JPH10225881A - Offset rotation joint, and articulated robot having same offset rotary joint - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an articulated robot, and a joint mechanism for that in which motion of a large freedom degree can be obtained by combination of joints each having a rotation mechanism only, in which weight reduction and high power of the joints can be achieved, in which payload to self-weight is large, and in which multi-stage articulation, a large moving range, and complicated and precise motion can be achieved. SOLUTION: A rotation control frame provided with a coreless electric direct drive motor on an inclined surface to a link axial line is provided between a driving side link and a driven side link to compose an offset rotary joint 5 having an offset rotation axial line OA in which the driven side link is inclined to a link axial line LA, and the offset rotary joints are provided in plural stages between a robot main body 3 and an end effector 4, thereby precise three-dimensional positioning of the end effector 4 can be performed by composite motion of the offset rotary joints 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint mechanism of an articulated robot, and more particularly to an offset rotary joint having a novel structure replacing a conventional hinge type joint, and an articulated robot provided with the offset rotary joint.

[0002]

2. Description of the Related Art There are various types of conventional robots based on a joint system, such as a vector system, a scalar system, a parallel link system, and a combination system. The vector type joint mechanism is a mechanism that combines a mechanism of rotation around a link axis and a mechanism of freedom around a hinge axis that changes a link in a plane passing through the link axis with respect to the link axis, and has two degrees of freedom. In polar coordinates. The scalar type joint mechanism rotates the link in a plane perpendicular to the link axis, and is applied to movement in a plane. In addition, the parallel link method
3 combining a plurality of (for example, six) drive cylinder mechanisms
It is a dimensional motion mechanism. Furthermore, the combination method is a combination of each of the above methods with multiple joints, and is a composite mechanism that mainly combines a hinge mechanism, a shaft rotation mechanism, and a link, and many conventional articulated robots adopt this method. doing.

[0003]

Of the above-mentioned conventional joint mechanisms, the vector system has a speed reducer composed of a planetary gear mechanism or the like between a hinge mechanism and a drive motor. There is a problem in the operation accuracy of the link, the hinge moment, etc. due to the size and the like. A scalar joint has a cantilevered link, so it is difficult to combine many joints. Further, in the parallel link system, a large load is applied to the cylinders when a multi-stage combination is used. And, in the conventional articulated robot combining the above methods, a drive mechanism is required for each function such as deflection, rotation, etc., the joint mechanism becomes complicated, weight reduction is difficult, and the more the number of stages, the more the deflection due to its own weight, There are problems such as a lack of motion due to low natural vibration and a small payload relative to its own weight, and an articulated robot requiring satisfactory power has not yet been obtained.

Accordingly, the present invention can obtain a multi-degree-of-freedom movement by a combination of joints having only a rotating mechanism, and can dramatically reduce the weight of the joints as compared with a conventional articulated robot, and can achieve a high degree of freedom. An object of the present invention is to provide an articulated robot capable of obtaining power, having a large payload with respect to its own weight, capable of performing multi-step connection, capable of performing a complicated precise movement with a wide movable range, and a joint mechanism thereof.

[0005]

According to the present invention, there is provided an offset rotary joint having a rotary control structure including a rotary drive motor on a surface inclined with respect to a link axis between links forming an arm. By providing a driven link on the rotor side and a driven link on the fixed portion side of the rotary drive motor, the driven link has an offset rotation axis inclined with respect to the link axis. The driven link is configured to make a conical movement with the vertex at the intersection of the link axis and the offset rotation axis.

The rotary drive motor preferably comprises a coreless electric direct drive motor, and the main drive link and the driven link are fixed to the stator side and the rotor side of the coreless electric direct drive motor. Alternatively, an electric / hydraulic motor may be employed. And the rotation control structure, a rotation drive motor, an encoder, a brake device,
By forming the link and the link in a hollow shape, the offset rotary joint having a continuous hollow structure of the link and the rotation control structure can be obtained.

The articulated robot having an offset rotary joint according to the present invention is provided with a rotary drive motor on a surface inclined between the main link and the driven link of the link constituting the arm with respect to the link axis. A rotation control structure is provided, the driven side link forms an offset rotary joint having an offset rotary axis inclined with respect to the link axis, and the offset rotary joint is provided between the robot body and the end effector, for example, an offset rotary angle. Are provided in a plurality of stages so that they alternately have opposite phases, and these are coupled and controlled by a computer, whereby the three-dimensional positioning of the end effector is performed by the combined movement.

The rotary drive motor of the offset rotary joint is preferably a coreless electric direct drive motor. And
The offset rotary joint, a coaxial rotary joint comprising a rotation control structure provided between both links such that the driven side link and the driven side link have the same rotation axis, and / or
By combining the extension adjusting mechanism, a multi-joint robot having a wider movable range and a multi-function can be obtained.

By forming each link, each offset rotary joint, each coaxial rotary joint, and each rotation / extension adjusting mechanism in a hollow structure, the arm can be formed in a continuous hollow shape from the robot body to the end effector. it can. And, by arranging a flexible hose, a power supply, a signal line, and the like in the continuous hollow portion of the arm, the arm itself configures a material transport path and a signal transmission path for fuel and power supply to the object to be handled, A robot having a special function not found in a conventional robot can be obtained. Further, by covering the arm with a cover made of a material having water resistance, heat resistance, or impact resistance, a robot which can be suitably applied even in an extreme environment such as a fire extinguishing robot at a fire site or the like can be obtained. .

The rotary drive motor of the offset rotary joint is not limited to an electric motor, and various types of rotary motors can be employed. For example, a hydraulic motor may be used as the rotary drive motor of the offset rotary joint on the robot body side. System
An electric motor may be applied to the rotation drive motor of the offset rotary joint on the end factor side to make a hybrid type.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 5 show an embodiment of an articulated robot according to the present invention. The arm 2 of the robot 1 according to the present embodiment has a connecting link connected between the robot body 3 and the end effector 4 by a plurality of offset rotary joints 5 and a plurality of coaxial rotary joints 6, and has a multi-joint complex motion. Thus, the end effector 4 can be given a motion with multiple degrees of freedom. Although various forms can be adopted for the combination of the offset rotary joint and the coaxial rotary joint, in the present embodiment, as shown in FIG. The two links are combined as a set so as to form a letter shape, and the connecting link is formed by appropriately combining the coaxial rotary joints 6 in the middle part, and adopts six offset rotary joints and three coaxial rotary joints. .

In the following description, in the relative relationship between the two links connected by the joint, the side closer to the robot body is defined as the driven link, and the other link connected to the driven link is defined as the driven link. Called.

As shown in FIG. 4, the offset rotary joint 5 has a rotation control structure 10 on an operating surface 8 inclined at an angle γ with respect to the link axis LA of the driving side link 7.
Is provided. As a result, the inclination angle γ becomes the offset angle, and the driven side link 9 makes a conical rotational movement at the offset angle γ with the intersection P between the offset rotation axis OA and the link axis LA as the apex.

In the present embodiment, the rotation drive motor of the rotation control structure 10 is configured as a coreless electric direct drive motor, and a ring-shaped stator frame 11 is fixed to the working surface of the driving link 7, and the driven link is inclined. Working surface 1
3, a rotor frame 14 is fixed. A bearing 15 is provided between the inner peripheral surface of the stator frame and the outer peripheral surface of the rotor frame. A stator coil 16 is provided on the inner peripheral surface of the stator frame, and a rotor magnet 17 is provided on the outer peripheral surface of the rotor frame. It constitutes a direct drive motor. In the present embodiment, the stator frame and the rotor frame are formed separately from the working surfaces of the driving side link and the driven side link, and are assembled and fixed. They may be formed integrally.

In FIG. 4, reference numeral 18 denotes a ring-shaped encoder board fixed to the end face of the rotor frame.
Is a sensor for detecting the rotation angle of the encoder panel,
The encoder is fixed to the stator frame, and forms an encoder with the encoder board. Reference numeral 20 denotes a ring-shaped brake disk fixed to the rotor frame 14, and reference numeral 21 denotes a brake shoe that sandwiches an outer peripheral portion of the brake disk when activated, and is driven by an actuator 22 fixed to the stator frame. The actuator 22, the brake shoe 21, and the brake disk 20 constitute a disk brake as a brake device, and functions as a stopper for positioning and holding the rotation angle of the offset rotary joint. Reference numeral 23 denotes a power supply / signal line for transmitting electric power or a signal to each rotation control structure or end effector. In the present embodiment, a slip ring device 24 is provided between the stator frame 11 and the rotor frame 14 to connect the power and signal lines between the links so that the power and signal can be supplied even if each joint rotates in any direction. The wire was prevented from twisting and entanglement at the joints, and the complicated movement of the arm was facilitated. The slip ring device 24 includes an outer ring 25 provided on the stator frame side, an inner ring 26 provided on the rotor frame side provided on the outer ring rotatably via a ball bearing, and a slip terminal opposed to each ring. It is provided and configured.

By driving the coreless electric direct drive motor, the offset rotary joint 5 configured as described above has the driven side link 9 inclined by the offset angle γ with respect to the link axis as shown in FIG. Do a conical movement,
By controlling the rotation angle of the coreless electric direct drive motor by the encoder, the operating angle φ of the driven link with respect to the driven axis can be arbitrarily selected and positioned.
In FIG. 5, (a) shows a case where the operating angle φ = 0 °,
In that case, the driven-side link and the driven-side link extend in a straight line. (B) is φ = 90 ° from that state,
(C) shows a state rotated by φ = 180 °, and (d) shows a state rotated by φ = 270 °. By operating the disc brake at a position rotated by a predetermined operating angle, the driven link is fixed to the driven link at that position, and the driven link and the driven link are firmly integrated.

As shown in FIG. 4, the coaxial rotary joint 6 has the same configuration as the offset rotary joint except that the operating surface 8 'is perpendicular to the main link axis LA. The same reference numerals are assigned to the joints, and detailed description is omitted. The coaxial rotary joint 6 has a function of rotating the driven link using the link axis LA as the rotation axis, and can rotate the driven link by an arbitrary angle.

The end effector 4 can be of various forms depending on the application. In this embodiment, a visual sensor 31 such as a camera provided on the outer periphery of the coaxial rotary joint 30 at the distal end, and a link 32 at the distal end. A wrist 33 provided so as to be extendable by a linear motion mechanism such as a cylinder or a linear motor, and a hand 34 as a work tool, and have rotation, extension and hand functions. Various sensors such as a tactile sensor and a force sensor can be provided on the hand as needed.

On the other hand, as shown in FIG. 1, in the present embodiment, the robot body 3 is provided with a vertical drive actuator 37 such as a motor or a cylinder device on a carriage 36 having a moving wheel 35, and a pedestal 38 driven vertically by the vertical drive actuator 37. The main body frame 28 is supported by an electric rotation control structure 39 having the same mechanism as the electric rotation control structure 10. Therefore, the body frame 28 of the robot body 3
Can freely move the floor by the driving wheel,
By moving up and down, the height and the rotation angle can be controlled to arbitrary positions. In the figure, reference numeral 29 denotes a balance weight.

The articulated robot of this embodiment is constructed as described above, and the offset rotary joint 5 and the coaxial rotary joint 6 are formed by hollow coreless electric direct drive motors. It can be configured to be significantly lighter. In addition, since the load on the driven side acts as a radial load on the bearing provided on the fitting surface between the cylindrical stator frame and the rotor frame, the heavy load can be supported. Without bending, the payload of the end factor with respect to its own weight can be significantly increased as compared with the conventional articulated robot.

One of the characteristic functions of the articulated robot of the present embodiment is that the coreless electric direct drive motors of the offset rotary joints and the coaxial rotary joints are controlled by a computer in combination with each other. As shown in FIG. 3, the arm can accurately move very complicated movements, the end factor can be directed to complicated movements and directions, and the operating range in a three-dimensional plane is large, and large rotation is possible. The ability to transmit torque. In the example of FIG. 3, a state in which the arm 2 is wound around the object to be handled as a hand mechanism and the object to be handled 27 is gripped is shown. In this case, by controlling the operating angle φ of each offset rotary joint 5, the winding force can be controlled. Therefore, by providing a torque sensor for each motor and rotating the motor until a predetermined set load acts on the motor, the object to be handled 27 can be wound and gripped with an arbitrary tightening force. Therefore, the articulated robot of the present invention can handle a large heavy object that cannot be held by the end effector.
Further, since the robot of the present embodiment can output high power and can control minute and precise movement, it can be suitably applied to a care robot requiring power.

A further characteristic function of the articulated robot according to the present embodiment is that each link and each joint are hollow and the arm is a continuous hollow cylindrical body, so that various arms can be directly moved from the robot body to the inside of the arm. It can be used as a supply path for substances, energy, signals, and the like. This means that signal lines and energy lines are not exposed
It is protected by an arm, and is technically very useful. This makes it possible to obtain a functional robot that can be applied to applications that were impossible with a conventional robot, and can further expand the range of applications of the robot.

The embodiment shown in FIGS. 7 and 8 shows an example in which the flexible hose 36 is penetrated into the arm by utilizing the hollow cylindrical body of the arm. Thus, a drug such as a digestive agent or water is supplied through the flexible hose to supply the drug or the like to a special environment such as a digestive robot or a chemical plant at a fire site such as a building where there is a dangerous substance. It can be applied to extreme robots. In this case, the end effector makes complex movements to sense the object by sensing the object with a sensor mechanism such as a visual sensor, analyzing the position with a computer, and controlling each rotation control structure. It can be caught and the substance can be supplied to the correct location. In addition, since the flexible hose is housed in the arm, it is protected from being directly exposed to the external environment, and can supply substances in a bad environment. For example, when a product is directly supplied to the inside of a flame, or when the entire arm surface is formed or laminated with a corrosion-resistant material, a manipulator that can supply and directly process the product in a corrosive liquid such as a strong acid is obtained. be able to.

Further, as one of aerial refueling to an aircraft and a rendezvous docking technique in space, application as a manipulator capable of capturing, repairing, replenishing, and recovering a spacecraft is also possible. Furthermore, if the offset rotary joint mechanism of the present invention is adopted for legs of a lunar working robot, a walking robot, etc., a multi-degree-of-freedom working robot capable of bending, stretching, swinging, and walking by combining a plurality of legs. It is possible to obtain

FIG. 8 shows a means for securely holding the flexible tube at the center of the arm so as not to be affected by the movement of each joint when a flexible pipe is penetrated into the arm. This shows another embodiment in which a connecting means capable of reliably transmitting and supplying a signal and electric power without being twisted or entangled in a joint is provided. Note that the offset rotary joint and the coaxial rotary joint in the present embodiment are the same as those in the above-described embodiment,
Detailed description is omitted.

In the figure, reference numeral 40 denotes a slip ring device,
In the slip ring device, an inner ring 42 is rotatably fitted to and supported by an outer ring 41 via a bearing, and the outer ring 41 is supported at an end of a driving side link along a shaft center via a plurality of springs 43. A flexible pipe 45 is fitted on the inner peripheral surface of the inner ring 42, and supports the flexible pipe 45 so that the axis and the arm substantially coincide with each other.

A plurality of terminal wires 47 are arranged on the inner ring 42 at predetermined intervals in the circumferential direction along the axial direction.
Both ends are exposed on the outer peripheral surface of the inner ring to constitute a plurality of input / output terminals. Each input terminal 49 is appropriately connected to a signal line or a power line 46 from a driving side link side, and each output terminal 50 is connected to a driven side link. Signal lines and power lines are connected to each other to supply and transmit power and signals to the driven link side. Each terminal wire is branched and connected to one slip terminal 51 disposed at a predetermined interval in the axial direction on the outer peripheral surface of the outer ring. On the other hand, on the inner peripheral surface of the outer ring 41, a slip terminal which is opposed to and contacts the slip terminal of the inner ring is arranged, and on the outer peripheral surface, the terminal connected to the slip terminal comes out. Depending on the type, the rotation control structure is connected to a stator coil, an encoder, an actuator, or the like, and can supply power or a signal to each.

FIG. 9 shows an embodiment in which the articulated robot according to the present invention is applied to a fire fighting robot. In the figure, reference numeral 60 denotes a fire engine, on which a fire extinguishing robot 65 is mounted on a platform 63 provided on the top of a boom mast 62 which is installed on a vehicle body 61 and which can be extended and contracted. A water supply hose device 67 having a flexible tube connected to a nozzle provided in an end effector penetrates an arm 66 of the fire extinguishing robot 65, and a base end of the flexible tube extends and contracts from a vehicle body. It is connected to. The water supply hose device has a pump connected to a water supply source or a fire extinguishing agent supply source via the device. Further, the outer peripheral portion of the robot arm is covered with a cover made of a flexible material having high heat resistance, water resistance and impact resistance, and is configured to protect the robot arm in a flame.

According to the fire extinguishing robot of this embodiment configured as described above, as shown, the boom mast 62
The platform 63 is moved closer to the fire occurrence site of the building 69 while the operator at the platform monitors the fire source detected by the visual sensor provided on the end effector of the fire extinguishing robot 65 with the monitor of the control panel 68. By operating the articulated robot, water or fire extinguishing agent can be sprayed directly from the end effector at the end of the arm toward the fire extinguishing position. Therefore, since water or a fire extinguishing agent can be injected closest to the fire source, the fire extinguishing efficiency can be dramatically improved as compared with the related art.

FIG. 10 shows an embodiment in which the present invention is applied to a repair robot 75 for repairing a failure or an accident that has occurred in a dangerous place such as inside a tank of a chemical plant 70 where humans can directly enter. As in the previous embodiment, the crane 71
Platform 7 provided on the top of a boom mast 73 which is provided on a vehicle body 72 and which can be extended and contracted
4, a repair robot 75 is placed. The outer periphery of the robot arm 76 is covered with a cover 77 made of a flexible material having high heat, water, and shock resistance.

Since the repair robot 75 can move the end effector with many degrees of freedom and can transmit a high torque as described above, the repair robot 75 can detect the repaired portion detected by the visual sensor provided on the end effector. By operating the articulated robot while monitoring with the monitor of the control panel 78, a fault or an accident can be directly repaired with a tool attached to the end effector. In addition, articles such as medicines and parts can be directly supplied to the repair site via the inside of the arm, and emergency emergency treatment can be dealt with.

Although not shown, the articulated robot of the present invention is very effective when applied to a three-dimensional assembly robot. According to the present invention, the arm can move flexibly by the combination of multiple joints, so that the hand can reach the front, rear, left, and right side surfaces during the assembling work, which is a complicated operation impossible with the conventional assembling robot. Three-dimensional assembly becomes possible. Since the articulated robot of the present invention can obtain high torque and high load and can obtain precise and fine movement, it requires ultra-precise and fine movement from a large assembly robot or a working robot. It can also be applied to micro robots that do.

FIG. 11 shows an embodiment in which the articulated robot of the present invention is applied to a care robot. The nursing care robot 80 of the present embodiment includes a multi-joint 2 of the present invention.
By the combined movement of the manipulators 81 and 82 composed of book arms, care work can be performed as if performed by a human. The outer peripheral surface of the arm is covered with a cover 90 made of a cushion material to provide safety. In the figure, reference numerals 83 and 83 denote stereoscopic cameras, which are capable of recognizing distances and sizes in a manner similar to human vision by monitoring stereoscopically. 84 is a sound sensor, and 85 is a communication antenna. Further, 86 is a GPS (Global Positioning System) device for determining the position of the robot, 87 is an alarm lamp, and 88 is a monitor. In addition,
In the present embodiment, the nursing work is formed in a self-propelled manner so that the nursing person can run on a wheelchair 89 as shown in FIG. It is also possible to configure so as to perform.

Although various embodiments of the articulated robot according to the present invention have been described above, the articulated robot according to the present invention is not limited to the above embodiment, and various design changes can be made within the scope of the technical concept. It is. For example, the combination of the offset rotary joint and the coaxial rotary joint is not limited to the above embodiment, and various combinations are possible according to the application. FIG.
Shows a modification of the combination, since the structure of the coaxial rotary joint and the offset rotary joint is the same as the above embodiment,
The same reference numerals are used, and the arrangement is clear from the drawings, so that detailed description is omitted. In FIG. 6D, reference numeral 50 denotes a link connection adjusting mechanism, which is constituted by a flange joint so that the arm can be separated and separated therefrom when the robot is repaired or the like. Further, the mounting angle of the driven side link with respect to the driven side link can be adjusted via the flange joint.

Further, in the above embodiment, the electric direct drive motor is used for the offset rotary joint and the coaxial rotary joint. However, the present invention is not limited to this. For example, a hydraulic motor or an electric / hydraulic motor may be used. it can. Furthermore, it is also possible to adopt a hybrid type by employing a hydraulic motor system for the offset rotary joint on the coaxial rotary joint side and an electric motor for the end effector side.

[0036]

According to the offset rotary joint of the present invention, the driven side link makes a conical rotational motion of the offset angle with the vertex at the intersection of the link axis and the offset rotary axis. With a simple mechanism consisting of only movement, precise three-dimensional positioning of the end effector over a wide movable range is possible. Since only the shaft is rotated, precise positioning control can be easily performed, and a large torque can be transmitted. Also,
By employing an electric direct drive motor as the rotary drive motor, the joint can be formed small and lightweight, and a hollow joint can be obtained.

The articulated robot of the present invention can obtain a multi-degree-of-freedom movement by a combination of joints having only a rotation mechanism, and can dramatically reduce the weight of the joint as compared with a conventional articulated robot. In addition, a high power can be obtained, the payload with respect to its own weight is large, and a multi-stage connection can be performed, and the movable range is wide and complicated precise movement can be performed.

In the articulated robot of the present invention, the entire arm including the offset rotary joint and the coaxial rotary joint can be formed in a continuous hollow cylindrical body. It can be used as a supply path for substances, energy or signals, etc., and since the supply path is in the arm cylinder and protected without being directly exposed to the external environment, it can be used to supply substances in a bad environment. Can be obtained, and a robot that can be used for more various purposes can be obtained.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of an articulated robot according to the present invention, and is a schematic diagram of a bending operation when an end effector is turned in a complicated direction.

FIG. 2 is a front view showing a state where each offset rotary joint is extended in a straight line.

FIG. 3 is a front view of the operation, and is an operation schematic diagram when the arm itself is wound around an object to be handled and held as a hand mechanism.

FIG. 4 (a) is a front sectional view showing an embodiment of the offset rotary joint and the coaxial rotary joint, and FIG. 4 (b) is an enlarged view of the slip ring portion.

FIGS. 5A to 5D are explanatory views of the operation of the offset rotary joint according to the embodiment of the present invention.

FIGS. 6 (a) to 6 (e) are main part front views showing various combinations in a multi-stage connection of the offset rotary joint according to the embodiment of the present invention.

FIG. 7 is a front sectional view of a main part of the articulated robot according to the embodiment of the present invention in a state where a flexible hose is passed through the arm.

FIG. 8 is a front sectional view of a main part of a multi-joint robot according to another embodiment of the present invention, in a state where a flexible hose is passed through the arm.

FIG. 9 is a schematic diagram showing a working state when the articulated robot according to the embodiment of the present invention is applied to a fire fighting robot.

FIG. 10 is a schematic diagram showing a working state when the articulated robot according to the embodiment of the present invention is applied to a repair robot.

FIG. 11 is a schematic diagram showing a working state when the articulated robot according to the embodiment of the present invention is applied to a care robot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Robot 2, 66, 76 Arm 3 Robot main body 4 End effector 5 Offset rotary joint 6 Coaxial rotary joint 7 Main drive side link 8, 13 Working surface 9 Follower side link 10 Rotation control structure 14 Rotor side frame 15 Bearing 16 Stator coil 17 Rotor Magnet 18 Encoder board 19 Sensor 20 Brake board 21 Brake shoe 22 Actuator 23, 46 Power supply
Signal line 24 Slip ring device 25, 41 Outer ring 26, 42 Inner ring 28 Body frame 30 Tip coaxial rotating joint 31 Visual sensor 32 Tip link 33 List 34 Hand 36 Cart 37 Vertical drive actuator 38 Mount 39 Electric rotation control structure Reference Signs List 40 Slip ring device 43 Spring 45 Flexible pipe 47 Terminal wire 49 Input terminal 50 Output terminal 51 Slip terminal 60 Fire truck 62, 73 Boom mast 63, 74 Platform 65 Fire extinguishing robot 67 Water supply hose device 68, 78 Control panel 70 Chemical plant 71 Crane Truck 75 Repair Robot 80 Care Robot 81, 82 Manipulator 83 Stereo Camera 84 Sound Sensor 85 Communication Antenna 86 GPS 87 Alarm Lamp 88 Monitor

Claims (11)

[Claims] 1. A rotation control structure having a rotation drive motor provided on a surface inclined with respect to a link axis between links forming an arm, and a driving side link is fixed to a fixed portion of the rotation drive motor. An offset rotary joint, wherein the driven side link is fixed to the rotor side, and the driven side link has an offset rotation axis inclined with respect to the link axis. 2. The offset according to claim 1, wherein the rotary drive motor is a coreless electric direct drive motor, and a main drive link is fixed to a stator side of the coreless electric direct drive motor, and a driven link is fixed to the rotor side. Revolving joint. 3. A rotary drive motor comprising a hydraulic motor or an electric / hydraulic motor, wherein a main drive side link is fixed to a housing side of the hydraulic motor or an electric / hydraulic motor, and a driven side link is fixed to a rotor side. The offset rotary joint according to 1. 4. The method according to claim 1, wherein the rotation control structure comprises: a rotation drive motor;
4. A ring-shaped structure including an encoder, a brake device, and a slip ring, and has a continuous hollow structure with the driving side link and the driven side link. 5.
The described offset rotary joint. 5. A rotation control structure having a rotation drive motor on a surface inclined with respect to a link axis is provided between a driven side link and a driven side link of a link constituting an arm, and the driven side link is provided with a rotation control structure. An offset rotary joint having an offset rotary axis inclined with respect to the link axis is provided, and the offset rotary joint is provided in a plurality of stages between the robot body and the end effector. An articulated robot having an offset rotary joint, characterized in that three-dimensional positioning can be performed. 6. The articulated robot according to claim 5, wherein said rotary drive motor is a coreless electric direct drive motor. 7. The multi-joint according to claim 5, further comprising a coaxial rotary joint comprising a rotation control structure provided between the driven link and the driven link such that the driven link and the driven link have the same rotation axis. Articulated robot. 8. The articulated robot according to claim 5, wherein a rotation / extension adjustment mechanism is provided between the offset rotation joints. 9. The link, the offset rotary joint,
The coaxial rotary joint and the rotation / extension adjustment mechanism are each formed in a hollow structure, the arm has a continuous hollow portion, and a flexible hose or a power supply / signal line is provided in the continuous hollow portion of the arm to be covered. The articulated robot according to any one of claims 5 to 8, wherein the articulated robot is capable of transmitting a fuel / electric power supply and a signal to a supply body. 10. A hybrid type in which a hydraulic motor system is applied to a rotary drive motor of an offset rotary joint on the robot body side and an electric motor is applied to a rotary drive motor of an offset rotary joint on the end factor side. Item 10. An articulated robot according to any one of Items 5 to 9. 11. The articulated robot according to claim 5, wherein the arm including each link and each rotation control structure is covered with a cover made of a water-resistant and heat-resistant material.