WO2021124986A1

WO2021124986A1 - Robot and double-arm robot

Info

Publication number: WO2021124986A1
Application number: PCT/JP2020/045671
Authority: WO
Inventors: 久美子藤間; 英司藤津; 多聞伊沢; 雅人永井; 好優松村; 智末吉
Original assignee: 株式会社安川電機
Priority date: 2019-12-16
Filing date: 2020-12-08
Publication date: 2021-06-24
Also published as: CN114829079A; JPWO2021124986A1; JP7268761B2

Abstract

A robot according to the present invention is provided with a first horizontal arm, a second horizontal arm, and a raising and lowering arm. The first horizontal arm rotates about a first axis. The proximal-end side of the second horizontal arm is supported on the distal-end side of the first horizontal arm, and the second horizontal arm rotates about a second axis parallel to the first axis. The proximal-end side of the raising and lowering arm is supported on the distal-end side of the second horizontal arm, and the raising and lowering arm raises and lowers an end effector that can be attached to the distal-end side thereof. The second horizontal arm is curved in one of the rotation directions. The raising and lowering arm is arranged on the inner side of the curvature of the second horizontal arm in plan view.

Description

Robots and dual-arm robots

The disclosed embodiment relates to a robot and a dual-arm robot.

Conventionally, it is known that a horizontal articulated robot (SCARA robot) is used for transporting and assembling an object. Further, from the viewpoint of improving work efficiency, a dual-arm SCARA robot having a pair of SCARA robots, that is, two SCARA robots has also been proposed.

In addition, a technique has been proposed in which each arm of a dual-arm SCARA robot is provided with a slide mechanism that moves up and down vertically to improve accessibility to an object (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2012-061546

However, the above-mentioned conventional technology has a problem that interference between robot arms and obstacles is likely to occur, that is, an interference area is likely to be widened. As described above, when the interference area is wide, the actual operation area in which the work can be performed without interference is narrowed in the original movable area of the robot, and as a result, the work efficiency by the robot is lowered.

It should be noted that such a problem is not limited to a double-armed robot, but is a problem that also occurs in a so-called single-armed robot. Further, such a problem occurs in both a robot that expands and contracts in the horizontal direction and a robot that expands and contracts in the vertical direction.

One aspect of the embodiment is to provide a robot and a dual-arm robot capable of reducing an interference region.

The robot according to one aspect of the embodiment includes a first horizontal arm, a second horizontal arm, and an elevating arm. The first horizontal arm turns around the first axis. The base end side of the second horizontal arm is supported by the tip end side of the first horizontal arm, and the second horizontal arm swivels around a second axis parallel to the first axis. The base end side of the elevating arm is supported on the tip end side of the second horizontal arm, and the end effector that can be attached to the tip end side is lifted and lowered. The second horizontal arm is curved in either turning direction. The elevating arm is arranged inside the curve in the second horizontal arm in a plan view.

The robot according to another aspect of the embodiment includes a first arm, a second arm, and a third arm. The first arm swivels around the first swivel axis. The base end side of the second arm is supported by the tip end side of the first arm, and the second arm swivels around a second swivel shaft parallel to the first swivel shaft. The third arm is supported on the tip end side of the second arm and swivels around a third swivel shaft parallel to the second swivel shaft. The first arm, the second arm, and the third arm are arranged in the order of the first arm, the second arm, and the third arm when viewed from the direction of the first turning axis. The second distance, which is the inter-axis distance between the second swivel shaft and the third swivel shaft, is larger than the first distance, which is the inter-axis distance between the first swivel shaft and the second swivel shaft. In the basic posture in which the extension directions of the first arm, the second arm, and the third arm overlap each other when viewed from the direction of the first turning axis, the tip of the second arm has a length that does not exceed the base end of the first arm. is there. The third arm has a length that does not exceed the tip of the second arm in the basic posture.

According to one aspect of the embodiment, it is possible to provide a robot and a dual-arm robot capable of reducing the interference region.

FIG. 1 is a top view of the robot according to the embodiment. FIG. 2 is a top view showing the curved shape of the second horizontal arm. FIG. 3A is a front view of the dual-arm robot. FIG. 3B is a perspective view of the dual-arm robot. FIG. 4A is a top view of the dual-arm robot. FIG. 4B is a top view showing a posture in which the elevating arms are opposed to each other. FIG. 5 is an explanatory diagram showing the relationship between the arm length of the elevating arm and the distance between the axes. FIG. 6A is a side view showing the basic posture of the elevating arm. FIG. 6B is a side view showing the cooperative operation posture of the elevating arm. FIG. 7 is an explanatory diagram showing the moving speed for each combination of the inter-axis distance ratio and the angular velocity ratio. FIG. 8A is a schematic view No. 1 showing an example of actuator arrangement. FIG. 8B is a schematic view 2 showing an example of actuator arrangement. FIG. 9 is a schematic diagram showing an arrangement example of a plurality of robots. FIG. 10 is a block diagram showing a configuration of a robot system.

Hereinafter, embodiments of the robot and the dual-arm robot disclosed in the present application will be described in detail with reference to the attached drawings. The present invention is not limited to the embodiments shown below. Further, in the following, the case where the robot is equipped with an end effector which is a tool for gripping the work with a claw will be described. However, the end effector may be a suction type tool, and a sealing material is applied, painted, and welded. It may be a tool that performs such as.

Further, in the embodiments shown below, expressions such as "orthogonal", "vertical", "parallel", "horizontal", "vertical" or "symmetrical" are used, but it is not necessary to strictly satisfy these states. That is, each of the above expressions allows for deviations in manufacturing accuracy, installation accuracy, processing system, detection accuracy, and the like.

First, the robot 100 according to the embodiment will be described with reference to FIG. FIG. 1 is a top view of the robot 100 according to the embodiment. Note that FIG. 1 shows a three-dimensional Cartesian coordinate system in which the XY plane corresponds to the horizontal plane, including the Z axis whose vertical upward direction is the positive direction, for the sake of clarity. Such a Cartesian coordinate system may also be shown in other drawings used in the following description.

As shown in FIG. 1, the robot 100 includes a first horizontal arm 11 and a second horizontal arm 12, which are horizontal arms 10, and an elevating arm 20. An end effector 200 can be attached to the tip end side of the elevating arm 20.

In the following, a case where the elevating arm 20 includes a plurality of arms and each arm swivels around a horizontal axis to expand and contract to elevate and retract the end effector 200 will be described. However, the present invention is not limited to this, and the elevating arm 20 may be a slide mechanism for vertically elevating or lowering, or an arm group including such a slide mechanism.

Further, the base end side of the first horizontal arm 11 is attached to, for example, the base portion B. Although the circular base portion B is shown in FIG. 1 in a plan view, the three-dimensional shape of the base portion B is not limited to a columnar shape, and may be any shape such as a rectangular parallelepiped shape or an elliptical columnar shape. Further, the base portion B may be a support member such as a floor.

As shown in FIG. 1, the first horizontal arm 11 is supported on the base end side by a support member such as a base portion B, and swivels around a vertically oriented first axis A1. The base end side of the second horizontal arm 12 is supported by the tip end side of the first horizontal arm 11, and the second horizontal arm 12 swivels around the second axis A2 parallel to the first axis A1. The elevating arm 20 is supported on the base end side on the tip end side of the second horizontal arm 12, and raises and lowers the end effector 200 that can be attached to the tip end side.

Here, the second horizontal arm 12 is curved in any turning direction around the first axis A1 which is the vertical axis, and the elevating arm 20 is curved inside Si in the second horizontal arm 12 in a plan view. Be placed. Here, the opposite side of the curved inner Si is referred to as the curved outer So. Although FIG. 1 shows a case where the second horizontal arm 12 has a shape curved clockwise of the second axis A2, it may have a shape curved counterclockwise.

In this way, by arranging the elevating arm 20 on the curved inner Si of the second horizontal arm 12, which is a curved arm, the region of the curved inner Si that does not easily interfere with obstacles or the like can be effectively utilized, and the robot can be effectively utilized. It is possible to reduce the interference region where 100 interferes with obstacles and the like.

Hereinafter, the configuration of the elevating arm 20 shown in FIG. 1 will be described in more detail. The elevating arm 20 includes a first elevating arm 21, a second elevating arm 22, and a third elevating arm 23. The base end side of the first elevating arm 21 is supported by the tip end side of the second horizontal arm 12, and the first elevating arm 21 swivels around a third axis A3 perpendicular to the first axis A1.

The base end side of the second elevating arm 22 is supported by the tip end side of the first elevating arm 21, and the second elevating arm 22 swivels around the fourth axis A4 parallel to the third axis A3. The third elevating arm 23 is supported on the tip end side of the second elevating arm 22 and swivels around the fifth axis A5 parallel to the fourth axis A4.

Further, the third elevating arm 23 has a rotating portion 23r that rotates the end effector 200 around the sixth axis A6 perpendicular to the fifth axis A5. The rotating portion 23r may be provided on the bottom surface side of the third elevating arm 23, or may be provided on the side surface side excluding the second elevating arm 22 side.

As shown in FIG. 1, the robot 100 is an articulated robot having 6 axes of 1st axis A1 to 6th axis A6. In this way, by combining the horizontal arm 10 (the first horizontal arm 11 and the second horizontal arm 12) and the elevating arm 20, the end effector 200 keeps the direction of the sixth axis A6, which is the "tip axis". Can be moved to any three-dimensional position.

Further, as shown in FIG. 1, by forming the elevating arm 20 into a three-arm configuration, it is possible to sufficiently secure the elevating range of the elevating operation. The detailed relationship between the length of each arm and the distance between the axes of the elevating arm 20 will be described later with reference to FIG.

Next, a specific curved shape of the second horizontal arm 12, which is a curved arm, will be described with reference to FIG. FIG. 2 is a top view showing the curved shape of the second horizontal arm 12. Note that FIG. 2 corresponds to the second horizontal arm 12 and the elevating arm 20 of the robot 100 shown in FIG.

As shown in FIG. 2, the second horizontal arm 12 has a shape in which the base end side and the tip end side of the curved outer So are linear, respectively, and the base end side and the tip end side are smoothly connected by a curve in a plan view. Have. Further, the base end side and the tip end side of the curved inner Si are also linear, respectively, and have a shape in which the base end side and the tip end side are smoothly connected by a curve, similarly to the curved outer side So.

Further, the elevating arm 20 is arranged in a straight line portion on the tip side of the curved inner Si. Although FIG. 2 shows a case where the tip side of the curved outer So and the tip side of the curved inner Si are parallel, it is not always necessary that they are parallel.

Here, the virtual tangent line in contact with the tip end side of the curved outer So in the second horizontal arm 12 is referred to as "first virtual tangent line TL1", and the virtual tangent line in contact with the second horizontal arm 12 is parallel to the first virtual tangent line TL1. The farthest virtual tangent is referred to as "second virtual tangent TL2". Then, the area sandwiched between the first virtual tangent line TL1 and the second virtual tangent line TL2 is referred to as "area W".

In this case, as shown in FIG. 2, the entire elevating arm 20 fits in the region W sandwiched between the first virtual tangent line TL1 and the second virtual tangent line TL2. That is, the second horizontal arm 12 is curved so that the entire elevating arm 20 fits in the region W. By accommodating the elevating arm 20 in the region W generated by the curvature of the arm in this way, it is possible to suppress the interference between the elevating arm 20 and an obstacle or the like, and it is possible to efficiently reduce the interference region. Will be. It should be noted that various sensors, wiring, etc. can be externally attached to the second horizontal arm 12 on the base end side of the curved inner Si (the area where the elevating arm 20 does not exist), and the area W can be effectively used. Become.

Here, in FIG. 2, a case where a part of the end effector 200 protrudes from the area W is shown, but the outer shape of the end effector 200 may be shaped so as to fit in the area W. By doing so, the interference region due to the end effector 200 can be further reduced.

Further, as shown in FIGS. 1 and 2, the robot 100 also reduces the interference region by accommodating a cable such as a cable connected to the end effector 200 inside the housing, and thus the above-mentioned curvature. The interference region can be efficiently reduced together with the reduction of the interference region due to the shape. The side surface shape of the elevating arm 20 shown in FIG. 2 will be described later with reference to FIGS. 6A and 6B.

Next, a dual-arm robot 500 including a pair of robots 100 shown in FIG. 1 will be described with reference to FIGS. 3A, 3B, 4A, and 4B. FIG. 3A is a front view of the dual-arm robot 500, and FIG. 3B is a perspective view of the dual-arm robot 500. Note that FIG. 3B corresponds to a view of the dual-arm robot 500 viewed from diagonally above. FIG. 4A is a top view of the dual-arm robot 500, and FIG. 4B is a top view showing a posture in which the elevating arm 20 shown in FIG. 1 is opposed to each other.

First, the front shape of the dual-arm robot 500 will be described. As shown in FIG. 3A, the dual-arm robot 500 includes a robot 100A corresponding to the left arm, a robot 100B corresponding to the right arm, a base portion B supporting the robot 100A and the robot 100B on the upper surface side, and a base portion B on the upper surface. It is provided with a trolley 300 that is supported on the side.

As shown in FIG. 3A, in each of the pair of robots 100 (robot 100A and robot 100B), the second horizontal arm 12 is supported on the upper surface side of the first horizontal arm 11. By doing so, the second horizontal arm 12 is less likely to interfere with the base portion B than when the second horizontal arm 12 is arranged on the lower surface side of the first horizontal arm 11. Therefore, the substantially movable range of the second horizontal arm 12 can be widened.

The dolly 300 has a built-in controller 600 that controls the operations of the robot 100A and the robot 100B. Further, the carriage 300 is provided with a plurality of wheels 310 and a plurality of legs 320 on the bottom surface side, respectively. When the trolley 300 is provided with the wheels 310, for example, the installation position can be easily moved by the manual operation of a worker, and when the legs 320 are provided, the installation position can be easily fixed.

Although the controller 600 is shown as an example of the equipment incorporated in the trolley 300 in FIG. 3A, various devices such as the end effector 200 and the sensor substrate attached to the dual-arm robot 500 are incorporated in the trolley 300. May be good. By doing so, obstacles around the dual-arm robot 500 can be reduced, and the interference region of the dual-arm robot 500 can be efficiently reduced.

Although one controller 600 is illustrated in FIG. 3A, a plurality of controllers 600 may be incorporated in the carriage 300. For example, a controller 600 for the robot 100A and a controller 600 for the robot 100B may be provided, and each robot 100 (robot 100A and the robot 100B) may be operated in cooperation by communicating with each other. Further, the controller 600 may be provided in a separate housing from the dual-arm robot 500.

Further, in FIG. 3A, the base portion B and the carriage 300 are shown separately, but the base portion B may be configured as a part of the carriage 300. Further, in FIG. 3A, the case where the end effector 200 having the same shape is attached to the robot 100A and the robot 100B is shown, but the end effector 200 having a different shape and a different function may be attached to each robot 100.

As shown in FIG. 3B, each of the second horizontal arms 12 of the pair of robots 100 (robot 100A and robot 100B) is curved in the horizontal direction, and the elevating arms 20 are arranged at the portions recessed by the curvature. To. Further, as shown in FIG. 3B, the base portion B is arranged on a part of the upper surface of the carriage 300, and the leg portions 320 are arranged on the bottom surface. The wheel 310 shown in FIG. 3A is not shown in FIG. 3B because it is hidden by the carriage 300.

Next, the upper surface shape of the dual-arm robot 500 will be described with reference to FIGS. 4A and 4B. Here, the posture of the dual-arm robot 500 shown in FIG. 4A is a posture in which both arms (robot 100A and robot 100B) are opened to the left and right, and the posture shown in FIG. It is a posture that is closed forward. In addition, in FIG. 4A and FIG. 4B, the description of the end effector 200 shown in FIG. 3A is omitted.

As shown in FIG. 4A, the base portion B of the dual-arm robot 500 supports a pair of robots 100 (robot 100A and robot 100B) on the upper surface side so that the first axis A1 is parallel to each other.

Here, as shown in FIG. 4A, in the pair of robots 100 (robot 100A and robot 100B), the bending directions of the second horizontal arm 12 are opposite to each other. Specifically, the second horizontal arm 12 of the robot 100A, which corresponds to the left arm, has a shape curved clockwise of the second axis A2. On the other hand, the second horizontal arm 12 of the robot 100B, which corresponds to the right arm, has a shape curved counterclockwise of the second axis A2.

Further, when the posture shown in FIG. 4A is taken, the dual-arm robot 500 includes the first axis A1, the second axis A2 and the sixth axis A6 of the robot 100A, and the first axis A1 and the second axis A2 of the robot 100B. And the sixth axis A6 can be made linear. Here, as described above, since each of the elevating arms 20 is contained in the region W, the elevating arms 20 do not interfere with each other even when the following "follow-up" posture is taken.

As shown in FIG. 4B, each robot 100 (robot 100A and robot 100B) in the dual-arm robot 500 faces the elevating arms 20 and has a "tip axis" on a plane including the first axis A1 and the second axis A2. It is assumed that each of the postures includes. In this case, the robot 100A and the robot 100B have outer shapes that do not interfere with each other. As described above, the "tip axis" corresponds to the sixth axis A6.

In this way, even if the first axis A1, the second axis A2, and the sixth axis A6 of each arm are aligned and parallel to each other, the arms do not interfere with each other so that the arms interfere with each other. Since it is not necessary to consider the limitation due to the above, the teaching of the robot 100 can be performed efficiently. In addition, since it becomes easy for both arms to take close postures, the work efficiency of the dual-arm robot 500 can be improved.

For example, the robot 100A and the robot 100B cooperate with each other to perform handling work while the long work is gripped by both end effectors 200, or the other end effector 200 moves to the work gripped by one end effector 200. Processing work can be performed.

Although the description of the end effector 200 shown in FIG. 3A is omitted in FIG. 4B, each end effector 200 can be used even when the dual-arm robot 500 takes the posture shown in FIG. 4B. It is preferable that the outer shapes do not interfere with each other.

Next, the relationship between the arm length and the distance between the axes of the elevating arm 20 shown in FIG. 1 and the like will be described with reference to FIGS. 5, 6A and 6B. Here, FIG. 5 corresponds to a top view of the elevating arm 20, and FIGS. 6A and 6B correspond to a side view of the elevating arm 20. FIG. 5 is an explanatory diagram showing the relationship between the arm length of the elevating arm 20 and the distance between the axes. Further, FIG. 6A is a side view showing the basic posture of the elevating arm 20, and FIG. 6B is a side view showing the cooperative operation posture of the elevating arm 20. Note that, in FIGS. 5, 6A and 6B, the second horizontal arm 12 is shown by a broken line for reference.

As shown in FIG. 5, the elevating arm 20 has a first elevating arm 21 that swivels around the third axis A3 and a base end 22e side supported by the tip 21t side of the first elevating arm 21 and is parallel to the fourth axis A4. A second elevating arm 22 that swivels around the fifth axis A5 is provided. Further, the elevating arm 20 includes a third elevating arm 23 that is supported on the tip 22t side of the second elevating arm 22 and swivels around the fifth axis A5 parallel to the fourth axis A4.

Further, the first elevating arm 21, the second elevating arm 22, and the third elevating arm 23 are arranged in the order of the first elevating arm 21, the second elevating arm 22, and the third elevating arm 23 when viewed from the direction of the third axis A3. Has been done.

Here, the second distance L2, which is the distance between the fourth axis A4 and the fifth axis A5, is larger than the first distance L1, which is the distance between the third axis A3 and the fourth axis A4. Further, the second elevating arm 22 is in a basic posture (see FIG. 6A) in which the extending directions of the first elevating arm 21, the second elevating arm 22, and the third elevating arm 23 overlap each other when viewed from the direction of the third axis A3. The tip 22t has a length that does not exceed the base end 21e of the first elevating arm 21.

Further, in the above-mentioned basic posture, the third elevating arm 23 has a length such that the base end 23e does not exceed the tip 22t of the second elevating arm 22. Further, the elevating arm 20 is attached to the second horizontal arm 12 so that the base end 21e of the first elevating arm 21 does not exceed the tip 12t of the second horizontal arm 12. Note that FIG. 5 shows the base end 12e of the second horizontal arm 12 for reference.

Further, in FIG. 5, the base end 21e of the first lifting arm 21 and the tip 22t of the second lifting arm 22 are aligned, and the tip 21t of the first lifting arm 21 and the base end 22e of the second lifting arm 22 are aligned. It shows the case where and are aligned, that is, the case where the arm lengths of both arms are equal.

However, the present invention is not limited to this, and the arm length of the second elevating arm 22 may be shorter than the arm length of the first elevating arm 21. Further, FIG. 5 shows a case where the tip 22t of the second lifting arm 22 and the base end 23e of the third lifting arm 23 are aligned, but the base end 23e is closer to the fourth axis A4 than the tip 22t. The arm length of the third elevating arm 23 may be shortened so as to be. Since the main role of the third elevating arm 23 is to maintain the orientation of the sixth axis A6, as shown in FIG. 5, the tip 23t is set to the tip 22t rather than the base end 22e of the second elevating arm 22. By making it closer, the arm length can be made shorter than the arm length of the second elevating arm 22.

In this way, the inter-axis distance is extended without extending the arm length of each arm, that is, the inter-axis distance is not made longer than the arm length of the first elevating arm 21. By making the second distance L2 larger than the first distance L1, it is possible to reduce the interference region while expanding the reachable range of the elevating arm 20.

Further, as described above, the third elevating arm 23 has a rotating portion 23r that rotates the end effector 200 (see FIG. 3A) around the sixth axis A6 perpendicular to the fifth axis A5. The sixth axis A6 is closer to the tip 22t of the second elevating arm 22 than the fifth axis A5 in a coordinated operation posture in which the end effector 200 is moved while maintaining the orientation of the sixth axis A6. Note that FIG. 5 shows the shift amount of the sixth axis A6 from the fifth axis A5 as the third distance L3 for reference.

In this way, by moving the sixth axis A6 closer to the base end 23e side of the third elevating arm 23, the reachable range of the elevating arm 20 can be expanded. This is because the closer the sixth axis A6 is to the base end 23e of the third elevating arm 23, the more effectively the arm length of the second elevating arm 22 can be utilized.

Note that FIG. 5 is a top view of the elevating arm 20 in the basic posture (see FIG. 6A), but the orientation of the sixth axis A6 shown in FIG. 5 is maintained even in the coordinated operation posture. It can be said that the basic posture is one posture included in the cooperative movement posture.

Next, the side surface shape of the elevating arm 20 shown in FIG. 5 will be described with reference to FIG. 6A. As shown in FIG. 6A, in the basic posture, the extension directions of the first elevating arm 21 and the second elevating arm 22 are horizontal. The third axis A3 and the fifth axis A5 overlap each other, and the third axis A3 and the fourth axis A4 and the fourth axis A4 and the fifth axis A5 are on the same horizontal plane. Further, the direction of the sixth axis A6 axis is a vertical direction.

In FIG. 6A, the first elevating arm 21 and the tip end side of the second horizontal arm 12 are hidden behind the second elevating arm 22, but the outer shape of the first elevating arm 21 is that of the second elevating arm 22. The outer shape is the same, and the shape of the second horizontal arm 12 on the tip end side is the same as the shape of the second elevating arm 22 on the tip end side.

Further, as shown in FIG. 6A, in the basic posture, the second axis A2 and the sixth axis A6 are parallel to each other, the second axis A2 and the sixth axis A6, the third axis A3, and the fourth axis A4. And the fifth axis A5 is perpendicular. The extension direction of the third elevating arm 23 is the horizontal direction (direction parallel to the XZ plane) in the basic posture shown in FIG. 6A.

Next, the cooperative operation posture of the elevating arm 20 will be described with reference to FIG. 6B. In FIG. 6B, the posture of the elevating arm 20 in which the end effector 200 is moved above the basic posture shown in FIG. 6A is shown by a solid line, and the posture of the elevating arm 20 in which the end effector 200 is moved below the basic posture is shown by a solid line. The postures are indicated by broken lines.

Then, FIG. 6B shows the difference between the highest position and the lowest position of the end effector 200 as the ascending / descending range H. The postures of the first elevating arm 21 and the second elevating arm 22 shown in FIG. 6B are the postures shown for reference as an example, and do not need to be the postures as shown in FIG. 6B. For example, the elevating arm 20 may be extended so that the extension directions of the first elevating arm 21 and the second elevating arm 22 are vertically oriented.

As shown in FIG. 6B, in the first elevating arm 21, the second elevating arm 22, and the third elevating arm 23 in the elevating arm 20, the sixth axis A6, which is the rotation axis for rotating the end effector 200, is always oriented vertically. Coordinate with each other. Therefore, the posture in which the end effector 200 is moved while maintaining the orientation of the sixth axis A6 is collectively referred to as a cooperative movement posture.

In this way, in order to maintain the orientation of the sixth axis A6 with the elevating arm 20 as a three-arm configuration, the turning angular velocity of each arm around the third axis A3, the fourth axis A4, and the fifth axis A5 Generally, the ratio is "1: -2: 1" (however, "-(minus)" indicates the opposite direction). Further, the inter-axis distance of the first elevating arm 21 (see the first distance L1 in FIG. 5) and the inter-axis distance of the second elevating arm 22 (see the second distance L2 in FIG. 5) are made equal (the ratio is set to "". 1: 1 ") is common.

However, by devising the ratio of the angular velocity and the ratio of the distance between the axes, it is possible to reduce the rotation angle of the arm and increase the moving speed in ascending / descending without narrowing the ascending / descending range H. found. If the rotation angle of the arm is reduced, the bending change of the cable built in the arm can be suppressed. Therefore, the life of the cable and the like can be extended, and the life of the elevating arm 20 can be extended. Therefore, in the following, the combination of these ratios will be described with reference to FIG. 7. FIG. 7 is an explanatory diagram showing the moving speed for each combination of the inter-axis distance ratio and the angular velocity ratio.

FIG. 7 shows four examples of "combination examples" of "E1", "E2", "E3" and "E4". In addition, each item of "inter-axis distance ratio", "angular velocity ratio", and "moving speed" is shown for each "combination example".

Here, the "axis-to-axis distance ratio" is the ratio of the first distance L1 and the second distance L2 shown in FIG. The "angular velocity ratio" is the ratio of the angular velocities corresponding to the turning of each arm around the third axis A3, the fourth axis A4, and the fifth axis A5 shown in FIG. The "moving speed" is a moving speed corresponding to the ascending / descending motion shown in FIG. 6B. In addition, "-(minus)" in "angular velocity ratio" indicates that it is in the reverse rotation direction with respect to the case where "-(minus)" is not added.

"E1" in the combination example is the above-mentioned general combination. In "E1", the inter-axis distance ratio of the first distance L1 and the second distance L2 (see FIG. 5) is "1: 1", and the third axis A3, the fourth axis A4, and the fifth axis A5 (FIG. 5). (Refer to 6B) The angular velocity ratio around is "1: -2: 1". The moving speed of "E1" is "V1". Here, "V1" is used as a reference moving speed.

In the combination example, "E2" is a case where the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is the same as that of "E1", but the second distance L2 is larger than the first distance L1 ( L2> L1) is shown. Specifically, in "E2", the inter-axis distance ratio of the first distance L1 and the second distance L2 is "1: j (however, j> 1)".

In this way, when the second distance L2 is made larger than the first distance L1, the moving speed "V2" becomes larger than the reference "E1" "V1" (V2> V1). Therefore, the moving speed corresponding to the elevating operation can be increased while maintaining the elevating range H (see FIG. 6B).

In the combination example "E3", the distance ratio between the axes is the same as that of "E1", but the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is different from that of "E1". Is shown. Specifically, in "E3", the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is "1: −k: k-1 (where k> 2)". The total of the three ratios is 0.

When the angular velocity ratio is set in this way, the moving speed "V3" becomes larger than "V2" of "E2" (V3> V2). Therefore, the moving speed in ascending / descending can be further increased while maintaining the ascending / descending range H (see FIG. 6B).

"E4" in the combination example shows a case where the inter-axis distance ratio and the angular velocity ratio are different from "E1" by combining "E2" and "E3". The distance ratio between axes is the same as that of "E2", and the angular velocity ratio is the same as that of "E3".

By doing so, the moving speed "V4" becomes larger than "V3" of "E3" (V4> V3). Therefore, the moving speed in ascending / descending can be further increased while maintaining the ascending / descending range H (see FIG. 6B).

That is, by applying any of "E2", "E3", and "E4" shown in FIG. 7 to the operation of the arm group having a three-arm configuration that performs the cooperative operation, the reachable range of the arm can be expanded or the cooperative operation can be performed. It is possible to increase the moving speed of the arm in.

If the distance ratio between the axes is not "1: 1" or the angular velocity ratio is not "1: -2: 1", the sixth height depends on the height in the ascending / descending range H (see FIG. 6B). The horizontal position of the axis A6 and the direction of the sixth axis A6 change. However, these deviations can be corrected by the operation of the robot 100 (see FIG. 1). Specifically, by using the first axis A1 and the second axis A2, it is possible to correct the misalignment of the horizontal position of the sixth axis A6. Further, by using the 5th axis A5, the orientation deviation of the 6th axis A6 can be corrected.

Further, in FIG. 7, the case where “k” in the angular velocity ratio is “k> 2” is shown, but depending on the combination of the inter-axis distance ratio and the angular velocity ratio, even “k <2” can be moved. The speed can be made faster than the reference speed "V1".

Next, an example of arranging the actuator as the drive source in the dual-arm robot 500 shown in FIG. 3A and the like will be described with reference to FIGS. 8A and 8B. 8A and 8B are

schematic views

1 and 2 showing an example of actuator arrangement. Note that FIG. 8A corresponds to a top view of the dual-arm robot 500 corresponding to FIG. 4B. Further, FIG. 8B corresponds to a top view of the dual-arm robot 500 in which the first horizontal arm 11, the second horizontal arm 12, and the elevating arm 20 are removed from FIG. 8A.

As shown in FIG. 8A, each second horizontal arm 12 of the dual-arm robot 500 has an actuator M2 and an actuator M3 built into each base end side. By arranging the actuator M2 and the actuator M3 on the proximal end side of the second horizontal arm 12 in this way, the moment of inertia associated with turning can be reduced, and the second horizontal arm 12 can be swiveled with a small torque. ..

The actuator M2 is a drive source for a servomotor or the like, and provides a driving force for turning the second horizontal arm 12 around the second axis A2. Here, the driving force of the actuator M2 is transmitted to the second shaft A2 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. As a result, the second horizontal arm 12 turns with respect to the first horizontal arm 11.

The actuator M3 is a drive source similar to the actuator M2, and provides a driving force for coordinating each arm of the elevating arm 20 around the third axis A3, the fourth axis A4, and the fifth axis A5 (see FIG. 6B). provide.

The driving force of the actuator M3 is transmitted to the third axis A3 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism, and further transmitted to the fourth axis A4 via a transmission mechanism to further transmit the transmission mechanism. It is transmitted to the fifth axis A5 via.

Here, the angular velocity ratios around the third axis A3, the fourth axis A4, and the fifth axis A5 are "1: -2: 1" or "1: -k: k-1" shown in FIG. k> 2) ”is set. If the posture of the sixth axis A6 is not maintained, "k> 0" may be set. Further, even when the posture of the sixth axis A6 is performed, it is not always necessary to set “k> 2”, and it is sufficient to set “k ≧ 1”.

Further, the third elevating arm 23 of each elevating arm 20 has an actuator M4 built-in. The actuator M4 is a drive source similar to the actuator M2 and the actuator M3, and provides a driving force for rotating the end effector 200 (see FIG. 3A) itself around the sixth axis A6.

When the rotation axis of the end effector 200 deviates from the sixth axis A6, the driving force of the actuator M4 is transferred to the rotation axis of the end effector 200 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. Be transmitted. The rotating portion 23r already described with reference to FIG. 1 corresponds to one or both of the actuator M2 and the transmission mechanism connected to the actuator M2.

As shown in FIG. 8B, the base portion B of the dual-arm robot 500 incorporates a pair of actuators M1. The actuator M1 is a drive source for a servomotor or the like, and provides a driving force for turning the first horizontal arm 11 around the first axis A1. Here, the driving force of the actuator M1 is transmitted to the first shaft A1 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. As a result, the first horizontal arm 11 turns with respect to the base portion B. By arranging the actuator M1 on the base portion B in this way, the moment of inertia associated with the turning of the first horizontal arm 11 can be reduced, and the first horizontal arm 11 can be turned with a small torque.

As shown in FIG. 8B, when the base portion B is circular in a plan view, each first axis A1 is provided at a position symmetrical with respect to the center of the circle, for example. Further, each actuator M1 is provided at a position symmetrical with respect to the center of the circle, for example, so as to deviate from the line connecting the first axes A1. By arranging the first axes A1 side by side instead of coaxially in this way, the arms can be arranged side by side, and the height of the dual-arm robot 500 itself can be reduced.

Further, by arranging the actuator M1 as described above, the height of the base portion B (thickness in the Z-axis direction) can be suppressed. That is, the height of the base portion B can be reduced. In FIG. 8B, a case where the first axes A1 and the actuators M1 are arranged at point-symmetrical positions with respect to the circular center is illustrated, but the positions are plane-symmetrical with respect to the plane parallel to the YZ plane. They may be arranged respectively, or the actuators M1 may be arranged at positions symmetrical with respect to a plane parallel to the XZ plane.

By the way, in FIGS. 5 to 8B, the arm configuration having the relationship between the arm length and the distance between the axes shown in FIG. 5 has been described as an elevating arm 20 that expands and contracts in the vertical direction. However, the orientation of the third axis A3 on the elevating arm 20 is not limited to the horizontal orientation, and can be any orientation such as a vertical orientation. Then, the elevating arm 20 itself may be used as the robot 20.

When the arm configuration of the elevating arm 20 is used as the robot 20, for example, if the direction of the third axis A3 is vertical, it becomes a so-called horizontal arm. As described above, when the elevating arm 20 itself is widely used as the robot 20, the "first elevating arm 21", the "second elevating arm 22", and the "third elevating arm 23" in the above description are referred to as "third elevating arm 23", respectively. It may be read as "first arm 21", "second arm 22", and "third arm 23".

Further, "third axis A3", "fourth axis A4" and "fifth axis A5" are referred to as "first turning axis A3", "second turning axis A4" and "third turning axis A5", respectively. You can read it as it is. Then, the "elevation range" may be read as the "movement range".

When such a replacement is performed, that is, when the elevating arm 20 is widely used as a robot 20 that performs an operation not limited to the elevating operation, the configuration of the robot 20 shown in FIG. 5 is as shown below.

That is, the robot 20 includes a first arm 21, a second arm 22, and a third arm 23. The first arm 21 swivels around the first swivel shaft A3. The base end 22e side of the second arm 22 is supported on the tip 21t side of the first arm 21, and the second arm 22 swivels around the second swivel shaft A4 parallel to the first swivel shaft A3. The third arm 23 is supported on the tip 22t side of the second arm 22 and swivels around the third swivel shaft A5 parallel to the second swivel shaft A4.

Further, the first arm 21, the second arm 22, and the third arm 23 are arranged in the order of the first arm 21, the second arm 22, and the third arm 23 when viewed from the direction of the first turning axis A3. The second distance L2, which is the distance between the second swivel shaft A4 and the third swivel shaft A5, is larger than the first distance L1, which is the distance between the first swivel shaft A3 and the second swivel shaft A4.

The tip 22t of the second arm 22 is the base of the first arm 21 in the basic posture in which the extension directions of the first arm 21, the second arm 22, and the third arm 23 overlap each other when viewed from the direction of the first turning axis A3. The length does not exceed the end 21e. The third arm 23 has a length that does not exceed the tip 22t of the second arm 22 in the above-mentioned basic posture.

The third arm 23 includes a rotating portion 23r that rotates the end effector 200 around the first rotating shaft A6 that is perpendicular to the third swivel shaft A5. The first rotating shaft A6 is located closer to the tip 22t of the second arm 22 than the third turning shaft A5 in a coordinated operation posture in which the end effector 200 is moved while maintaining the orientation of the first rotating shaft A6. Further, the angular velocity ratios of the first swivel axis A3, the second swivel axis A4, and the third swivel axis A5 in the robot 20 are "1: -k: k-1 (however, k> 2)" in the cooperative operation posture. is there.

Next, a case where a plurality of robots 100, which are so-called single bowl robots shown in FIG. 1, are arranged, will be described with reference to FIG. FIG. 9 is a schematic diagram showing an arrangement example of a plurality of robots. Although FIG. 9 shows a case where the robot 100A corresponding to the left arm of the dual-arm robot 500 shown in FIG. 4A or the like is arranged, the robot 100B corresponding to the right arm may be arranged.

As shown in FIG. 9, two rows of robots 100A are arranged on the installation table 700 in the direction along the Y axis. In FIG. 9, reference numerals such as 1 and 2 are added to the end of the robot 100A in the first row to describe the robot 100A1 and the robot 100A2. Further, reference numerals such as 11 and 12 are added to the end of the robot 100A in the second row to describe the robot 100A11 and the robot 100A12.

As already described with reference to FIG. 1, the second horizontal arm 12 (see FIG. 1) of the robot 100 is curved so that the elevating arm 20 (see FIG. 1) fits in the region created by the curvature. Have been placed. Therefore, interference with the adjacent robot 100 is unlikely to occur.

By the way, when arranging the robots 100 in two rows, if the robots 100 having opposite bending directions are arranged such that the first row is the right arm and the second row is the left arm, the robots in each row are parallel to the YZ plane. It can have a line-symmetrical configuration with respect to a plane.

However, if the robot 100A corresponding to the right arm (see FIG. 3A) and the robot 100B corresponding to the left arm (see FIG. 3A) are mixed, the robot 100 having two shapes will be manufactured separately, resulting in an increase in cost. Cheap.

Therefore, as shown in FIG. 9, if it is sufficient to manufacture only the robot 100A corresponding to the right arm, or conversely, to manufacture only the robot 100B corresponding to the left arm, the development cost, the manufacturing cost, the transportation cost, etc. The cost can be reduced.

Next, the configuration of the robot system 1 according to the embodiment will be described with reference to FIG. FIG. 10 is a block diagram showing the configuration of the robot system 1. As shown in FIG. 10, the robot system 1 includes a dual-arm robot 500 and a controller 600. The dual-arm robot 500 is connected to the controller 600. As shown in FIG. 3A, the controller 600 may be built in the dual-arm robot 500. Further, the dual-arm robot 500 may be a single bowl robot (for example, the robot 100 in FIG. 1).

The controller 600 includes a control unit 610 and a storage unit 620. The control unit 610 includes an operation control unit 610a. The storage unit 620 stores the teaching information 620a. In FIG. 10, for simplification of the description, one dual-arm robot 500 and one controller 600 are shown, but the operation control of the plurality of dual-arm robots 500 is controlled by one controller. It may be performed by 600, or the operation control of one dual-arm robot 500 may be performed by a plurality of controllers 600. Further, when a plurality of controllers 600 are used, a higher-level controller that bundles each controller may be provided.

Here, the controller 600 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), an input / output port, and various circuits. ..

The CPU of the computer functions as the operation control unit 610a of the control unit 610 by reading and executing the program stored in the ROM, for example. Further, the operation control unit 610a can be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

Further, the storage unit 620 corresponds to, for example, a RAM or an HDD. The RAM or HDD can store the teaching information 620a. The controller 600 may acquire the above-mentioned program and various information via another computer or a portable recording medium connected by a wired or wireless network. Further, as described above, the controller 600 may be configured as a plurality of devices capable of communicating with each other, or may be configured as a hierarchical device capable of communicating with a higher or lower device.

The control unit 610 controls the operation of the dual-arm robot 500. When the controller 600 is composed of a plurality of controllers, the control unit 610 may also perform a process of synchronizing the controllers 600.

The motion control unit 610a operates the dual-arm robot 500 based on the teaching information 620a. The motion control unit 610a improves the motion accuracy of the dual arm robot 500 by performing feedback control while using the encoder value in the actuator such as the motor which is the power source of the dual arm robot 500.

The teaching information 620a is information including a "job" that is created at the teaching stage of teaching the operation to the dual-arm robot 500 and is a program that defines the operation path of the dual-arm robot 500. As shown in FIG. 4 and the like, when both arms are arranged symmetrically, the teaching data for each arm can be shared or inverted. Therefore, according to the robot system 1, it is possible to reduce the labor and cost of generating the teaching information 620a including the teaching data.

As described above, the robot 100 according to one aspect of the embodiment includes a first horizontal arm 11, a second horizontal arm 12, and an elevating arm 20. The first horizontal arm 11 turns around the first axis A1. The base end 12e side of the second horizontal arm 12 is supported by the tip end side of the first horizontal arm 11, and the second horizontal arm 12 rotates around the second axis A2 parallel to the first axis A1. The base end side of the elevating arm 20 is supported on the tip 12t side of the second horizontal arm 12, and the end effector 200 that can be attached to the tip side is raised and lowered. The second horizontal arm 12 is curved in any of the turning directions. The elevating arm 20 is arranged on the curved inner Si of the second horizontal arm 12 in a plan view.

In this way, by arranging the elevating arm 20 on the curved inner Si of the curved second horizontal arm 12, the interference region of the robot 100 can be reduced.

The robot 20 according to another aspect of the embodiment includes a first arm 21, a second arm 22, and a third arm 23. The first arm 21 swivels around the first swivel shaft A3. The base end 22e side of the second arm 22 is supported on the tip 21t side of the first arm 21, and the second arm 22 swivels around the second swivel shaft A4 parallel to the first swivel shaft A3. The third arm 23 is supported on the tip 22t side of the second arm 22 and swivels around the third swivel shaft A5 parallel to the second swivel shaft A4. The first arm 21, the second arm 22, and the third arm 23 are arranged in the order of the first arm 21, the second arm 22, and the third arm 23 when viewed from the direction of the first swivel axis A3. The second distance L2, which is the distance between the second swivel shaft A4 and the third swivel shaft A5, is larger than the first distance L1, which is the distance between the first swivel shaft A3 and the second swivel shaft A4. The tip 22t of the second arm 22 is the base of the first arm 21 in the basic posture in which the extension directions of the first arm 21, the second arm 22, and the third arm 23 overlap each other when viewed from the direction of the first turning axis A3. The length does not exceed the end 21e. The third arm 23 has a length that does not exceed the tip 22t of the second arm 22 in the basic posture.

In this way, by extending the inter-axis distance of the arms without extending the total length of each arm, it is possible to reduce the interference region while expanding the reachable range of the robot 20.

Further effects and modifications can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative examples described and described above. Thus, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Robot system 10 Horizontal arm 11 1st horizontal arm 12 2nd horizontal arm 12e Base end 12t Tip 20 Lifting arm (robot)
21 1st lifting arm (1st arm)
21e Base end 21t Tip 22 Second lifting arm (second arm)
22e base end 22t tip 23 third elevating arm (third arm)
23e Base end 23r Rotating

part 23t Tip

100, 100A, 100B Robot 200 End effector 300 Bogie 310 Wheel 320 Leg 500 Double-armed robot 600 Controller 610 Control unit 610a Motion control unit 620 Storage unit 620a Teaching information 700 Installation base A1 1st axis A2 2nd axis A3 3rd axis (1st swivel axis)
A4 4th axis (2nd swivel axis)
A5 5th axis (3rd turning axis)
A6 6th axis (1st rotation axis)
B Base part H Lifting range M1, M2, M3 Actuator Si Curved inside So Curved outside TL1 1st virtual tangent TL2 2nd virtual tangent W area

Claims

The first horizontal arm that swivels around the first axis,
A second horizontal arm whose base end side is supported by the tip end side of the first horizontal arm and swivels around a second axis parallel to the first axis.
The base end side is supported on the tip end side of the second horizontal arm, and an elevating arm for raising and lowering an end effector that can be attached to the tip end side is provided.
The second horizontal arm is
It is curved in either turning direction and
The elevating arm
A robot characterized in that it is arranged inside the curve of the second horizontal arm in a plan view.
The elevating arm
In a plan view, the first virtual tangent line tangent to the tip side of the curved outer side of the second horizontal arm and the second virtual tangent line tangent to the second horizontal arm are parallel to and farthest from the first virtual tangent line. The robot according to claim 1, wherein the robot fits within an area sandwiched between the tangents.
The elevating arm
A first elevating arm whose base end side is supported by the tip end side of the second horizontal arm and swivels around a third axis perpendicular to the first axis.
A second elevating arm whose base end side is supported by the tip end side of the first elevating arm and swivels around a fourth axis parallel to the third axis.
A third elevating arm supported on the tip end side of the second elevating arm and swiveling around a fifth axis parallel to the fourth axis is provided.
The third elevating arm
The robot according to claim 1 or 2, wherein the robot has a rotating portion for rotating the end effector around a sixth axis perpendicular to the fifth axis.
The first arm that swivels around the first swivel axis and
A second arm whose base end side is supported by the tip end side of the first arm and swivels around a second swivel shaft parallel to the first swivel shaft.
A third arm supported on the tip end side of the second arm and swiveling around a third swivel axis parallel to the second swivel axis is provided.
The first arm, the second arm, and the third arm
The first arm, the second arm, and the third arm are arranged in this order when viewed from the direction of the first turning axis.
The second distance, which is the distance between the second turning shaft and the third turning shaft, is
It is larger than the first distance, which is the distance between the first turning shaft and the second turning shaft.
The second arm
In the basic posture in which the extension directions of the first arm, the second arm, and the third arm overlap each other when viewed from the direction of the first turning axis, the tip has a length that does not exceed the base end of the first arm. Yes,
The third arm
A robot characterized in that in the basic posture, the length does not exceed the tip of the second arm.
The third arm
A rotating portion for rotating the end effector around the first rotating axis perpendicular to the third turning axis is provided.
The first rotation axis is
The fourth aspect of claim 4, wherein the end effector is located on the tip end side of the second arm with respect to the third swivel shaft in a coordinated operation posture in which the end effector is moved while maintaining the direction of the first rotation shaft. robot.
The angular velocity ratios of the first swivel shaft, the second swivel shaft, and the third swivel shaft are
The robot according to claim 5, wherein in the cooperative operation posture, 1: −k: k-1 (where k> 2).
The elevating arm
The robot according to claim 3, wherein the robot is the robot according to claim 4, 5 or 6, wherein the first turning axis is arranged as the third axis.
A pair of robots according to claim 1, 2, 3 or 7.
A base portion that supports the pair of robots on the upper surface side so that the first axes are parallel to each other is provided.
The pair of robots
A dual-arm robot characterized in that the bending directions of the second horizontal arm are opposite to each other.
The second horizontal arm is
The dual-arm robot according to claim 8, wherein the robot is supported on the upper surface side of the first horizontal arm.
The pair of robots
8 or claim 8, wherein each of the elevating arms is opposed to each other and has an outer shape that does not interfere with each other when the tip axis is included in the plane including the first axis and the second axis. The dual-arm robot according to 9.