JPH09193056A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily adjust a tip arm angle. SOLUTION: A main shaft 46a of a motor 46 is fixed to a gear 74, and meshes with its gear 74, a gear 62, a bevel gear 58 and a bevel gear 68 in this order, and a support pin 66 to support a support body 64 is fixed to the bevel gear 68. Therefore, when the motor 46 is driven, a latitudinal directional angle of an arm 22 connected to the support body 64 and a sleeve 18 can be changed. On the other hand, a main shaft 76a of a motor 76 is fixed to a gear 80, and meshes with its gear 80, a gear 82 and a gear 50 in this order, and a rotary body 54 is fixed to the gear 50. Therefore, when the motor 76 is rotated, a longitudinal directional angle of the arm 22 connected to the rotary body 54 and the sleeve 18 or the like can be changed. In this way, a solid angle (an arm angle) to show the direction of the tip of the arm 22 can be easily adjusted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot device, and more particularly to a technique for adjusting a solid angle indicating a direction of an arm tip.

[0002]

2. Description of the Related Art A robot apparatus has various tools by providing a tool at the tip of an arm and adjusting a solid angle (hereinafter simply referred to as "arm angle" in this specification) indicating the direction of the arm. Makes work feasible. This arm angle is an angle determined by the angle α in the longitude direction and the angle β in the latitude direction on the three-dimensional coordinate axis as shown in FIG. In the conventional robot apparatus, two joints each having a turning function are used to adjust the arm angle. That is, as schematically shown in FIG. 12A, the arm A1 connected to the joint K1.
The angle α in the longitudinal direction is adjusted by rotating the normal and reverse directions. Similarly, the angle β in the latitudinal direction of the entire arm A1 is adjusted by rotating the arm A2 connected to the joint K2 forward and backward. Thus, the desired arm angle is adjusted by adjusting the two angles α and β. The joint K1 and the arm A1 and the joint K2
The same adjustment can be performed with the structure shown in FIG. 12B in which the arm A2 is replaced with the arm A2.

[0003]

[Problems to be Solved by the Invention] However, two joints K
In order to obtain a desired arm angle with 1 and K2, it is necessary to adjust the angle α of the joint K1 and the angle β of the joint K2, respectively. In this case, the angle adjustment is complicated because the adjustment must be made in consideration of factors such as arm play and bending. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot apparatus capable of easily adjusting an arm angle.

[0004]

According to a first aspect of the present invention, there is provided a robot apparatus in which an arm is swingably supported by a support body, and a support center of the arm is centered on the arm. It is characterized in that it has drive means for rocking the arm tip on a spherical surface having a radius up to the tip. According to the robot apparatus of the first aspect, the arm supported by the support can be freely actuated along the spherical surface by the driving means. Therefore, it is possible to easily adjust a desired arm angle without using two joints.

[0005]

According to a second aspect of the present invention, there is provided a robot apparatus according to the first aspect, in which a support member that can be rotated in the longitudinal direction in the equatorial plane is used. That is, the arm is supported in the same longitude plane so as to be rotatable in the latitudinal direction. According to the second aspect of the invention, the support is rotatable in the longitudinal direction in the forward and reverse directions, and the arm is supported by the support in the forward and reverse directions in the latitudinal direction. Therefore, it is possible to adjust the arm angle to a desired value by rotating the support and the arm in the forward and reverse directions, respectively.

[0006]

A third aspect of the present invention is the robot apparatus according to the second aspect, wherein an arm of the robot apparatus is provided with respect to a sleeve provided on the support body.
It is provided so that it can move back and forth along the axis of the arm.
According to the third aspect of the invention, the arm can move back and forth along its axis, so that it can move freely within a predetermined three-dimensional region.

[0007]

A fourth aspect of the present invention is to provide a robot apparatus according to the second aspect, wherein an arm of the robot apparatus is provided with respect to a sleeve provided on the support body.
That is, the arm is provided so as to be rotatable in the forward and reverse directions about the axis of the arm. According to the invention described in claim 4, since the arm can rotate forward and backward with respect to the sleeve, it is possible to rotate forward and backward independently of forward and backward rotation of the support.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. [First Embodiment] The first embodiment is an application of the present invention to a horizontal articulated robot apparatus, which will be described with reference to FIGS. 1 to 5. Here, FIG. 1 is a perspective view showing the appearance of the robot apparatus. FIG. 2 is a schematic diagram showing an operation area of the arm. 3 is a view showing the structure of the joint, and FIG. 4 is a view showing a state in which the arm drive section shown in FIG. 3 is tilted. FIG. 5 is a cross-sectional view showing the structure of the portion that performs the operation of the arm. In addition, in these drawings, the same reference numerals are given to the same elements.

First, the robot apparatus 10 shown in FIG. 1 comprises an apparatus body 30, a first arm 40, a second arm 20, and a third arm 22. In the device body 30,
An operation control unit for controlling the operation of the arms 40, 20, 22 and a power supply circuit unit are stored. The device body 3
A signal cable 32 for transmitting a command signal or the like sent from a host computer and a power cable 33 for transmitting electric power are connected to 0. Further, electric power for operating the arms 40, 20, 22 and a signal for instructing the operation are transmitted from the apparatus main body 30 to the arms via the cables 38, 12. The cable 38 is provided between the connection portion 36 on the first arm 40 side and the connection portion 42 on the second arm 20 side, and the cable 12 is connected to the connection portion 44 on the second arm 20 side and the connection portion on the third arm 22 side. It is provided between the unit 14 and the unit 14. The device body 30
The power / signal cable is housed in the cable case 34 between the first arm 40 and the first arm 40.

The first arm 40 and the second arm 20 are
Both are provided so as to be rotatable in the horizontal direction.
The inside of the second arm 20 and the arm driving unit 16 connected via the sleeve 18 are connected to the third arm 22.
An arm actuating mechanism for actuating the is provided as a joint. A chuck drive unit 24 is provided at the tip of the third arm 22. The chuck drive unit 24 has a function of operating the chuck 26 to grip a member to be attached to a work, for example.

The operation of the arm operating mechanism will be briefly described as follows. That is, as shown in FIG. 2, when the rotating body 54 fixed to the gear 50 rotates forward and backward, the third arm 22 rotates forward and backward in the longitudinal direction within the equatorial plane (that is, the plane on the same latitude). On the other hand, the rotating body 5
4, a support 64 (see FIG. 3 and the like) is supported via support pins 56 and 66, and the support 64 is the bevel gear 5
The forward and reverse rotations of 8, 68 interlock with each other, and as a result, the third arm 22 rotates forward and backward in the latitudinal direction within the same longitude plane. By the forward and reverse rotations (actuations) of the rotary body 54 and the support body 64, the chuck drive unit 24 and the chuck 26 provided at the distal end portion of the third arm 22 are moved within a partial cone 90 having a substantially conical shape. It can be moved or positioned.

Next, a specific structure of the arm actuating mechanism will be described with reference to FIGS. 3 and 4. This arm actuating mechanism, as shown in the vertical sectional view of FIG.
Support 64 for changing the angle β in the latitudinal direction and its support 6
4 is connected to the arm 4 via a sleeve 18
[Refer to FIG. 1] It is constituted by a rotating body 54 that changes the angle α in the longitudinal direction as a whole. The rotating body 54
The first arm 20 and the second arm 20 are connected to each other by a cross roller bearing 52, and the second arm 20 and the bevel gear 58 are connected to each other by a cross roller bearing 60 so as to be freely rotatable. A bearing 78 is provided between the second arm 20 and the gear 80, a bearing 70 is provided between the second arm 20 and the gear 82, and a bearing 72 is provided between the gear 82 and the gear 74. It is connected to the. Deep groove ball bearings are applied to the bearings 70, 72 and 78.

The support 64 can change the latitude angle β in the same longitude plane by driving the motor 46. That is, the spindle 4 of the motor 46
6a is fixed to the gear 74, and when the motor 46 is driven, the forward / reverse rotation of the main shaft 46a is transmitted to the gear 74 as it is. The forward and reverse rotations of the gear 6 mesh with the gear 74.
2, a bevel gear 58 fixed to the gear 62, a bevel gear 68 meshing with the bevel gear 58, and a support pin 66 fixed to the bevel gear 68 are transmitted in this order. The support pin 66 and the support pin 56 form a ring-shaped support body 6.
We support two points of four. That is, as shown also in FIG. 3B, the support pins 56 and 66 are arranged such that the support members 64 and 66 are arranged with respect to the rotating body 54 about the axial direction of the support pins 56 and 66.
Is supported so that it can rotate in both directions. Thus, the support 64
The angle β in the latitude direction can be changed, and the state when the angle β is changed is shown in FIG. In FIG. 4, the sleeve 18 and the third arm 22 shown in FIG. 3 (A) are omitted in order to make the state easy to understand.

Returning to FIG. 3A, the rotating body 54 can change the angle α in the longitudinal direction within the equatorial plane by the motor 76. That is, the motor 76
The main shaft 76a of the motor 7 is fixed to the gear 80,
When 6 is driven, the forward / reverse rotation of the main shaft 76a is transmitted to the gear 80 as it is. The forward and reverse rotations are transmitted in order of a gear 82 meshing with the gear 80, a gear 50 meshing with the gear 82, and a rotating body 54 fixed to the gear 50. Thus, the angle α of the rotating body 54 in the longitudinal direction can be changed.

Now, the first rotating mechanism for rotating the gear 50 and the gear 62 in the same direction will be described.
First, since the motor 46 is fixed to the gear 82,
When the motor 76 is driven, the motor 46 itself rotates forward and backward via the gears 80 and 82. Since the main shaft 46a of the motor 46 is further fixed to the gear 74, the gear 74 also rotates forward and backward simultaneously with the forward and reverse rotation of the motor 46. Further, the outer diameter of the gear 74 and the outer diameter of the gear 82 match, and the outer diameter of the gear 50 and the outer diameter of the gear 62 match. In the first rotation mechanism, when the motor 76 is rotationally driven in one direction as shown by an arrow,
The gear 80 also rotates in the one direction, the motor 46 itself and the gear 82 rotate in the opposite direction, and the gear 50 rotates in the one direction. At the same time, the gear 74 fixed to the motor 46 rotates in the opposite direction, so that the gear 62 rotates in the one direction. Thus, the gear 50 and the gear 62 rotate in the same direction, so that the bevel gear 68 does not rotate. Therefore, it is possible to change only the angle α in the longitude direction without changing the angle β in the latitude direction. Further, as a configuration for independently adjusting the angle β in the latitude direction and the angle α in the longitude direction, since it is realized by the simple configuration as described above,
Manufacturing costs can be kept low.

In the first embodiment, the third arm 22 rotates forward and backward in the latitudinal direction in the same longitude plane with respect to the support body 64 provided in the same latitudinal plane so as to rotate forward and backward in the longitudinal direction. Since it is possible to provide, the angle α in the longitude direction and the angle β in the latitude direction can be changed independently. Therefore, as shown in FIG. 1, it is possible to easily swing the third arm 22 in the left-right direction in the drawing to adjust it to a desired arm angle. In addition, since the third arm 22 can be freely moved in the longitude direction and the latitude direction about one point,
So to speak, it is in a spherically supported state. Therefore, the third
The arm 22 can be freely operated along its spherical surface, and can be easily adjusted to a desired arm angle without using two joints.

Next, the structure of the arm drive section 16 for driving the third arm 22 forward and backward or rotating will be described with reference to FIG. The arm drive section 16 is connected to the support body 64 via a sleeve 18. By this connection, if the support body 64 is rotated in the forward and reverse directions, the angle β in the latitudinal direction of the third arm 22 is changed, and similarly the rotation body 5 is rotated.
When 4 is rotated forward and backward, the angle α in the longitudinal direction of the third arm 22 changes. Therefore, the arm angles of the third arm 22 can be adjusted by driving the motors 46 and 76.

Here, the structure and operation of the arm drive section 16 will be described. This arm drive unit 16
It is composed of motors 102 and 114 and nuts 116 and 118. These motors 102, 114
The nuts 116 and 118 are both the support member 10
6 fixed. The support member 106 is the case 1
04, and the case 104 is fixed to the sleeve 18
Connected to and fixed. Further, on the outer periphery of the third arm 22, a ball screw groove 22b carved in a spiral shape and a spline groove 2 carved along the axis of the third arm 22 are formed.
2a and.

The motor 102 is a drive source for moving the third arm 22 up and down in the vertical direction of the drawing, and its main shaft 1
A pulley 100 is provided at 02a. The third arm 22 is also provided with a pulley 120, and the belt 1 is provided between the pulley 100 and the pulley 120.
22 is stretched. With this structure, the motor 10
When 2 is driven, its normal and reverse rotations are transmitted to the pulley 120 through the pulley 100 and the belt 122. At this time, the motor 114 described later is in a locked state. Thus, the third arm 22 can be moved forward and backward in the vertical direction of the drawing by the cooperation of the pulley 120 and the ball screw nut 118.

On the other hand, the motor 114 is a drive source for rotating the third arm 22 in the forward and reverse directions about its axis, and the main shaft 114a thereof is provided with the pulley 112. The third arm 22 is also provided with a pulley 108, and a belt 110 is stretched between the pulley 108 and the pulley 112. With this structure, when the motor 114 is driven, its normal and reverse rotations are transmitted to the pulley 108 through the pulley 112 and the belt 110. At this time, the motor 102 is in a free state. In this way, the third arm 22 can be rotated in the forward and reverse directions about the axis thereof by the cooperation of the pulley 108 and the spline nut 116.

The third motor 102 is used.
The movement of the arm 22 and the forward / reverse rotation of the third arm 22 by the motor 114 enable the pulleys 108 and 120 and the nuts 116 and 11 to be driven independently of each other.
8 are formed. Therefore, when the motor 102 and the motor 114 are driven at the same time, the third arm 22 can be moved forward and backward while rotating forward and backward. This mode can be applied to the case where the robot apparatus 10 is caused to screw a member such as a screw into a work.

The arm driving section 16 is configured to move the third arm 22 forward and backward along the axis of the sleeve 18 provided on the support 64 by driving the motor 102. Therefore, as shown in FIG. 2, the third arm 22 (particularly the chuck 26 provided at its tip) is combined with the movement of the third arm 22 in the longitude direction and the latitude direction by the arm operating mechanism described above. It can be freely moved within the substantially conical partial sphere 90. In addition, the sleeve 1 provided on the support 64
8, the motor 114 is driven to rotate forward and backward about the axis of the third arm 22. Therefore, it is possible to rotate the third arm 22 forward and backward independently of the angle α in the longitudinal direction (that is, forward and backward rotation of the support body 64) as shown by the arrow.

In the robot apparatus 10 having all the above-mentioned configurations, the third arm 2 is driven by driving the motor 102.
The members can be assembled diagonally to the work by simply moving the 2 back and forth. Further, by providing a detection device that detects the value of the current (load) flowing through the motor 102, it is possible to grasp the oblique assembly state of the members and the like. Further, by storing predetermined data such as the current value and the absolute coordinate value in the storage device in the control device, automatic correction of the mounting position and learning of other contents such as the mounting procedure can be performed. Will be possible.

In the conventional robot apparatus, the arms are positioned by the two joints, and generally, the two arms are not aligned with each other. Therefore, there is a certain limit in improving the positioning accuracy. On the other hand, in the present invention, since the third arm 22 (one arm) is moved back and forth (moved) along its axis, the positioning accuracy can be further improved.

[Second Embodiment] Next, a second embodiment is the one in which the present invention is applied to a horizontal articulated robot apparatus, as in the above-described first embodiment. hand,
This will be described with reference to FIG. FIG. 6 is a horizontal sectional view showing the structure of another joint. Since the other structures of the robot apparatus 10 shown in FIG. 1 and the arm driving unit 16 shown in FIG. 5 are the same, the description thereof will be omitted. The arm actuating mechanism shown in FIG. 6 has a support 204 that changes the latitude angle β1 and the support 204 has a longitudinal angle of 9 degrees.
It is constituted by a support body 200 with a gear that changes an angle β2 in the latitudinal direction which is different by 0 degree. Its support 200
Is for changing an angle β2 in the latitudinal direction in the entire arm drive section 16 connected to the support body 204 via the sleeve 18.

The support 204 can change the angle β1 in the latitudinal direction within the same longitude plane by driving the motor 214. That is, the motor 214
The main shaft 214a is fixed to the gear 234, and when the motor 214 is driven, the forward / reverse rotation of the main shaft 214a is directly transmitted to the gear 234. The forward and reverse rotation is the gear 2
A gear 208 meshing with the gear 34, a bevel gear 206 fixed to the gear 208, and a bevel gear 228 meshing with the bevel gear 206 are transmitted in this order. Since the bevel gear 228 is fixed to the support 204, the forward / reverse rotation of the bevel gear 228 becomes the forward / reverse rotation of the support 204 as it is. In this way, the latitude β1 of the support 204 can be changed. It should be noted that the gear 208 and the second arm 20 are connected by a bearing 210, and the gear 234 and the second arm 20 are connected by a bearing 232 so as to be rotatable in the forward and reverse directions.

On the other hand, the support body 200 with gears can change the angle β2 in the latitudinal direction within the same longitude plane by driving the motor 224. That is, the main shaft 224a of the motor 224 is fixed to the gear 220, and when the motor 224 is driven, the main shaft 224a is driven.
The forward / reverse rotation of a is transmitted to the gear 220 as it is. The forward and reverse rotations are transmitted to the gear 200a of the support body 200 that meshes with the gear 220. In this way, the angle β2 in the latitudinal direction of the support body 200 can be changed. A bearing 226 is provided between the support body 200 and the second arm 20, and a bearing 229 is provided between the support body 200 and the bevel gear 206.
Therefore, the bearing 2 is provided between the gear 220 and the second arm 20.
22 are connected to each other so as to freely rotate in the forward and reverse directions.

Here, the support body 200 and the support body 204 are connected to each other by a bearing 202 so as to be rotatable in the forward and reverse directions. Therefore, the angles β1 and β2 in the latitude direction, which differ from each other by 90 degrees in the longitude direction, can be independently adjusted. Therefore, with respect to the support body 204 provided in the same longitude plane so as to be able to rotate forward and backward in the latitude direction, the third arm 22 is provided so as to be able to rotate forward and backward in the latitude direction different by 90 degrees from the longitude direction of the same longitude plane. The latitude angle β
1 and β2 can be changed independently. for that reason,
As shown in FIG. 1, the third arm 2 by the arm driving unit 16
Together with the forward / backward movement of 2, the third arm 22 can be easily adjusted to a desired arm angle within the partial sphere having a substantially quadrangular pyramid shape. Further, since the third arm 22 can be moved in two different latitude directions centering on one point in the respective latitude directions, it is in a state of being spherically supported. Therefore, similarly to the first embodiment, the third arm 22 can be freely operated along the spherical surface thereof, and the desired arm angle can be easily adjusted without using the two joints.

Here, the second rotating mechanism for rotating the gear 200a and the gear 208 of the support body 200 in the same direction will be described. First, the gear 218 is the second arm 2
It is provided so as to be rotatable forward and backward with respect to 0 through a bearing 216, and has two tooth portions 218a and 218b.
The tooth portion 218a meshes with the gear 220 to which the main shaft 224a of the motor 224 is fixed.
b meshes with the gear 212. Further, the gear 212
Is provided to the second arm 20 via a bearing 230 so as to be rotatable in the forward and reverse directions.
It is fixed at 4. The gears 212, 220, 23
4 have the same outer diameter, and the gear 200a
And the outer diameter of the gear 208 are the same.

In the second rotating mechanism, when the motor 224 is driven to rotate in one direction as shown by an arrow, the gear 200a and the gear 218 rotate in opposite directions through the gear 220 and the motor 214 through the gear 212. Rotates in the above one direction. Further, the gear 206 (that is, the gear 208) rotates in the opposite direction through the gear 234 fixed to the main shaft 214a of the motor 214. Thus, the gear 200a and the gear 208 rotate in the same direction, so that the bevel gear 228 does not rotate. Therefore, only the angle β2 can be changed without changing the angle β1 in the latitude direction. For example, when the motor 214 is driven to rotate in one direction, it is possible to change only the angle β1 without changing the latitude angle β2.

[Other Embodiments] The structure, shape, size, material, number, arrangement, operating conditions, and the like of the other parts in one joint of the robot apparatus described above are limited to those of the above embodiment. Not a thing. For example, the following modes can also be implemented. (1) The present invention relates to the third arm 22 in the above embodiment.
Not limited to the above, the present invention can be applied to any arm. When it is specifically applied to the second arm, it becomes like the other robot device 10a shown in FIG. In this example, the first arm 40 in the above embodiment is omitted. As described above, the present invention can be applied to any arm, and even in that case, the same effect as that of the above-described embodiment can be obtained. (2) Further, the present invention is not limited to the horizontal articulated robot apparatus 10 in the above-described embodiment, but can be applied to any type of robot apparatus that requires an arm. Examples of this type of robot apparatus include a rectangular coordinate type robot apparatus 10b used for spot welding as shown in FIG. 8, a vertical articulated robot apparatus used for arc welding, and a polar coordinate type robot used for painting. There is a cylindrical coordinate type robot device used for handling, etc. As described above, the present invention can be applied to a robot apparatus of any type, and even in that case, the same effect as that of the above-described embodiment can be obtained.

(3) Further, the mode in which the tip of the arm is swung along the spherical surface is not limited to the structure of the third arm 22 shown in the above-mentioned embodiment, and can be realized similarly by other modes. . Hereinafter, regarding two aspects, (3
This will be described in a) and (3b). (3a) One mode is as shown in FIG.
It is composed of a ball 310 having 0 penetrating through it, a roller 304 that rotates the ball 310 forward and backward in the longitudinal direction, and a roller 308 that rotates the ball 310 forward and backward in the latitudinal direction. These members are the support 302
The two rollers 304 and 308 are rotatably driven in the forward and reverse directions by a driving means (for example, a motor or the like). In addition, the arm 3 penetrating the ball 310
00 can be moved back and forth in the axial direction of the arm 300 and / or can be rotated forward and backward about the axis of the arm 300. Alternatively, the arm 300 and the ball 310 may be fixed in a penetrating state. According to this aspect, the arm tip 306 rotates forward and backward in the longitudinal direction by the forward and reverse rotation of one roller 304, and the arm tip 306 rotates forward and backward in the latitudinal direction by the forward and reverse rotation of the other roller 308. Therefore, focusing on the ball 310,
The arm tip 306 can be swung on a spherical surface having a radius from the ball 310 to the arm tip 306. (3b) In the other mode, as shown in FIG.
00 has two balls 402 and 406 penetrating therethrough, and a connecting member 410 for connecting between one ball 402 and a plane drive source 412 (for example, an XY axis plane table).
The support member 404 supports the other ball 406 and allows the arm 400 to swing. In addition,
The arm 400 penetrating the balls 402 and 406 is
The arm 400 can be moved back and forth in the axial direction, and / or the arm 400 can be rotated forward and backward about the axis of the arm 400. Alternatively, the arm 400 and the ball 4
02 and 406 may be fixed in a penetrating state. According to this aspect, when the plane driving source 412 drives the connecting member 410 along the plane, the driving force is transmitted to the arm 400 via the ball 402. As a result, the arm 40
0 swings around the ball 406 as a fulcrum. Therefore,
The arm tip 408 can be swung on a spherical surface centered on the ball 406 and having a radius from the ball 406 to the arm tip 408 as a radius.

(4) Then, as shown in FIG.
Between the rotating body 54 and the second arm 20, the second arm 2
Between 0 and the bevel gear 58, cross roller bearings 52,
Each of them was connected by 60 so as to be freely rotatable in the forward and reverse directions. Instead of the cross roller bearings 52 and 60, other types of bearings (bearings) such as a pair of front or back aligned angular bearings or a pair of front or back aligned tapered bearings can be applied. . Similarly, deep groove ball bearings were applied to the bearings 70, 72, 78, but other types of bearings such as ball bearings, roller bearings, slide bearings, etc. can also be applied. Further, the power transmission of the motor 46 and the like is not limited to the gear 74 and the like, and other power transmission means such as a belt and a torque converter may be used. Even when other bearings and power transmission means are applied to the present invention as described above, the chuck drive portion 24 and the chuck 26 provided at the tip end portion of the third arm 22 are replaced with the partial sphere 90 shown in FIG. It can be moved or positioned within.

[0034]

Other Embodiments The embodiments of the present invention have been described above. This embodiment has aspects of the invention other than the aspects of the invention described in the claims.
Embodiments of the present invention will be enumerated below, and related explanations will be provided as necessary.

[Aspect 1] In the robot apparatus according to the first aspect, a rotating body that supports its arm so as to rotate forward and backward in the latitudinal direction in the same longitude plane, and the rotating body and the supporting body are the same at the same time. And a rotation mechanism for rotating the robot in a predetermined direction. [Related Explanation of Aspect 1] According to Aspect 1, since the rotating mechanism simultaneously rotates the rotating body and the support in the same direction, it is possible to change only the angle in the longitude direction without changing the angle in the latitude direction. Therefore, the angle in the latitude direction and the angle in the longitude direction can be adjusted independently.

[Aspect 2] In the robot apparatus according to Aspect 1, the rotating mechanism includes a first gear connected to the rotating body and a second gear connected to the supporting body. A robot device characterized in that the outer diameters of two gears match. [Related Explanation of Aspect 2] According to Aspect 2, the angle in the latitude direction and the angle in the longitude direction can be adjusted independently with a simple configuration. Therefore, the manufacturing cost can be kept low.

[0037]

According to the present invention, the tip of the arm can be freely operated along the spherical surface, so that the arm angle can be easily adjusted to a desired angle. Further, the arm can be freely moved and positioned within a predetermined three-dimensional area. Furthermore, the positioning accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an appearance of a robot device.

FIG. 2 is a schematic diagram showing an operation area of an arm.

FIG. 3 is a diagram showing a structure of a joint.

FIG. 4 is a diagram showing a state in which a drive unit is tilted in FIG.

FIG. 5 is a cross-sectional view showing a structure of a portion that performs an operation of an arm.

FIG. 6 is a horizontal sectional view showing the structure of another joint.

FIG. 7 is a perspective view showing the appearance of another robot device.

FIG. 8 is a perspective view showing the appearance of another robot device.

FIG. 9 is a schematic diagram showing the structure of another joint.

FIG. 10 is a schematic diagram showing the structure of another joint.

FIG. 11 is a diagram illustrating an arm angle.

FIG. 12 is a schematic view showing a conventional structure for adjusting an arm angle.

[Explanation of symbols]

 10 robot device 16 arm drive unit 18 sleeve 20, 22, 40 arm 24 chuck drive unit 26 chuck 30 device body 54 rotating body 64 support body 46, 76 motor 50, 62, 74, 80, 82 gear wheel 52, 60 cross roller bearing 58,68 Bevel gears 70,72,78 Bearings

Claims (4)

[Claims] 1. An arm is swingably supported by a support, and the arm tip is swung on a spherical surface having a radius from the center of the support center to the arm tip. A robot apparatus having driving means for driving the robot apparatus. 2. The robot apparatus according to claim 1, wherein a support body that can rotate in the longitudinal direction in the equatorial plane in the longitudinal direction is provided.
A robot apparatus in which the arm is supported so as to be capable of rotating in the latitudinal direction in the same longitude plane. 3. The robot apparatus according to claim 2, wherein the arm is movable with respect to a sleeve provided on the support along the axis of the arm. . 4. The robot apparatus according to claim 2, wherein the arm is rotatable with respect to a sleeve provided on the support body about a shaft center of the arm. Robotic device.