達部材）
１０２第２ベルト（動力伝達部材）
１０３第１ロッド（動力伝達部材）
１０４第２ロッド（動力伝達部材）
２０１第１連結部材
２０２第２連結部材
２０３第１ロッド
２０４第２ロッド
２１１第１連結部
２１２第２連結部
２１３基部
２２１第３連結部
２２２第４連結部
２２３基部
Ｃ１鉛直軸
α 第１角度
β 第２角度 1,1a Multi-axis robot 2 Main arm 21 Tip part 22 Base part 23 Base part 24 Cover 25 Attitude changer 26 Output shaft 3,3a Flange part 31a Flange surface 4 Sub-arm 41 Tip part 42 Base part 5 Support member 6 , 6a Support member rotation drive device 7 Support member moving device 70 Beam 77 Second straight guide 79 Second slider 8 Linear movement device 81 Connecting part 85 First slider 86 Moving block 87 First straight guide 9,9a-9c Posture holding mechanism 90, 90a Power transmission member 91 1st rotation shaft 92 1st pulley 93 2nd rotation shaft 94 2nd pulley 95 Belt (power transmission member)
102 Second belt (power transmission member)
103 1st rod (power transmission member)
104 2nd rod (power transmission member)
201 1st connecting member 202 2nd connecting member 203 1st rod 204 2nd rod 211 1st connecting part 212 2nd connecting part 213 base 221 3rd connecting part 222 4th connecting part 223 base C1 vertical axis α 1st angle β Second angle

Claims

Support members and
The first straight line guide arranged on the support member and
A first slider having a connecting portion and movably installed on the first straight line guide,
A main arm having a base end portion rotatably connected to the connecting portion,
A sub-arm having a base end portion rotatably connected to one end of the support member and a tip end rotatably connected to the body portion of the main arm.
A flange portion having a flange surface, connected to the tip portion of the main arm, and attaching an object,
A posture holding mechanism that keeps the orientation of the flange portion constant by changing the second angle of the flange portion with respect to the main arm according to the first angle of the main arm with respect to the support member.
Equipped with
The posture holding mechanism is
A first rotation shaft provided in the connecting portion and serving as a center for the main arm to rotate with respect to the connecting portion.
The first pulley installed on the first rotation shaft and
A second rotation shaft fixed to the flange portion and a center on which the flange portion rotates with respect to the tip end portion of the main arm.
The second pulley fixed to the second rotation shaft and
It has a power transmission member spanned by the first pulley and the second pulley.
The number of teeth of the first pulley is the same as the number of teeth of the second pulley.
The first pulley is a multi-axis robot that is non-rotatably installed on the first slider .

Support members and
The first straight line guide arranged on the support member and
A first slider having a connecting portion and movably installed on the first straight line guide,
A main arm having a base end portion rotatably connected to the connecting portion,
A sub-arm having a base end portion rotatably connected to one end of the support member and a tip end rotatably connected to the body portion of the main arm.
A flange portion having a flange surface, connected to the tip portion of the main arm, and attaching an object,
A posture holding mechanism that keeps the orientation of the flange portion constant by changing the second angle of the flange portion with respect to the main arm according to the first angle of the main arm with respect to the support member.
Equipped with
The posture holding mechanism is
A first rotation shaft provided in the connecting portion and serving as a center for the main arm to rotate with respect to the connecting portion.
The first pulley installed on the first rotation shaft and
A second rotation shaft fixed to the flange portion and a center on which the flange portion rotates with respect to the tip end portion of the main arm.
The second pulley fixed to the second rotation shaft and
It has a power transmission member spanned by the first pulley and the second pulley.
The number of teeth of the first pulley is the same as the number of teeth of the second pulley.
The posture holding mechanism includes a posture changing device having a rotating output shaft.
The posture changing device is fixed to the first slider, and is fixed to the first slider.
The first pulley is a multi-axis robot connected to the output shaft and rotated by the posture changing device .

The power transmission member is an endless belt.
The multi-axis robot according to claim 1 or 2.

The power transmission member is
A band-shaped first belt that comes into contact with the first pulley,
A band-shaped second belt that comes into contact with the second pulley,
A first rod connecting the end of the first belt on the side close to the first straight guide and the end of the second belt on the side close to the first straight guide.
It has a second rod connecting an end of the first belt far from the first straight guide and an end of the second belt far from the first straight guide.
The multi-axis robot according to claim 1 or 2.

The main arm has a base portion to which the first rotation shaft and the second rotation shaft are attached, and a cover that covers the base portion.
The power transmission member, the first pulley and the second pulley are arranged in a space formed between the base portion and the cover.
The multi-axis robot according to any one of claims 1 to 4.

Support members and
The first straight line guide arranged on the support member and
A first slider having a connecting portion and movably installed on the first straight line guide,
A main arm having a base end portion rotatably connected to the connecting portion,
A sub-arm having a base end portion rotatably connected to one end of the support member and a tip end rotatably connected to the body portion of the main arm.
A flange portion having a flange surface, connected to the tip portion of the main arm, and attaching an object,
A posture holding mechanism that keeps the orientation of the flange portion constant by changing the second angle of the flange portion with respect to the main arm according to the first angle of the main arm with respect to the support member.
Equipped with
The posture holding mechanism is
A first rotation shaft provided in the connecting portion and serving as a center for the main arm to rotate with respect to the connecting portion.
A first connecting portion located on the radial outer side of the first rotating shaft, and a second connecting portion located on the radial outer side of the first rotating shaft and farther from the first linear guide than the first connecting portion. A first connecting member having two connecting portions and installed on the first rotating shaft,
A second rotation shaft fixed to the flange portion and a center on which the flange portion rotates with respect to the tip end portion of the main arm.
A third connecting portion located on the radial outer side of the second rotating shaft, and a second connecting portion located on the radial outer side of the second rotating shaft and farther from the first linear guide than the third connecting portion. A second connecting member having four connecting portions and fixed to the second rotating shaft,
A first rod connecting the first connecting portion and the third connecting portion,
It has a second rod that connects the second connecting portion and the fourth connecting portion.
The first connecting portion and the second connecting portion are located on opposite sides of each other with the first rotating shaft sandwiched between them, and the third connecting portion and the fourth connecting portion are described in the second step. They are located on opposite sides of each other with the moving axis in between.
The first connecting member is a multi-axis robot that is non-rotatably installed on the first slider .

The main arm has a base portion to which the first rotation shaft and the second rotation shaft are attached, and a cover that covers the base portion.
The first rod, the second rod, the first connecting member, and the second connecting member are arranged in a space formed between the base portion and the cover.
The multi-axis robot according to claim 6 .

The flange surface is kept perpendicular or parallel to the first straight line guide.
The multi-axis robot according to any one of claims 1 to 7 .

A support member rotation drive device for rotationally driving the support member around a vertical shaft is provided.
The first straight line guide extends in the vertical direction.
The multi-axis robot according to any one of claims 1 to 8 .

A beam extending in the horizontal direction and
A second straight guide installed horizontally on the beam,
A second slider movably installed on the second straight guide, and
A support member rotation drive device installed on the second slider and rotatably supporting one end of the support member is provided.
The first straight line guide extends in the horizontal direction.
The multi-axis robot according to any one of claims 1 to 8 .