WO2023228857A1 - Articulated robot, control method for articulated robot, robot system, and method for manufacturing article - Google Patents

Articulated robot, control method for articulated robot, robot system, and method for manufacturing article Download PDF

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Publication number
WO2023228857A1
WO2023228857A1 PCT/JP2023/018592 JP2023018592W WO2023228857A1 WO 2023228857 A1 WO2023228857 A1 WO 2023228857A1 JP 2023018592 W JP2023018592 W JP 2023018592W WO 2023228857 A1 WO2023228857 A1 WO 2023228857A1
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WO
WIPO (PCT)
Prior art keywords
link
axis
motor
robot
drive mechanism
Prior art date
Application number
PCT/JP2023/018592
Other languages
French (fr)
Japanese (ja)
Inventor
亮 田中
真一 稲田
皓太 藤井
宏幸 小島
知秀 繁田
秀行 中西
Original Assignee
ローレルバンクマシン株式会社
ローレル機械株式会社
ローレル精機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2022085994A external-priority patent/JP2023173621A/en
Priority claimed from JP2022085993A external-priority patent/JP2023173620A/en
Priority claimed from JP2022085995A external-priority patent/JP2023173622A/en
Application filed by ローレルバンクマシン株式会社, ローレル機械株式会社, ローレル精機株式会社 filed Critical ローレルバンクマシン株式会社
Publication of WO2023228857A1 publication Critical patent/WO2023228857A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • Articulated robots are known as robots that perform actions similar to humans (see, for example, Patent Document 1).
  • articulated robots are sometimes required to perform movements that exceed those of humans.
  • the robot is made larger in order to widen the area that the tip of the robot can reach, there is a risk that it will not be possible to secure enough space to install the robot. For this reason, it is desired to widen the area that the tip of the robot can reach while suppressing the increase in the size of the robot.
  • An articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link.
  • a first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip.
  • An articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link.
  • a first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip.
  • the present invention it is possible to widen the area that the tip of the robot can reach while suppressing the increase in size of the robot.
  • FIG. 1 is an explanatory diagram for explaining an overview of a robot system according to a first embodiment.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a telescoping mechanism.
  • FIG. 2 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 1.
  • FIG. 2 is a diagram showing an example of the hardware configuration of the robot controller shown in FIG. 1.
  • FIG. It is an explanatory view for explaining an outline of a robot system concerning a 2nd embodiment.
  • 7 is an explanatory diagram for explaining an example of the link shown in FIG. 6.
  • FIG. 7 is an explanatory diagram for explaining another example of the link shown in FIG. 6.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism. It is an explanatory view for explaining an example of the link concerning modification B1. It is an explanatory view for explaining another example of the link concerning modification B1. It is an explanatory view for explaining an outline of a robot system concerning a 4th embodiment.
  • FIG. 2 is an explanatory diagram for explaining an example of a joint mechanism including a telescoping mechanism.
  • 15 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 14.
  • FIG. 1 is an explanatory diagram for explaining an overview of a robot system 1 according to the first embodiment.
  • the body part BDP is an example of a "base”. Further, the link LK1 is an example of a “first link”, and the link LK2 is an example of a “second link”. Therefore, links LK1 and LK2 correspond to "a plurality of links”.
  • Link LK3 is an example of a "tip part.”
  • the joint mechanism AR1 is an example of a "fourth drive mechanism,” and the joint mechanism AR2 is an example of a "fifth drive mechanism.”
  • the joint mechanism AR3 is an example of a "first drive mechanism”
  • the joint mechanism AR5 is an example of a "second drive mechanism.”
  • the direction De1 corresponds to the longitudinal direction of each of the supporting portion LK11, the movable portion LK12, and the movable portion LK13. Moreover, in this embodiment, it is assumed that the direction De11 in which the support portion LK11 extends is the direction De1 in which the link LK1 extends.
  • the joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5 perpendicular to the direction De2 in which the link LK2 extends as a rotation axis.
  • the rotation direction Dr5 in FIG. 1 indicates the rotation direction of the link LK3 when rotating around the axis Ax5.
  • Axis Ax5 is an example of a "second rotation axis.”
  • the direction De2 in which the link LK2 extends corresponds to a specific direction
  • the direction De3 in which the link LK3 extends corresponds to a specific direction.
  • the axis Ax5 corresponds to an axis whose angle with the direction De2 in which the link LK2 extends is larger than a predetermined angle
  • the axis Ax6 corresponds to an axis whose angle with the direction De3 in which the link LK3 extends is a predetermined angle. It corresponds to the following axes.
  • the link LK1 can be expanded and contracted by the expansion and contraction mechanism TE1 provided between the joint mechanism AR2 that rotates the link LK1 and the joint mechanism AR3 that rotates the link LK2.
  • the link LK2 is extended and contracted and the movable portion LK23 is rotated by the extension mechanism TE2 and the joint mechanism AR4 provided between the joint mechanism AR3 and the joint mechanism AR5 that rotates the link LK3.
  • the telescopic mechanisms TE1 and TE2 can widen the reachable area of the robot 10's tip (for example, the end face LK3sf of the link LK3), and the end effector 20 attached to the robot 10 can reach. The area can be expanded.
  • the moving direction of the nut TE21 is switched between the direction Dm2p and the direction Dm2m.
  • the motor MOt2 rotates in the first rotational direction
  • the nut TE21 moves in the direction Dm2p
  • the motor MOt2 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE21 moves in the direction Dm2m.
  • the robot 10 can be controlled with high precision.
  • the link LK2 is configured such that the center of gravity of the movable portion LK23 is located on the axis Ax4 when the movable portion LK23 rotates. In this case, the inertia that occurs when the movable portion LK23 rotates about the axis Ax4 can be reduced, and the deflection, eccentricity, etc. of the entire link LK2 can be further suppressed.
  • link LK2 is not limited to the example shown in FIG. 2.
  • link LK2 contracts, at least a portion of movable portion LK22 may be stored in movable portion LK23.
  • a part of the movable part LK22 may be stored in the support part LK21, and another part of the movable part LK22 may be stored in the movable part LK23.
  • a part of the movable portion LK22 may not be stored inside the support portion LK21 but may be exposed from the support portion LK21.
  • the movable portion LK22 may be configured integrally with the movable portion LK23.
  • the link LK1 includes the support portion LK11, the movable portions LK12 and LK13, the telescoping mechanism TE1, and the motor MOt1.
  • Support portion LK11 is hollow.
  • a telescoping mechanism TE1 is provided inside the support portion LK11.
  • the moving direction of the nut TE11 By switching the rotational direction of the motor MOt1, the moving direction of the nut TE11, that is, the moving direction of the movable portion LK12, is switched between the direction Dm1p and the direction Dm1m.
  • the motor MOt1 rotates in the first rotational direction
  • the nut TE11 moves in the direction Dm1p
  • the motor MOt1 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE11 moves in the direction Dm1m.
  • the support portion LK11 and the movable portion LK12 are integrally constructed, and a telescoping mechanism for moving the movable portion LK13 relative to the integrally constructed support portion LK11 and movable portion LK12 is attached to the link LK1 as a telescoping mechanism TE1. may be provided.
  • FIG. 4 is an explanatory diagram for explaining the advantages of the robot 10 shown in FIG. 1.
  • a robot 10Z vertical 6-axis multi-joint robot
  • the advantages of the robot 10 will be explained using an example of work on articles GD placed on a shelf RK.
  • a robot 10Z which is compared to the robot 10, will be explained.
  • the robot 10Z of the comparative example is the same as the robot 10 except that it has links LK1z and LK2z instead of links LK1 and LK2.
  • Links LK1z and LK2z are fixed at predetermined lengths and do not expand or contract.
  • the length of link LK1z is approximately the same length as link LK1 when link LK1 is contracted to the maximum
  • the length of link LK2z is the length when link LK2 is expanded to the maximum.
  • the length is approximately the same as the length of link LK2 in the case of Note that the length of the link LK1z may be approximately the same length as the length of the link LK1 when the link LK1 is expanded to the maximum extent.
  • the robot 10Z in which one or both of the links LK1z and LK2z are simply made longer without making the links LK1z and LK2z extensible, the robot 10Z itself becomes larger. Therefore, when the robot 10Z is used, the space in which the robot 10Z is installed or the space in which the robot 10Z moves needs to be larger than when the robot 10 is used. Therefore, in a configuration in which the links LK1z and LK2z cannot be extended or contracted (for example, robot 10Z), it is difficult to widen the area that the tip of the robot can reach if space for installing a large robot cannot be secured.
  • the link LK2 expands and contracts, so the area that the tip of the robot 10 (for example, the link LK3) can reach while suppressing the overall size of the robot 10 is suppressed. can be made wider.
  • the robot 10 can be installed even in a narrow place where space for installing the robot 10Z cannot be secured.
  • the robot 10 can work on objects placed close to the robot 10 and work on objects placed far from the robot 10 by expanding and contracting the link LK2. Both tasks can be done efficiently.
  • the robot 10 can linearly move the link LK3 and the end effector 20, as shown by the broken arrow in FIG. 4, by expanding and contracting the link LK2. Therefore, in the present embodiment, even in a narrow space where there are obstacles such as the frame FRM of the shelf RK, the robot 10 can easily work on the article GD placed at the back of the shelf RK by extending and contracting the link LK2. can be done. Furthermore, in this embodiment, for example, the link LK3 and the end effector 20 can be linearly moved by driving the extension mechanism TE2 without simultaneously driving the joint mechanisms AR2 and AR3. Therefore, in the present embodiment, it is possible to suppress the control of the plurality of joint mechanisms AR from becoming complicated, and it is possible to improve the accuracy when moving the link LK3 and the end effector 20 linearly.
  • the link LK1 expands and contracts, so while suppressing the overall size of the robot 10, the area that the tip of the robot 10 can reach is configured so that the link LK1 does not expand or contract. It can be made wider.
  • the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract.
  • the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • FIG. 5 is a diagram showing an example of the hardware configuration of the robot controller 30 shown in FIG. 1.
  • the memory 33 includes, for example, a volatile memory such as a RAM (Random Access Memory) that functions as a work area of the processing device 32, and an EEPROM (Electrically Erasable Programmable Read-On Memory) that stores various information such as a control program PGr. ly Memory) etc. This includes one or both of non-volatile memory.
  • the memory 33 may be removably attached to the robot controller 30.
  • the memory 33 may be a storage medium such as a memory card that is detachable from the robot controller 30.
  • the memory 33 may be, for example, a storage device (for example, online storage) that is communicably connected to the robot controller 30 via a network or the like.
  • the processing device 32 is a processor that controls the entire robot controller 30, and includes, for example, one or more CPUs (Central Processing Units).
  • the processing device 32 controls the operation of the robot 10 by, for example, executing a control program PGr stored in the memory 33 and operating according to the control program PGr.
  • the control program PGr may be transmitted from another device via a network or the like.
  • the processing device 32 when the processing device 32 is configured to include a plurality of CPUs, some or all of the functions of the processing device 32 may be performed by the plurality of CPUs working together according to a program such as the control program PGr. It may be realized by In addition to one or more CPUs, or in place of a part or all of one or more CPUs, the processing device 32 may include a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA ( It may be configured to include hardware such as Field, Programmable, Gate, Array. In this case, part or all of the functions of the processing device 32 may be realized by hardware such as a DSP.
  • a DSP Digital Signal Processor
  • the communication device 34 is hardware for communicating with an external device existing outside the robot controller 30.
  • the communication device 34 has a function of communicating with an external device by short-range wireless communication.
  • the communication device 34 may further have a function of communicating with an external device via a mobile communication network or a network.
  • the operating device 35 is an input device (eg, keyboard, mouse, switch, button, sensor, etc.) that accepts input from the outside.
  • the operating device 35 receives an operation from a worker and outputs operation information corresponding to the operation to the processing device 32.
  • a touch panel that detects contact with the display surface of the display device 36 may be employed as the operating device 35.
  • the display device 36 is an output device such as a display that performs output to the outside.
  • the display device 36 displays images under the control of the processing device 32, for example.
  • the operating device 35 and the display device 36 may have an integrated configuration (for example, a touch panel).
  • the driver circuit 37 is hardware that outputs signals for driving the robot 10 to the robot 10 under the control of the processing device 32.
  • the driver circuit 37 outputs signals for driving the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, MOt2, etc. to the robot 10 under the control of the processing device 32.
  • the motors MOa1, MOa2, MOa2, MOa4, MOa5, and MOa6 are motors that drive the joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, respectively.
  • the motors MOt1 and MOt2 are motors that drive the telescoping mechanisms TE1 and TE2, respectively.
  • the robot controller 30 controls the operation of the robot 10 by controlling the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, and MOt2.
  • the robot 10 includes a body part BDP, a link LK3, a plurality of links LK1 and LK2 that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5.
  • the joint mechanism AR3 connects the link LK1 and the link LK2, and rotates the link LK2 with respect to the link LK1 using an axis Ax3, which is larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis.
  • the joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5, which is larger than a predetermined angle at an angle with the direction De2 in which the link LK2 extends, as a second rotation axis.
  • the link LK2 includes a support portion LK21 connected to the link LK1, a movable portion LK23 connected to the link LK3, a movable portion LK22 that connects the support portion LK21 and the movable portion LK23, a joint mechanism AR4, and a telescopic mechanism TE2. and has.
  • the support portion LK21 is hollow.
  • the link LK2 is retracted, at least a portion of the movable part LK22 is stored inside the support part LK21.
  • the motor MOa4 since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances caused by the revolution of the motor MOa4 itself.
  • the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10 can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10. As a result, in this embodiment, for example, the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • the support portion LK11 is hollow.
  • the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1.
  • the expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the reachable area of the tip for example, link LK3
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4, a motor MOa4 that drives the joint mechanism AR4, and a motor MOa4 that drives the joint mechanism AR4.
  • the operation of the robot 10 is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2. In this manner, in this embodiment, the robot controller 30 can easily control the operation of the robot 10.
  • the robot system 1 includes a robot 10, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10 and the end effector 20.
  • the robot 10 is used in the robot system 1 in which the area reachable by the tip portion (for example, the link LK3) is widened while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10 and operations on objects placed far from the robot 10. It can be carried out.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • the robot 10A is similar to the robot 10 shown in FIG. 1 except that it has a link LK2a instead of the link LK2 shown in FIG.
  • Link LK2a is another example of a "second link.” Below, link LK2a will be mainly explained.
  • the supporting part LK21a is another example of the "first part”
  • the movable part LK22a is another example of the "third part”
  • the movable part LK23a is another example of the "second part”.
  • the joint mechanism AR4a is another example of the "third drive mechanism”.
  • the link LK2a is configured such that the axis Axte2 along which the movable portion LK22a moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22a rotates. .
  • the joint mechanism AR4a is attached to, for example, one of the two ends of the support portion LK21a that is closer to the movable portion LK23a.
  • the joint mechanism AR4a includes a stay AR41a, a transmission shaft AR42a to which rotation of the motor MOa4 is transmitted, and a rotating gear AR47a attached to the transmission shaft AR42a.
  • the stay AR41a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a so as to protrude from the movable part LK22a.
  • a motor MOa4 is attached to a portion of the stay AR41a that protrudes from the movable portion LK22a. That is, the motor MOa4 is attached to the support portion LK21a, which does not move even if the movable portion LK22a moves, via the stay AR41a.
  • the stay AR41a is provided with a transmission shaft AR42a and a rotating gear AR47a.
  • the rotating gear AR47a is attached to the transmission shaft AR42a such that the transmission shaft AR42a is located at the center of the rotating gear AR47a when viewed in plan from the direction De2.
  • a plurality of grooves are provided on the outer periphery of the movable portion LK22a for operating the movable portion LK22a as a gear that meshes with the rotating gear AR47a.
  • Each of the plurality of grooves provided on the outer periphery of the movable portion LK22a extends in the longitudinal direction (direction De2) of the movable portion LK22a.
  • the movable portion LK22a moves relative to the support portion LK21a and the relative position of the rotating gear AR47a with respect to the movable portion LK22a changes, the movable portion LK22a meshes with the rotating gear AR47a. That is, when the link LK2a expands and contracts along the direction De21, the rotary gear AR47a can maintain a state of meshing with the movable part LK22a, no matter where the movable part LK22a stops.
  • the motor MOa4 since the motor MOa4 is attached to the support part LK21a via the stay AR41a, even if the movable parts LK22a and LK23a rotate, it does not rotate about the axis Ax4. Therefore, in this embodiment as well, even if the movable parts LK22a and LK23a rotate about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4, and therefore disturbances occur due to the rotation (revolution). can be restrained from doing so.
  • the nut TE21 fixed to the movable part LK22a rotates together with the movable part LK22a.
  • the ball screw TE22 rotates together with the nut TE21 so that the nut TE21 does not move along the ball screw TE22 as the nut TE21 rotates.
  • the ball screw TE22 is attached to the motor MOt2 so as to idle with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22a is rotated by the joint mechanism AR4a. Thereby, even when the movable part LK22a is rotated by the joint mechanism AR4a, it does not move along the axis Axte2.
  • the transmission shaft AR42a is attached to the motor MOa4 so as not to idle relative to the motor MOa4 when the ball screw TE22 rotates with the rotation of the motor MOt2.
  • the movable part LK22a in a state of meshing with the rotating gear AR47a does not rotate about the axis Ax4 even when the ball screw TE22 rotates. Therefore, when the ball screw TE22 rotates, the nut TE21 fixed to the movable part LK22a does not rotate about the axis Axte2 as the axis of rotation, but rather changes the relative position of the nut TE21 with respect to the ball screw TE22.
  • the movable parts LK22a and LK23a move along the axis Axte2 (ie, direction De21) as the nut TE21 moves.
  • the joint mechanism AR4a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a, and is able to move the movable part LK22a with respect to the support part LK21a regardless of the expansion/contraction state of the link LK2a. It is possible to rotate.
  • link LK2a including the joint mechanism AR4a and the telescoping mechanism TE2 will be described.
  • FIG. 8 is an explanatory diagram for explaining another example of link LK2a shown in FIG. 6. Elements similar to those described in FIGS. 1 to 7 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the upper part of FIG. 8 shows the link LK2a in a contracted state, and the lower part in FIG. 8 shows the link LK2a in an extended state.
  • the link LK2a shown in FIG. 8 is similar to the link LK2a shown in FIG. 7, except that the length of the movable portion LK23a along the direction De21 is shorter than the length of the movable portion LK23a shown in FIG. 7 along the direction De21. It is.
  • the length of the movable portion LK23a along the direction De21 may be shorter than the diameter of the movable portion LK23a, or may be the same as the diameter of the movable portion LK23a.
  • the length (longitudinal length) of the movable portion LK23a along the direction De2 is made long to some extent (for example, longer than the diameter of the movable portion LK23a). This increases the weight of the movable portion LK23a. Thereby, also in this embodiment, the natural vibration frequency of the movable portion LK23a can be made small.
  • the movable portions LK22a and LK23a are integrally configured.
  • the natural vibration frequency of can be reduced.
  • the joint mechanism AR4a is connected to the tip of the robot 10A (for example, the end of the link LK3).
  • the weight of the portion up to the end surface LK3sf) can be reduced.
  • the length of the support portion LK21a and the movable portion LK22a along the direction De21 is lengthened.
  • the expansion/contraction range of the link LK2a can be increased.
  • the expansion/contraction range of the link LK2a is, for example, the difference between the length of the link LK2a along the direction De2 when the link LK2a is contracted to the maximum and the length of the link LK2a along the direction De2 when the link LK2a is expanded to the maximum.
  • the range corresponds to
  • the joint mechanism AR4a rotates the movable part LK22a with respect to the support part LK21a using the axis Ax4, which has an angle equal to or less than a predetermined angle with the direction De21 in which the support part LK21a extends, as a third rotation axis, thereby rotating the movable part LK23a. is rotated relative to the support portion LK21a.
  • the expansion/contraction mechanism TE2 expands/contracts the link LK2a by moving the movable portion LK22a with respect to the support portion LK21a along the extending direction (direction De21) of the support portion LK21a. Also in this embodiment, the same effects as in the first embodiment described above can be obtained.
  • the movable part LK22b is hollow.
  • a motor MOa4 is attached inside the movable part LK22b. Therefore, in this modification, the transmission shaft AR42, pulley AR43, pulley AR44, and timing belt AR45 shown in FIG. 2 can be omitted, and the configuration of the joint mechanism AR4b can be simplified.
  • the joint mechanism AR4b includes a motor fixed portion AR41b provided at an end closer to the movable portion LK23 of the two ends of the movable portion LK22b (that is, near the boundary between the movable portion LK22b and the movable portion LK23); It has a transmission shaft AR46 and a gear AR47.
  • the transmission shaft AR46 is attached to the motor MOa4 so that the rotation of the motor MOa4 is transmitted. Further, the transmission shaft AR46 is connected to the movable portion LK23 via a gear AR47. Thereby, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK23 via the transmission shaft AR46 and the gear AR47. As a result, the movable portion LK23 rotates about the axis Ax4. Note that since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, it does not rotate about the axis Ax4. Therefore, in this modification as well, even when the movable portion LK23 rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the link LK2b can be configured such that the center of gravity of the entire link LK2b is located on the axis Ax4 when the movable portion LK23 rotates. In this case, for example, it is possible to suppress the deflection of the link LK2b when the link LK2b is expanded or contracted by the expansion mechanism TE2.
  • the length of the ball screw TE22 along the direction De21 is determined so that the ball screw TE22 does not interfere with the motor MOa4 even when the link LK2b is contracted to the maximum. For example, if the length of the movable portion LK22b along the direction De21 is the same as the length of the movable portion LK22 along the direction De21 shown in FIG. It is shorter than the length along direction De21 of TE22.
  • link LK2b is not limited to the example shown in FIG. 9.
  • the movable portion LK22b may be configured to cover the outer periphery of the support portion LK21 by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22.
  • link LK2b contracts, at least a portion of support portion LK21 may be stored in movable portion LK22b.
  • the movable portion LK12 covers the outer periphery of the support portion LK11, and when the link LK1 contracts, at least a portion of the support portion LK11 becomes the movable portion. It may be configured to be stored in LK12.
  • a 6-axis 2-extensible articulated robot in which two extension mechanisms TE1 and TE2 are added to a vertical 6-axis articulated robot is illustrated as the robot 10 or 10A, but the present invention does not apply to such an aspect. It is not limited to.
  • the robot 10 or 10A may be a 6-axis, 1-extension, multi-joint robot obtained by adding one extension/contraction mechanism TE2 to a vertical 6-axis, multi-joint robot.
  • the robot 10 or 10A may have a configuration in which two telescopic mechanisms TE1 and TE2 are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2 is added to an articulated robot with seven or more axes. It may be an additional configuration.
  • the robot 10 or 10A may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10 or 10A may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3.
  • FIG. 10 is an explanatory diagram for explaining an overview of the robot system 1 according to the third embodiment.
  • the robot system 1 includes, for example, a robot 10B, an end effector 20 that is detachably attached to the robot 10B, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20.
  • the robot 10B is an example of an "articulated robot.”
  • the robot 10B is similar to the robot 10 shown in FIG. 1, except that it has a link LK2c instead of the link LK2 shown in FIG.
  • Link LK2c is an example of a "second link.” Therefore, links LK1 and LK2c correspond to "a plurality of links”. Below, link LK2c will be mainly explained. In addition, below, link LK2c may be called link LK2.
  • the link LK2c is configured to be expandable and contractible, for example, along the direction De2 in which the link LK2c extends.
  • the link LK2c includes a support portion LK21c connected to the link LK1, movable portions LK22c and LK23c, a telescoping mechanism TE2c, and a joint mechanism AR4c.
  • Movable portion LK22c connects support portion LK21c and movable portion LK23c.
  • Movable part LK23c is connected to link LK3.
  • a case is assumed in which each of the support portion LK21c, the movable portion LK22c, and the movable portion LK23c extends along the direction De2.
  • the direction De2 corresponds to the longitudinal direction of each of the supporting portion LK21c, the movable portion LK22c, and the movable portion LK23c. Furthermore, in this embodiment, it is assumed that the direction De22 in which the movable portion LK22c extends is the direction De2 in which the link LK2c extends.
  • the telescopic mechanism TE2c connects the movable part LK22c and the movable part LK23c, and moves the movable part LK23c with respect to the movable part LK22c along the direction De22 in which the movable part LK22c extends.
  • the link LK2c expands and contracts along the direction De22 (namely, the direction De2).
  • Direction Dm2 in FIG. 10 indicates the expansion/contraction direction (direction along direction De2) of link LK2c.
  • the joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4 parallel to the direction De21 in which the support portion LK21c extends as a rotation axis.
  • the rotation direction Dr4 in FIG. 10 indicates the rotation direction of the movable portion LK22c when rotating around the axis Ax4.
  • the movable part LK23c is connected to the movable part LK22c so as to rotate together with the movable part LK22c.
  • FIG. 11 is an explanatory diagram for explaining an example of the link LK2c including the joint mechanism AR4c and the telescopic mechanism TE2c.
  • the upper part of FIG. 11 shows the link LK2c in a contracted state, and the lower part of FIG. 11 shows the link LK2c in an expanded state.
  • the link LK2c drives the support portion LK21c, the movable portions LK22c and LK23c, the telescopic mechanism TE2c, the joint mechanism AR4c, the motor MOa4 that drives the joint mechanism AR4c, and the telescopic mechanism TE2c.
  • Movable portion LK22c is hollow.
  • a telescopic mechanism TE2c is provided inside the movable portion LK22c.
  • the motor MOt2 is attached inside the movable portion LK22c, and the motor MOa4 is attached inside the supporting portion LK21c.
  • Motor MOa4 is an example of a "first motor”
  • motor MOt2 is an example of a "second motor.”
  • the telescopic mechanism TE2c includes, for example, a nut TE21 fixed to one of the two ends of the movable part LK23c that is closer to the support part LK21c, and a ball screw extending along the direction De22 and inserted into the nut TE21. TE22.
  • the ball screw TE22 is attached to the motor MOt2, for example, so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22c.
  • the ball screw TE22 rotates about the axis Axte2 as the motor MOt2 rotates.
  • the axis Axte2 is, for example, the central axis of the ball screw TE22.
  • the nut TE21 moves along the axis Axte2 as the ball screw TE22 rotates. Since the nut TE21 is fixed to the movable portion LK23c, the movable portion LK23c moves along the axis Axte2 (ie, the direction De22) as the nut TE21 moves. In this way, the ball screw TE22 movably supports the movable portion LK23c.
  • the movable portion LK23c is configured to be able to store the ball screw TE22.
  • the central axis of the movable portion LK23c is the same axis as the central axis of the ball screw TE22, that is, the axis Axte2.
  • the movable portion LK23c is connected to the movable portion LK22c so as not to rotate about the axis Axte2 even when the ball screw TE22 rotates.
  • the nut TE21 fixed to the movable portion LK23c moves along the axis Axte2 as the ball screw TE22 rotates, as described above.
  • link LK2c extends in direction Dm2p.
  • the link LK2c extends at most by approximately the same length as the length of the movable portion LK23c.
  • the motor MOt2 is connected to the support portion of the two ends of the movable portion LK22c so that the movable portion LK23c does not move in the direction Dm2 even when the telescopic mechanism TE2c performs a telescopic operation to move the movable portion LK23c in the direction Dm2p or Dm2m. It is attached to the end near LK21c. That is, the motor MOt2 is attached to one of the two ends of the movable portion LK22c that is closer to the support portion LK21c so that the movable portion LK23c does not move in the direction Dm2 even if the movable portion LK23c moves in the direction Dm2p or Dm2m. .
  • the joint mechanism AR4c is attached to, for example, one of the two ends of the support portion LK21c that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21c and the movable portion LK22c).
  • the joint mechanism AR4c includes a motor fixed portion AR48, a transmission shaft AR46, and a gear AR47.
  • a motor MOa4 disposed inside the support portion LK21c is fixed to a motor fixed portion AR48 provided at the end closer to the movable portion LK22c of the two ends of the support portion LK21c. In this way, since the motor MOa4 is fixed to the support portion LK21c, it does not move in the direction Dm2 even when the expansion and contraction mechanism TE2c performs an expansion and contraction operation.
  • the motor MOa4 is attached to the support part LK21c, even if the joint mechanism AR4c performs a rotation operation of rotating the movable part LK22c with the axis Ax4 as the rotation axis, it cannot rotate with the axis Ax4 as the rotation axis. There isn't. Therefore, in the present embodiment, even when the movable portion LK22c rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the influence of disturbances such as external vibrations on eccentricity and speed control in the rotational movement is greater than in the turning movement by the joint mechanisms AR2, AR3, or AR5.
  • the relative positions of the motor MOa4 and the joint mechanism AR4c with respect to the movable portion LK22c do not change. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances that affect the rotational movement of the joint mechanism AR4c, and it is possible to accurately control the rotational movement of the joint mechanism AR4c. That is, in this embodiment, the robot 10B can be controlled with high precision.
  • the rotation axis of the movable portion LK22c is parallel to the central axis of the movable portion LK23c.
  • the axis Axte2 (the central axis of each of the ball screw TE22, the movable part LK22c, and the movable part LK23c) when the movable part LK23c moves is the same axis as the axis Ax4 when the movable part LK22c rotates, or They are configured to have almost the same axis.
  • the robot 10B can be controlled with high precision.
  • the link LK2c is configured such that the center of gravity of the movable parts LK22c and LK23c is located on the axis Ax4 when the movable part LK22c rotates. In this case, the inertia that occurs when the movable parts LK22c and LK23c rotate about the axis Ax4 can be reduced, and the deflection and eccentricity of the entire link LK2c can be further suppressed.
  • the expansion and contraction of the link LK2c is realized by moving the movable part LK23c along the axis Axte2 with respect to the movable part LK22c, and the rotation of the link LK2c is achieved by moving the movable part LK22c around the axis Ax4 as the rotation axis. This is achieved by rotating as .
  • the objects to be controlled when extending, contracting and rotating the link LK2c are separated into the movable portion LK22c and the movable portion LK23c, so that the control of the motors MOt2 and MOa4 for moving the link LK2c is difficult. Complications can be suppressed.
  • the length (longitudinal length) of the movable parts LK22c and LK23c along the direction De2 is made long to a certain extent (for example, longer than the diameter of the movable part LK22c), so that the movable parts LK22c and LK23c is increasing the weight.
  • the natural vibration frequency of the movable parts LK22c and LK23c can be reduced.
  • vibrations generated during work by the end effector 20 attached to the link LK3 can be absorbed, and vibrations of the link LK3 and the end effector 20 can be suppressed.
  • the natural vibration frequencies of the movable parts LK22c and LK23c are small, vibrations in the portion of the robot 10B from the joint mechanism AR5 to the base part BSP are suppressed from propagating to the link LK3 and the end effector 20. can do.
  • the operational accuracy of the link LK3 and the end effector 20 while the links LK1 and LK2c are being extended, contracted or extended may be important. In this case, it is important to increase the length of the movable parts LK22c and LK23c along the direction De2 and the weight of the movable parts LK22c and LK23c to some extent.
  • link LK2c is not limited to the example shown in FIG. 11.
  • a part of the movable portion LK23c may not be stored inside the movable portion LK22c, but may be exposed from the movable portion LK22c.
  • the movable portion LK23c may be configured to cover the outer periphery of the movable portion LK22c by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22.
  • the motor MOa4 may be arranged outside the support portion LK21c.
  • the robot 10B includes a body part BDP, a link LK3, a plurality of links LK1 and LK2c that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5.
  • the joint mechanism AR3 connects the link LK1 and the link LK2c, and rotates the link LK2c with respect to the link LK1 using an axis Ax3, which makes an angle larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis.
  • the joint mechanism AR5 connects the link LK2c and the link LK3, and rotates the link LK3 with respect to the link LK2c using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2c extends, as a second rotation axis.
  • the link LK2c includes a supporting portion LK21c connected to the link LK1, a movable portion LK23c connected to the link LK3, a movable portion LK22c connecting the supporting portion LK21c and the movable portion LK23c, a joint mechanism AR4c, and a telescopic mechanism TE2c. and has.
  • the joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21c extends, as a third rotation axis.
  • the expansion/contraction mechanism TE2c expands/contracts the link LK2c by moving the movable part LK23c with respect to the movable part LK22c along the extending direction (direction De22) of the movable part LK22c.
  • the rotation of the movable portion LK22c of the link LK2c is performed by the joint mechanism AR4c, and the expansion and contraction of the link LK2c is performed by the expansion and contraction mechanism TE2c. Therefore, in this embodiment, it is possible to suppress the rotation of the movable portion LK22c of the link LK2c and the control of the expansion and contraction of the link LK2c from becoming complicated.
  • the robot 10B further includes a motor MOa4 that drives the joint mechanism AR4c, and a motor MOt2 that drives the telescoping mechanism TE2c.
  • the motor MOa4 is configured not to move in the expansion/contraction direction (direction Dm2) of the link LK2c even when the link LK2c expands or contracts, and in the rotational direction Dr4 of the movable portion LK22c even when the movable portion LK22c rotates with respect to the support portion LK21c. It is attached to one of the two ends of the support part LK21c, which is closer to the movable part LK22c, so as not to move.
  • the third rotation axis (axis Ax4) of the movable portion LK22c when the movable portion LK22c is rotated by the joint mechanism AR4c is parallel to the central axis of the movable portion LK23c.
  • the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10B can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10B. As a result, in this embodiment, for example, the robot 10B can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10B moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • the support portion LK11 is hollow.
  • the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • the robot 10B further includes a joint mechanism AR1 and a joint mechanism AR2.
  • the joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis.
  • the joint mechanism AR2 connects the body part BDP and the link LK1, and connects the link LK1 to the body part with an axis Ax2 that is larger than a predetermined angle at an angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP as a fifth rotation axis. Rotate against BDP.
  • the link LK3 is configured to rotate at least a portion of the link LK3 by using an axis Ax6 as a sixth rotation axis, which makes an angle with the second rotation axis (axis Ax5) of the link LK that is larger than a predetermined angle when the link LK3 is rotated by the joint mechanism AR5.
  • the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2c, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1.
  • the expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the reachable area of the tip for example, link LK3
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3,
  • the operation of the robot 10B is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2c. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10B.
  • the robot system 1 includes a robot 10B, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20.
  • the robot 10B is used in the robot system 1, with the robot 10B having a wider area reachable by the tip (for example, the link LK3) while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10B and operations on objects placed far from the robot 10B. It can be carried out.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • FIG. 12 is an explanatory diagram for explaining an example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10B has a link LK2d instead of the link LK2c shown in FIG.
  • the upper part of FIG. 12 shows the link LK2d in a contracted state, and the lower part of FIG. 12 shows the link LK2d in an extended state.
  • Link LK2d is another example of a "second link.”
  • link LK2d may be called link LK2.
  • the link LK2d is the same as the link LK2c shown in FIG. 11, except that it has a support portion LK21d and a joint mechanism AR4d instead of the support portion LK21c and joint mechanism AR4c shown in FIG.
  • the support part LK21d is another example of the "first part”
  • the joint mechanism AR4d is another example of the "seventh drive mechanism”.
  • FIG. 12 the support portion LK21d and the joint mechanism AR4d will be mainly explained.
  • the link LK2d includes a support portion LK21d, movable portions LK22c and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4d, a motor MOa4, and a motor MOt2.
  • the joint mechanism AR4d is attached to, for example, one of the two ends of the support portion LK21d that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21d and the movable portion LK22c).
  • the joint mechanism AR4d includes a stay AR41, a transmission shaft AR42 to which the rotation of the motor MOa4 is transmitted, pulleys AR43 and AR44, a timing belt AR45, a transmission shaft AR46 to which the rotation of the pulley AR44 is transmitted, and a gear AR47. and has.
  • the stay AR41 is attached to the end closer to the movable part LK22c of the two ends of the support part LK21d so as to protrude from the support part LK21d.
  • a motor MOa4 is attached to a portion of the stay AR41 that protrudes from the support portion LK21d. That is, the motor MOa4 is attached via the stay AR41 to the support portion LK21d that does not move even if the movable portion LK23c moves.
  • pulleys AR43 and AR44 are provided in parallel on the stay AR41.
  • pulley AR43 is attached to transmission shaft AR42.
  • the pulley AR44 is arranged so that the entire pulley AR44 overlaps the movable portion LK22c when viewed in plan from the direction De2.
  • Timing belt AR45 connects pulley AR43 and pulley AR44 so that rotation of pulley AR43 is transmitted to pulley AR44.
  • a transmission shaft AR46 is attached to the pulley AR44.
  • the central axis of the transmission shaft AR46 corresponds to the axis Ax4.
  • the transmission shaft AR46 is connected to the movable portion LK22c via a gear AR47.
  • the rotation of the motor MOa4 is transmitted to the movable part LK22c via the transmission shaft AR42, pulley AR43, timing belt AR45, pulley AR44, transmission shaft AR46, and gear AR47.
  • the movable portion LK22c rotates about the axis Ax4.
  • the stay AR41 is rotatably attached to the support portion LK21d with respect to the movable portion LK22c. Therefore, even if the movable portion LK22c rotates about the axis Ax4, the motor MOa4 and stay AR41 do not rotate about the axis Ax4. Therefore, even in the example shown in FIG.
  • FIG. 13 is an explanatory diagram for explaining another example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 to 12 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10B has a link LK2e instead of the link LK2c shown in FIG.
  • the upper part of FIG. 13 shows the link LK2e in a contracted state, and the lower part in FIG. 13 shows the link LK2e in an extended state.
  • Link LK2e is another example of a "second link.”
  • link LK2e may be called link LK2.
  • the link LK2e is similar to the link LK2c shown in FIG. 11, except that it has a supporting portion LK21e, a movable portion LK22e, and a joint mechanism AR4e instead of the supporting portion LK21c, movable portion LK22c, and joint mechanism AR4c shown in FIG. be.
  • the support part LK21e is another example of the "first part”
  • the movable part LK22e is another example of the "third part”
  • the joint mechanism AR4e is another example of the "seventh drive mechanism”.
  • FIG. 13 the supporting portion LK21e, the movable portion LK22e, and the joint mechanism AR4e will be mainly described.
  • the link LK2e includes a support portion LK21e, movable portions LK22e and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4e, a motor MOa4, and a motor MOt2.
  • Movable portion LK22e is hollow.
  • a telescopic mechanism TE2c is provided inside the movable portion LK22e.
  • the telescoping mechanism TE2c is similar to the telescoping mechanism TE2c shown in FIG. 11.
  • the joint mechanism AR4e is attached to, for example, one of the two ends of the support portion LK21e that is closer to the movable portion LK22e (that is, near the boundary between the support portion LK21e and the movable portion LK22e).
  • the joint mechanism AR4e includes a stay AR41e, a transmission shaft AR42e to which rotation of the motor MOa4 is transmitted, and a gear AR47e attached to the transmission shaft AR42e.
  • the movable portion LK23c is connected to the movable portion LK22e so as to rotate together with the movable portion LK22e, the movable portion LK23c rotates integrally with the movable portion LK22e.
  • the motor MOa4 is attached to the support portion LK21e via the stay AR41e, even if the movable portions LK22e and LK23c rotate, the motor MOa4 does not rotate about the axis Ax4 as the rotation axis. Therefore, in the example shown in FIG. 13 as well, even when the movable portion LK22e rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the link LK2e is configured such that the axis Axte2 along which the movable portion LK23c moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22e rotates. ing.
  • the gear AR47e that transmits the rotation of the motor MOa4 to the movable part LK22e is provided outside the movable part LK22e, so the length of the ball screw TE22 along the direction De22 is the link LK2c shown in FIG. It can be longer than . Therefore, in the link LK2e shown in FIG. 13, the expansion/contraction range of the link LK2e can be made larger than that of the link LK2c shown in FIG. 11.
  • the expansion/contraction range of the link LK2e is the length of the link LK2e along the direction De2 when the link LK2e is contracted to the maximum, and the length of the link LK2e along the direction De2 when the link LK2e is expanded to the maximum. This is the range corresponding to the difference between
  • the configuration of the link LK2 according to this modification is not limited to the example shown in FIGS. 12 and 13.
  • the motor MOt2 may be arranged outside the movable part LK22e and inside the support part LK21e.
  • the ball screw TE22 is attached to the motor MOt2 so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22e.
  • the motor MOt2 can be placed outside the movable part LK22e and the support part LK21e. good.
  • the ball screw TE22 is attached to the motor so that it idles with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22e is rotated by the joint mechanism AR4e. Attached to MOt2. Thereby, the movable portion LK23c does not move along the axis Axte2 even when the movable portions LK22e and LK23c are rotated by the joint mechanism AR4e.
  • the length of the ball screw TE22 along the direction De22 can be increased, so that the expansion/contraction range of the link LK2e can be increased. Furthermore, in a configuration in which the motor MOt2 is arranged outside the movable portion LK22e, when the link LK2e contracts, a part of the movable part LK23c is stored in the support part LK21e, and another part of the movable part LK23c is moved to the movable part LK22e. may be stored in That is, in a configuration in which the motor MOt2 is disposed outside the movable portion LK22e, the length of the movable portion LK23c may be longer than the length of the movable portion LK22e.
  • the robot 10B according to this modification is the same as the robot 10B shown in FIG. 10, except that it has a link LK2d or LK2e instead of the link LK2c shown in FIG.
  • the robot 10B may have a configuration in which two telescopic mechanisms TE1 and TE2c are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2c is added to an articulated robot with seven or more axes. It may be a configuration.
  • the robot 10B may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10B may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10B has include links LK1 and LK2. Three or more links excluding link LK3 correspond to "multiple links".
  • the articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a drive mechanism a second drive that connects the second link and links other than the first link and the second link among the plurality of links, or connects the second link and the tip portion; a second drive mechanism that rotates the tip with respect to the second link using an axis that makes an angle with the direction in which the second link extends larger than the predetermined angle as a second rotation axis; , wherein the second link is connected to a first portion connected to the first link and a link other than the first link and the second link among the plurality of links or to the tip portion.
  • the third rotation axis is an axis where the angle between the second part, the third part connecting the first part and the second part, and the direction in which the first part extends is equal to or less than the predetermined angle.
  • a seventh drive mechanism that rotates the third portion relative to the first portion; and a seventh drive mechanism that moves the second portion relative to the third portion along the extending direction of the third portion. It is characterized by including a third expansion and contraction mechanism that expands and contracts the second link.
  • the third portion is hollow, and when the second link contracts, at least a portion of the second portion is stored inside the third portion. It may also be characterized by
  • Appendix 1-3 The articulated robot according to Appendix 1-1 or Appendix 1-2, further comprising a first motor that drives the seventh drive mechanism and a second motor that drives the third telescoping mechanism,
  • the motor is configured to move the third end of the two ends of the first portion so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts.
  • the second motor is attached to an end close to the third link so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts. It may be characterized in that it is attached to one of the two ends of the part that is closer to the first part.
  • a third rotation axis of the third portion when the third portion is rotated by the seventh drive mechanism is parallel to a central axis of the second portion. This may be a feature.
  • the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion and the fifth portion.
  • a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
  • the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
  • a fourth drive for rotating at least a portion of the base about an axis having an angle less than or equal to the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that connects the base and the first link, the fifth rotation axis being an axis that is larger than the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that rotates the first link relative to the base; the distal end is connected to the second link, and the distal end is rotated by the second drive mechanism; a sixth drive mechanism that rotates at least a portion of the distal end with respect to the second link using an axis that makes an angle larger than the predetermined angle with the second rotation axis as a sixth rotation axis;
  • the links may be the first link and the second link.
  • the first link includes a fourth portion connected to the base, a fifth portion connected to the second link, and the fourth portion and the fifth portion.
  • a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
  • Appendix 1-11 The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 1-10.
  • FIG. 14 is an explanatory diagram for explaining an overview of the robot system 1 according to the fourth embodiment.
  • the link LK1a is an example of a "first link”
  • the link LK2f is an example of a "second link.” Therefore, links LK1a and LK2f correspond to "a plurality of links”.
  • the joint mechanism AR3t is an example of a "first drive mechanism” and a "drive mechanism”
  • the joint mechanism AR4f which will be described later, is an example of an "eighth drive mechanism.”
  • the movable portion LK13a is an example of a “fifth portion”. Below, the joint mechanism AR3t will be mainly explained.
  • the link LK2f includes, for example, a support portion LK21f connected to the link LK1a, a movable portion LK22f connected to the link LK3, and a joint mechanism AR4f.
  • a case is assumed in which each of the support portion LK21f and the movable portion LK22f extends along the direction De2. That is, the direction De2 corresponds to the longitudinal direction of each of the support portion LK21f and the movable portion LK22f.
  • the direction De21 in which the support portion LK21f extends is the direction De2 in which the link LK2f extends.
  • FIG. 15 is an explanatory diagram for explaining an example of the joint mechanism AR3t including the telescopic mechanism TE3.
  • the upper part of FIG. 15 shows the joint mechanism AR3t in a contracted state, and the lower part of FIG. 15 shows the joint mechanism AR3t in an extended state.
  • the direction Dm3 indicating the relative moving direction of the link LK2f with respect to the link LK1a is distinguished by adding "p" or "m" to the end of the symbol. It shows.
  • the direction Dm3m indicates the direction in which the joint mechanism AR3t contracts
  • the direction Dm3p is the opposite direction to the direction Dm3m and indicates the direction in which the joint mechanism AR3t extends. Note that from FIG. 15 onward, directions Dm3m and Dm3p may be referred to as direction Dm3 without particular distinction.
  • the joint mechanism AR3t includes a swing mechanism RE1, a telescoping mechanism TE3, a motor MOa3 that drives the swing mechanism RE1, and a motor MOt3 that drives the telescoping mechanism TE3.
  • the telescopic mechanism TE3 connects, for example, a nut TE31, a ball screw TE32 extending along the direction Dm3, a movable portion LK13a of the link LK1a and a supporting portion LK21f of the link LK2f. and a connecting portion TE33.
  • the connecting portion TE33 is hollow.
  • a nut TE31 and a motor MOa3 are attached inside the connecting portion TE33.
  • the motor MOt3 is attached to the outside of the movable portion LK13a such that the movable portion LK13a is located between the motor MOt3 and the support portion LK21f in the direction Dm3.
  • the movable part LK13a is configured to be able to store a part of the connecting part TE33, as shown in the upper part of FIG.
  • the nut TE31 is fixed to one of the two ends of the connecting portion TE33, which is farthest from the link LK2f.
  • the ball screw TE32 is attached to the motor MOt3, for example, so that the center axis of the ball screw TE32 coincides with the center axis of the connecting portion TE33, and is inserted through the nut TE31.
  • the ball screw TE32 rotates about the axis Axte3 as the motor MOt3 rotates.
  • the axis Axte3 is, for example, the central axis of the ball screw TE32, that is, the central axis of the connecting portion TE33.
  • the nut TE31 moves along the axis Axte3 as the ball screw TE32 rotates. Since the nut TE31 is fixed to the connecting portion TE33, the connecting portion TE33 moves along the axis Axte3 (ie, the direction Dm3) as the nut TE31 moves. In this way, the ball screw TE32 movably supports the connecting portion TE33.
  • the connecting portion TE33 is configured to be able to store the ball screw TE32. Further, the connecting portion TE33 is connected to the movable portion LK13a and the supporting portion LK21f so as not to rotate about the axis Axte3 even when the ball screw TE32 rotates. As a result, the nut TE31 fixed to the connecting portion TE33 moves along the axis Axte3 as the ball screw TE32 rotates, as described above.
  • the moving direction of the nut TE31 By switching the rotational direction of the motor MOt3, the moving direction of the nut TE31, that is, the moving direction of the connecting portion TE33, is switched between the direction Dm3p and the direction Dm3m.
  • the motor MOt3 rotates in the first rotational direction
  • the nut TE31 moves in the direction Dm3p
  • the motor MOt3 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE31 moves in the direction Dm3m.
  • the joint mechanism AR3t extends in the direction Dm3p.
  • the joint mechanism AR3t extends at most by approximately the same length as the length of the movable portion LK13a in the direction Dm3.
  • the supporting portion LK21f of the link LK2f is attached to the connecting portion TE33 so that its relative position in the direction Dm3 to the connecting portion TE33 does not change and is rotatable relative to the connecting portion TE33 with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3t in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
  • the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33 is exposed from the movable portion LK13a, as the nut TE31 moves, the connecting portion TE33 It is gradually stored inside the movable part LK13a.
  • the joint mechanism AR3t contracts in the direction Dm3m.
  • the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
  • the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is exposed from the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
  • the motor MOa3 that drives the turning mechanism RE1 is attached inside the connecting portion TE33, and is fixed to one of the two ends of the connecting portion TE33, which is closer to the support portion LK21f. Therefore, when the expansion and contraction mechanism TE3 performs an expansion and contraction operation, the motor MOa3 moves in the direction Dm3p or Dm3m together with the connecting portion TE33.
  • the turning mechanism RE1 is attached, for example, to the end closer to the connecting portion TE33 of the two ends of the support portion LK21f of the link LK2f.
  • the turning mechanism RE1 includes a transmission shaft RE11 and a connecting portion RE12.
  • the connecting portion RE12 is, for example, configured integrally with the supporting portion LK21f.
  • the support portion LK21f and the connecting portion RE12 may be integrally formed by one member, or may be integrally formed by mutually different members.
  • the transmission shaft RE11 is attached to the motor MOa3 so that the rotation of the motor MOa3 is transmitted. Further, the transmission shaft RE11 is connected to the support portion LK21f via a connecting portion RE12. Thereby, for example, when the motor MOa3 rotates, the rotation of the motor MOa3 is transmitted to the support portion LK21f via the transmission shaft RE11 and the connecting portion RE12. As a result, the support portion LK21f rotates about the axis Ax3.
  • the joint mechanism AR3t (more specifically, the turning mechanism RE1) rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33.
  • the support portion LK21f is rotatable with respect to the connection portion TE33 to which the motor MOa3 is attached. Therefore, the motor MOa3 does not rotate about the axis Ax3 as the rotation axis even when the joint mechanism AR3t performs a rotation operation of rotating the support portion LK21f about the axis Ax3. Therefore, in the present embodiment, even when the support portion LK21f rotates about the axis Ax3, it is possible to suppress the disturbance caused by the rotation of the motor MOa3 itself.
  • the motor MOa3 moves between the two connecting portions TE33 so as to move along the direction Dm3 together with the connecting portion TE33 when the expanding/contracting mechanism TE3 performs an expanding/contracting operation. It is fixed to one of the ends near the support portion LK21f. For example, if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f that rotates according to the rotation of the motor MOa3 is long, or if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f is short The disturbance associated with rotation is larger than that of .
  • the movement of the link LK2f with respect to the link LK1a is realized by the connection portion TE33 moving with respect to the link LK1a along the axis Axte3
  • the rotation of the link LK2f is realized by the support portion LK21f moving along the axis Axte3 with respect to the link LK1a. This is achieved by rotating as a rotation axis.
  • the control of the motors MOt3 and MOa3 for moving the link LK2f is controlled. It is possible to suppress complexity.
  • the configuration of the joint mechanism AR3t is not limited to the example shown in FIG. 15.
  • a part of the connecting portion TE33 may be exposed from the movable portion LK13a without being stored inside the movable portion LK13a.
  • the expansion/contraction mechanism TE3 is not limited to the configuration shown in FIG. 15 as long as the joint mechanism AR3t can be expanded/contracted.
  • link LK1a will be explained in FIG. 3 by replacing the link LK1 and the movable portion LK13 shown in FIG. 3 with the link LK1a and the movable portion LK13a, respectively.
  • FIG. 16 is an explanatory diagram for explaining the advantages of the robot 10C shown in FIG. 14.
  • the +Y direction and the -Y direction may be referred to as the Y direction without any particular distinction
  • the +X direction and the -X direction may be referred to as the X direction without any particular distinction
  • the +Z direction and the -Z direction may be referred to as the Z direction without any particular distinction.
  • FIG. 16 the advantages of the robot 10C will be explained using an example of a task of moving an article GD placed on pallet PL1 of pallets PL1 and PL2 placed on the workbench WB along the X direction to pallet PL2. .
  • a vertical six-axis articulated robot (hereinafter also referred to as a vertical six-axis articulated robot as a comparison example) that is compared with the robot 10C will be described.
  • the vertical six-axis multi-joint robot in contrast is a robot in which the telescoping mechanisms TE1 and TE3 are omitted from the robot 10C.
  • the vertical 6-axis articulated robot is provided with the telescoping mechanism TE3, so while retaining the advantages of the vertical 6-axis articulated robot (ability to perform complex tasks, miniaturization, etc.), simple It is possible to prevent the control of the robot 10C from becoming complicated when performing work.
  • the robot controller 30 drives the telescopic mechanism TE3 among the plurality of motors. It is sufficient to control only the motor MOt3. Therefore, in this embodiment, the robot 10C can be controlled accurately and at high speed. Specifically, the robot 10C grips the article GD placed on the pallet PL1 in a state where the direction Dm3 along the axis Ax3 (the direction Dm3 in which the joint mechanism AR3t expands and contracts) is parallel to the X direction. Then, the robot 10C extends the joint mechanism AR3t in the direction Dm3p using the extension mechanism TE3.
  • the portion of the robot 10C from the link LK2f to the end effector 20 moves horizontally in the direction Dm3p (ie, the X direction).
  • the article GD gripped by the end effector 20 moves from the pallet PL1 to the pallet PL2 while maintaining the attitude of the article GD.
  • the robot 10C can accurately and rapidly move the article GD horizontally in the X direction while maintaining the posture of the article GD using the telescoping mechanism TE3.
  • the axis Ax is driven less than the vertical six-axis articulated robot of the comparative example. Accordingly, the article GD can be moved while maintaining the attitude of the article GD.
  • control of the joint mechanism AR can be prevented from becoming complicated.
  • the end effector 20 moves in the XY plane because the rotational movement by the plurality of joint mechanisms AR is not performed. It only moves up, not in the Z direction. Therefore, in this embodiment, in order to control the operation of the end effector 20, when performing reverse trajectory calculation etc. in which the rotation amount of each rotation operation of the plurality of joint mechanisms AR is calculated from the position of the end effector 20, It is only necessary to calculate the amount of movement in the direction. Therefore, in this embodiment, it is possible to reduce the calculation load when performing reverse trajectory calculations for horizontally moving the end effector 20 in the X direction, and to perform the calculations at high speed.
  • the joint mechanism AR3t by expanding and contracting the joint mechanism AR3t, it is possible to work even in the area corresponding to the singular point of the robot 10C before the joint mechanism AR3t is expanded and contracted. Furthermore, in this embodiment, by extending the joint mechanism AR3t, it is possible to widen the area that the tip of the robot 10C can reach, while avoiding the singularity of the robot 10C. For example, when the robot 10C is operated in cooperation with a person, it is assumed that there are many restrictions on the space in which the robot 10C is installed. In this case, restrictions on the operating range due to singular points or the like are required to be as small as possible.
  • the area that the tip of the robot 10C can reach can be widened while avoiding the singularity of the robot 10C, so even if there are many restrictions on the space in which the robot 10C is installed, the robot 10C can be safely installed. can be operated.
  • the robot 10C moves the portion from the link LK2f of the robot 10C to the end effector 20 in the direction Dm3 using the telescoping mechanism TE3. (that is, in the X direction).
  • the robot 10C is installed even in a place where an obstacle BL exists in the -Z direction relative to the joint mechanism AR3t, and the robot 10C can perform simple tasks such as moving the article GD in the X direction. 10C can be performed.
  • the link LK1a expands and contracts in the longitudinal direction (direction Dm1) by the expansion mechanism TE1, so the tip of the robot 10C (for example, the link LK3) can reach the link LK1a, compared to a configuration in which the link LK1a does not expand and contract.
  • the area can be expanded. Note that if the link LK1a is simply made longer without being made extendable, the robot itself becomes larger. In this embodiment, since the link LK1a expands and contracts, it is possible to suppress the entire robot 10C from increasing in size.
  • the singularity of the robot 10C cannot be avoided by the telescoping action by the telescoping mechanism TE1 (the telescoping action that extends and contracts the link LK1a in the longitudinal direction).
  • a telescoping mechanism is provided to extend and retract the link LK2f in the longitudinal direction, by extending and contracting the link LK2f in the longitudinal direction, it is possible to widen the area that the tip of the robot 10C can reach.
  • the singularity of robot 10C cannot be avoided.
  • the singularity of the robot 10C can be avoided by expanding and contracting the joint mechanism AR3t in the direction Dm3 along the axis Ax3.
  • the robot 10C includes a body part BDP, a link LK3, a plurality of links LK1a and LK2f that connect the body part BDP and link LK3, and a joint mechanism AR3t.
  • the joint mechanism AR3t connects the link LK1a and the link LK2f, and rotates the link LK2f with respect to the link LK1a using an axis Ax3, which forms an angle larger than a predetermined angle with the direction De1 in which the link LK1a extends, as a rotation axis.
  • the joint mechanism AR3t includes a telescoping mechanism TE3 that moves the link LK2f relative to the link LK1a along the axis Ax3 (rotation axis).
  • the joint mechanism AR3t expands and contracts along the axis Ax3 by the expansion and contraction mechanism TE3. Therefore, in this embodiment, the portion from the link LK2f of the robot 10C to the tip (for example, the link LK3) of the robot 10C can be easily moved in the direction Dm3 along the axis Ax3.
  • the operation of horizontally moving the article GD in the X direction while maintaining the posture of the article GD gripped by the end effector 20 attached to the link LK3 of the robot 10C is This allows for accurate and high-speed execution.
  • the telescoping mechanism TE3 includes a connecting portion TE33 that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Thereby, in this embodiment, the joint mechanism AR3t can be expanded and contracted while suppressing the overall size of the robot 10C.
  • the joint mechanism AR3t rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33.
  • the motor MOa3 is configured such that the distance along the axis Ax3 between the output position of the motor MOa3 for rotating the link LK2f (motor MOa3 that drives the joint mechanism AR3t) and the link LK2f is shortened. can be placed.
  • the link LK1a includes a support portion LK11, a movable portion LK13a connected to the link LK2f, a movable portion LK12 that connects the support portion LK11 and the movable portion LK13a, and a telescopic mechanism TE1.
  • the expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the link LK1a is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10C can reach can be made wider than in the case where the link LK1a does not extend or contract, while suppressing the overall size of the robot 10C. As a result, in this embodiment, for example, the robot 10C can work on the article GD placed at a high position that cannot be reached when the link LK1a does not extend or contract. In addition, in the present embodiment, the robot 10C moves the joint mechanism AR3t to a high position using the telescoping mechanism TE1, thereby performing work on the article GD located at a high position on the workbench WB and at the back of the workbench WB. It can be done easily.
  • the support portion LK11 is hollow.
  • the link LK1a contracts, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • expansion and contraction of the link LK1a can be realized with a simple configuration.
  • the robot 10C further includes joint mechanisms AR1, AR2, AR4f, AR5, and AR5.
  • the link LK2f includes a support portion LK21f and a movable portion LK22f.
  • the joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis.
  • the joint mechanism AR2 connects the body part BDP and the link LK1a, and connects the link LK1a to the body part by using an axis Ax2, which has a larger angle than a predetermined angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fifth rotation axis.
  • the joint mechanism AR4f rotates the movable portion LK22f with respect to the support portion LK21f using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21f extends, as a third rotation axis.
  • the joint mechanism AR5 connects the movable part LK22f and the link LK3, and rotates the link LK3 with respect to the link LK2f using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2 extends, as a second rotation axis.
  • the joint mechanism AR6 rotates at least a portion of the link LK3 with respect to the link LK2f using an axis Ax6, which forms an angle larger than a predetermined angle with the second rotation axis (axis Ax5), as a sixth rotation axis.
  • the invention according to this embodiment may be applied to a vertical six-axis articulated robot.
  • the link LK1a includes a support portion LK11 connected to the body portion BDP, a movable portion LK13a connected to the link LK2f, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13a. It includes an expansion and contraction mechanism TE1.
  • the expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the robot 10C by adding the telescopic mechanism TE1 to the vertical six-axis multi-joint robot, it is possible to easily configure the robot 10C in which the reachable area of the tip (for example, the link LK3) is widened. can.
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3t, a motor MOa4 that drives the joint mechanism AR4f, and a motor MOa4 that drives the joint mechanism AR4f.
  • the operation of the robot 10C is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt3 that drives the telescoping mechanism TE3. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10C.
  • the robot system 1 includes a robot 10C, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10C and the end effector 20.
  • the control of the robot 10C is simple when performing simple movements, and the tip part (for example, link LK3) can be reached while suppressing the overall size from increasing.
  • a robot 10C with a wider area is used in the robot system 1. Therefore, in this embodiment, complex work and simple work can be performed efficiently even in a narrow space.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • FIG. 17 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C1. Elements similar to those described in FIGS. 14 to 16 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10C has a joint mechanism AR3ta instead of the joint mechanism AR3t shown in FIG.
  • the upper part of FIG. 17 shows the joint mechanism AR3ta in a contracted state
  • the lower part of FIG. 17 shows the joint mechanism AR3ta in an extended state.
  • the joint mechanism AR3ta is another example of the "first drive mechanism" and the "drive mechanism”
  • the telescoping mechanism TE3a is another example of the "fourth telescoping mechanism”. Note that hereinafter, the joint mechanism AR3ta and the like may be referred to without adding the alphabet "a" at the end of the reference numeral (for example, joint mechanism AR3t).
  • the connecting portion TE33a is connected to the movable portion LK13b so as to be movable along the axis Axte3 (ie, the direction Dm3), and is connected to the supporting portion LK21g so as to rotate together with the supporting portion LK21g.
  • the motor MOa3 that drives the turning mechanism RE1a is arranged inside the movable part LK13b and outside the connecting part TE33a, and is fixed to the movable part LK13b. That is, the motor MOa3 is attached to the movable part LK13b which does not move even if the connecting part TE33a moves.
  • the gear RE13 rotates as the transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted rotates
  • the connecting portion TE33a that meshes with the gear RE13 rotates. do.
  • the rotation of the motor MOa3 is transmitted to the connection portion TE33a via the transmission shaft RE11 and the gear RE13.
  • the connecting portion TE33a rotates about the axis Ax3.
  • the central axis of the connection portion TE33a corresponds to the axis Ax3.
  • the joint mechanism AR3ta rotates the link LK2f with respect to the link LK1a by rotating the link LK2f and the connecting portion TE33a integrally with respect to the link LK1a. Also in this modification, the same effects as in the fourth embodiment described above can be obtained.
  • At least a portion of the connecting portion TE33 may be stored inside at least one of the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. good.
  • FIG. 18 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 17 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the upper part of FIG. 18 shows the joint mechanism AR3ta in a contracted state, and the lower part of FIG. 18 shows the joint mechanism AR3ta in an extended state.
  • the joint mechanism AR3ta shown in FIG. 18 is different from the figure except that the motor MOt3 is attached to the support part LK21g and the connection part TE33a is movably connected to the support part LK21g along the axis Axte3.
  • the connecting portion TE33a is attached to the supporting portion LK21g so as to be movable along the axis Axte3 (that is, the direction Dm3) with respect to the supporting portion LK21g, and to rotate together with the supporting portion LK21g.
  • the nut TE31 is fixed to one of the two ends of the connecting portion TE33a, which is closer to the supporting portion LK21g.
  • the relative position of the nut TE31 with respect to the ball screw TE32 changes.
  • the relative position of the nut TE31 in the direction Dm3 with respect to the support portion LK21g changes. Since the nut TE31 is fixed to the connecting portion TE33a, when the relative position of the nut TE31 in the direction Dm3 to the supporting portion LK21g changes, the relative position of the link LK2f to the connecting portion TE33a changes.
  • the connecting portion TE33a is attached to the movable portion LK13b so that the relative position of the link LK1a in the direction Dm3 with respect to the movable portion LK13b does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3ta in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
  • the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33a is exposed from the supporting portion LK21g, as the nut TE31 moves, the connecting portion TE33a It is gradually stored inside the support portion LK21g.
  • the joint mechanism AR3ta contracts in the direction Dm3m.
  • the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
  • the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is exposed from the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
  • FIG. 19 is an explanatory diagram for explaining another example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 18 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10C has a joint mechanism AR3tb instead of the joint mechanism AR3t shown in FIG.
  • the upper part of FIG. 19 shows the joint mechanism AR3tb in a contracted state
  • the lower part of FIG. 18 shows the joint mechanism AR3tb in an extended state.
  • the joint mechanism AR3tb is another example of the "first drive mechanism" and the "drive mechanism”
  • the telescoping mechanism TE3b is another example of the "fourth telescoping mechanism”. Note that hereinafter, the joint mechanism AR3tb and the like may be referred to without adding the alphabet "b" at the end of the reference numeral (for example, joint mechanism AR3t).
  • the joint mechanism AR3tb is shown in FIG. 18, except that the motor MOa3 is attached to the movable part LK13b such that the central axis of the transmission shaft RE11 coincides with the central axis of the ball screw TE32 (i.e., axis Axte3).
  • the motor MOa3 that drives the turning mechanism RE1b is arranged outside the connecting portion TE33b so that the central axis of the transmission shaft RE11 attached to the motor MOa3 is the axis Ax3 when viewed in plan from the direction along the axis Ax3, It is fixed inside the movable part LK13b. Therefore, in the joint mechanism AR3tb as well, the motor MOa3 does not move even if the connecting portion TE33b moves, similar to the joint mechanism AR3ta shown in FIG. 17 and the like.
  • the connecting portion TE33b is connected to the supporting portion LK21g and the movable portion LK13b, similar to the connecting portion TE33a shown in FIG. 18.
  • the connecting portion TE33b is connected to the supporting portion LK21g in such a way that it is movable relative to the supporting portion LK21g along the axis Axte3 (ie, the direction Dm3) and rotates together with the supporting portion LK21g.
  • the connecting portion TE33b is connected to the movable portion LK13b so that the relative position of the link LK1a with respect to the movable portion LK13b in the direction Dm3 does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. be done.
  • the turning mechanism RE1b includes a transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted, and a gear RE13b attached to the transmission shaft RE11.
  • the transmission shaft RE11 is attached to the motor MOa3.
  • the gear RE13b is disposed inside the connecting portion TE33b, and is attached to one of the two ends of the connecting portion TE33b, which is closer to the movable portion LK13b. Therefore, in the joint mechanism AR3tb, the transmission shaft RE11 is connected to the connecting portion TE33b via the gear RE13b.
  • connection portion TE33b rotates about the axis Ax3.
  • the link LK2f rotates together with the connection portion TE33b as the connection portion TE33b rotates.
  • the telescopic mechanism TE3 (TE3a or TE3b) includes the connecting portion TE33 (TE33a or TE33b) that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Also in this modified example, the same effects as in the fourth embodiment and modified example described above can be obtained.
  • the telescoping mechanism mainly includes, for example, the link LK1a in FIG. 15 is replaced with the body part BDP, the link LK2f in FIG. 15 is replaced with the link LK1a, and the axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading it as Ax2.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the telescoping mechanism mainly includes, for example, link LK1a in FIG. 15 replaced with link LK2f, link LK2f in FIG. 15 replaced with link LK3, and axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading the axis Ax5.
  • the joint mechanism AR2 includes a telescoping mechanism
  • all the members from the link LK1a to the link LK3 move due to the telescoping mechanism. and volume increases. Therefore, in an embodiment in which the joint mechanism AR2 includes a telescoping mechanism, compared to the fourth embodiment and the modified example described above, there are problems regarding accuracy and speed-up of control of the telescoping operation, etc. by the telescoping mechanism, and the installation of the robot 10C. There is a growing concern that issues such as space issues will arise.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the structure around the distal end of the robot 10C becomes complicated due to the telescoping mechanism.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the weight around the tip of the robot 10C increases compared to the fourth embodiment and the modified example described above.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the rotation axis (axis Ax5) of the joint mechanism AR5 deviates from a plane parallel to the bottom surface BDPbt of the robot 10C (for example, the XY plane in FIG. 16) due to the rotation of the joint mechanism AR4f.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the calculation load when performing reverse orbit calculation etc. will increase.
  • the fourth embodiment and the modification described above a mode in which the joint mechanism AR3t includes the expansion and contraction mechanism TE3
  • the robot 10C may have a configuration in which two telescoping mechanisms TE1 and TE3 are added to an articulated robot with seven or more axes, or a configuration in which one telescoping mechanism TE3 is added to an articulated robot with seven or more axes. It may be a configuration.
  • the robot 10C may have one or more links connecting the body part BDP and the link LK1a. That is, the robot 10C may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10C has include links LK1a and LK2f. Three or more links excluding link LK3 correspond to "multiple links".
  • the telescoping mechanism TE1 may be provided on the link LK2f.
  • the robot 10C may include a telescoping mechanism TE1 that extends and contracts the link LK1a, a telescoping mechanism that extends and contracts the link LK2f in the longitudinal direction (direction De2), and a telescoping mechanism TE3 that extends and contracts the joint mechanism AR3t. .
  • the robot 10C includes the motor MOt3 and the motor MOa3, but the present invention is not limited to such an embodiment.
  • the motor MOt3 and the motor MOa3 may be provided in the robot 10C as one common motor, and the connection between the common motor, the ball screw TE32, and the transmission shaft RE11 may be switched using a clutch or the like.
  • the same effects as the fourth embodiment and the modification example described above can be obtained also in this modification example.
  • the articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link.
  • a drive mechanism that rotates the second link with respect to the first link using an axis that makes an angle with the direction in which the first link extends is larger than a predetermined angle as a rotation axis.
  • the drive mechanism includes a fourth telescoping mechanism that moves the second link relative to the first link along the rotation axis.
  • the fourth telescoping mechanism includes a connecting portion connecting the first link and the second link, and at least a portion of the connecting portion is connected to the rotation axis.
  • the first link in the first direction is stored inside at least one of the first link and the second link.
  • the second link may be exposed from the first link and the second link.
  • Appendix 2-4 In the articulated robot according to Appendix 2-2, the drive mechanism rotates the second link and the connecting portion integrally with respect to the first link, thereby causing the second link to connect to the first link.
  • the feature may be that the image is rotated relative to the object.
  • the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion. and a sixth part that connects the fifth part, and the first link is expanded and contracted by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends.
  • a second expansion/contraction mechanism may be included.
  • the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis; an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle; and an eighth drive mechanism that rotates the movable portion with respect to the support portion; a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis; 6 drive mechanism, and the first drive mechanism includes a fourth telescoping mechanism that moves the second link
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion
  • a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis
  • a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis
  • 6 drive mechanism, and the fifth drive mechanism includes a fourth telescoping mechanism that
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion
  • a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis
  • a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis
  • 6 drive mechanism, and the second drive mechanism includes a fourth telescoping mechanism that
  • the first link includes a fourth portion connected to the base and a fifth portion connected to the second link. and a sixth part connecting the fourth part and the fifth part, and moving the sixth part with respect to the fourth part along the direction in which the fourth part extends,
  • a second expansion and contraction mechanism that expands and contracts the first link may be included.
  • Appendix 2-11 The method for controlling an articulated robot according to Appendix 2-10, wherein the control device that controls the operation of the articulated robot includes a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, A motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, a motor that drives the second drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism,
  • the robot is characterized in that the motion of the multi-joint robot is controlled by controlling a motor that drives the second telescoping mechanism.
  • the robot system includes the articulated robot described in Appendix 2-10, an end effector attached to the distal end, and a control device that controls operations of the articulated robot and the end effector, and the control device A motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, and a motor that drives the second drive mechanism.
  • controlling the operation of the articulated robot by controlling a motor, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism, and a motor that drives the second telescoping mechanism; It is characterized by
  • Appendix 2-13 The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 2-12.
  • the robot system 1 including the robots 10, 10A, 10B, or 10C described in the embodiments and modifications described above may be used in an article manufacturing method that includes assembling or removing parts.
  • FIG. 20 is an explanatory diagram for explaining an example of turning.
  • the extending direction Dei in FIG. 20 indicates the direction in which the link LKi extends
  • the extending direction Dej indicates the direction in which the link LKj extends.
  • the joint mechanism ARi in FIG. 20 connects the link LKi and the link LKj, and rotates the link LKj with respect to the link LKi using the axis Axi as a rotation axis.
  • the angle ⁇ between the extending direction Dei and the axis Axi can be understood as the angle of the axis Axi with respect to the extending direction Dei (for example, 4 angles for two straight lines that intersect with each other, or 4 angles for two parallel lines) (0° and 180° in a straight line), the angle is 0° or more and 90° or less.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the second pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the second pattern, the extending direction Dej of the link LKj is parallel to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 0°.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the third pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the third pattern, the extending direction Dej of the link LKj is perpendicular to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 90°.
  • the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 10 degrees and is always constant. .
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 10°, which is less than or equal to a predetermined angle (45°). Therefore, in the sixth pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Furthermore, in the sixth pattern, the extending direction Dej of the link LKj is perpendicular to the axis Axi. In the sixth pattern, when the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 70°, which is larger than the predetermined angle (45°). Therefore, in the seventh pattern, the rotation of the link LKj with the axis Axi as the rotation axis is a turn. Further, in the seventh pattern, the extending direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 70°.
  • the rotation corresponds to turning. Therefore, in the second definition, if the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is always constant even when rotated, the rotation corresponds to a rotation other than turning.
  • the first pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning
  • the second pattern, third pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
  • the rotation corresponds to turning. Therefore, in the third definition, if the angle between the extending direction Dej of the rotating link LKj and the rotation axis (axis Axi) of the link LKj is larger than a predetermined angle, the rotation corresponds to turning. Therefore, in the third definition, if the angle between the extending direction Dej of the link LKj and the rotation axis (axis Axi) of the link LKj is less than or equal to a predetermined angle, the rotation corresponds to a rotation other than turning.
  • the first pattern, third pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning
  • the second pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
  • the same type of rotation means that both of the two rotations are turning, or both of the two rotations are rotations other than turning, and the different types of rotation are rotations where one of the two rotations is turning and the other is rotation other than turning.
  • the rotation that is the starting point of the relative relationship may be determined based on, for example, any one of the above-mentioned first definition, second definition, and third definition.
  • the first pattern shown in FIG. 20 corresponds to turning in any of the first, second, and third definitions
  • the second pattern corresponds to turning in any of the first, second, and third definitions. This also applies to rotations other than turning. Therefore, it is preferable that the first pattern or the second pattern be the rotation that becomes the starting point of the relative relationship.
  • a definition that is a combination of two or more of the above-mentioned first definition, second definition, and third definition may be used.
  • the rotation that corresponds to turning in all of the two or more definitions that are combined may be regarded as turning, or the rotation that corresponds to turning in at least one of the two or more definitions that are combined may be regarded as turning.
  • SYMBOLS 1 Robot system, 10, 10A, 10B, 10C, 10Z... Robot, 20... End effector, 30... Robot controller, 32... Processing device, 33... Memory, 34... Communication device, 35... Operating device, 36... Display device , 37... Driver circuit, AR, AR1, AR2, AR3, AR3t, AR3ta, AR4, AR4a, AR4b, AR4c, AR4d, AR4e, AR4f, AR5, AR6, ARi... Joint mechanism, AR41, AR41a, AR41e...
  • AR41b ...Motor fixed part, AR42, AR42a, AR42e...Transmission shaft, AR43, AR44...Pulley, AR45...Timing belt, AR46...Transmission shaft, AR47, AR47e...Gear, AR47a...Rotating gear, Ax1, Ax2, Ax3, Ax4, Ax5 , Ax6, Axi, Axte1, Axte2, Axte3...axis, BDP...body part, BDPbt...bottom surface, BSP...base part, GD...article, LK, LK1, LK1a, LK1z, LK2, LK2a, LK2b, LK2c, LK2f, LK2z , LK3, LKi, LKj...link, LK11...supporting part, LK12, LK13, LK13a, LK13b...movable part, LK21, LK21a, LK21c, LK21d, LK21e,

Abstract

An articulated robot according to the present invention comprises: a first link and a second link that connect a base portion and a leading end portion; a first driving mechanism that connects the first link and the second link and that rotates the second link by using, as a first rotation axis, an axis that forms an angle with an extension direction of the first link, the angle thereof being larger than a prescribed angle; and a second driving mechanism that connects the second link and the leading end portion and that rotates the leading end portion by using, as a second rotation axis, an axis that forms an angle with the extension direction of the second link, the angle thereof being larger than the prescribed angle. The second link comprises: a first portion; a second portion; a third portion; a third driving mechanism that rotates the second portion by using, as a third rotation axis, an axis that forms an angle with the extension direction of the first portion, the angle thereof being equal to or less than the prescribed angle; and a first expansion/contraction mechanism that causes the third portion to move along the extension direction of the first portion, thereby expanding and contracting the second link.

Description

多関節ロボット、多関節ロボットの制御方法、ロボットシステム、及び、物品の製造方法Articulated robot, control method for an articulated robot, robot system, and article manufacturing method
　本発明は、多関節ロボット、多関節ロボットの制御方法、ロボットシステム、及び、物品の製造方法に関する。 The present invention relates to an articulated robot, a method for controlling an articulated robot, a robot system, and a method for manufacturing articles.
　人と同様の動作を行うロボットとして、多関節ロボットが知られている（例えば、特許文献１参照）。 Articulated robots are known as robots that perform actions similar to humans (see, for example, Patent Document 1).
特開昭６２－７４５９４号公報Japanese Unexamined Patent Publication No. 62-74594
　ところで、多関節ロボットには、人の動作を超えた動きが要求される場合がある。この場合、ロボットの先端部が到達可能な領域を広くすることが望まれる。但し、ロボットの先端部が到達可能な領域を広くするために、ロボットを大型化した場合、ロボットを設置するスペースを確保できないおそれがある。このため、ロボットの大型化を抑制しつつ、ロボットの先端部が到達可能な領域を広くすることが望まれている。 By the way, articulated robots are sometimes required to perform movements that exceed those of humans. In this case, it is desirable to widen the area that the tip of the robot can reach. However, if the robot is made larger in order to widen the area that the tip of the robot can reach, there is a risk that it will not be possible to secure enough space to install the robot. For this reason, it is desired to widen the area that the tip of the robot can reach while suppressing the increase in the size of the robot.
　本発明の好適な態様に係る多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記第２リンクと、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、を備え、前記第２リンクは、前記第１リンクに接続される第１部分と、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、前記第１部分と前記第２部分とを接続する第３部分と、前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記第２部分を前記第１部分に対して回転させる第３駆動機構と、前記第１部分に対して前記第３部分を前記第１部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第１伸縮機構と、を含む。 An articulated robot according to a preferred aspect of the present invention includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link. A first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis. A first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip. a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism, the second link includes a first portion connected to the first link, and a link other than the first link and the second link among the plurality of links. or the angle formed by the second part connected to the tip, the third part connecting the first part and the second part, and the direction in which the first part extends is less than or equal to the predetermined angle. a third drive mechanism that rotates the second portion relative to the first portion using an axis of the third rotation axis as a third rotation axis; and a third drive mechanism that rotates the third portion relative to the first portion in an extending direction of the first portion. and a first expansion and contraction mechanism that expands and contracts the second link by moving the second link along the link.
　本発明の好適な態様に係る多関節ロボットの制御方法は、上述の多関節ロボットにおいて、前記基部の底面に垂直な方向とのなす角度が前記所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、をさらに備え、前記先端部は、前記第２リンクに接続され、前記第２駆動機構により前記先端部が回転する場合の前記先端部の前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構を、含み、前記複数のリンクは、前記第１リンク及び前記第２リンクであり、前記第１リンクは、前記基部に接続される第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む多関節ロボットの制御方法であって、前記多関節ロボットの動作を制御する制御装置は、前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第３駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第１伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する。 A method for controlling an articulated robot according to a preferred aspect of the present invention includes, in the above-mentioned articulated robot, an axis whose angle with a direction perpendicular to the bottom surface of the base is equal to or less than the predetermined angle as a fourth rotation axis; a fourth drive mechanism that rotates at least a portion of the base; and a fifth drive mechanism that connects the base and the first link, the angle formed with a direction perpendicular to the bottom surface of the base being the predetermined angle. further comprising a fifth drive mechanism that rotates the first link relative to the base using a larger axis as a fifth rotation axis, the distal end being connected to the second link, and being driven by the second drive mechanism. When the tip rotates, an angle between the tip and the second rotation axis is set as a sixth rotation axis, and at least a portion of the tip is rotated with respect to the second link. a sixth drive mechanism for rotating the plurality of links, the plurality of links being the first link and the second link, the first link having a fourth portion connected to the base and the second link; a fifth portion to be connected; a sixth portion connecting the fourth portion and the fifth portion; and a sixth portion connecting the fourth portion to the fourth portion along the direction in which the fourth portion extends. A control method for an articulated robot includes: a second extension/contraction mechanism that extends and contracts the first link by moving the robot; a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, and a motor that drives the sixth drive mechanism. The motion of the multi-joint robot is controlled by controlling a motor that drives the first telescoping mechanism, a motor that drives the second telescoping mechanism, and a motor that drives the second telescoping mechanism.
　本発明の好適な態様に係るロボットシステムは、上述の多関節ロボットにおいて、前記基部の底面に垂直な方向とのなす角度が前記所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、をさらに備え、前記先端部は、前記第２リンクに接続され、前記第２駆動機構により前記先端部が回転する場合の前記先端部の前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構を、含み、前記複数のリンクは、前記第１リンク及び前記第２リンクであり、前記第１リンクは、前記基部に接続される第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む多関節ロボットと、前記先端部に取り付けられたエンドエフェクタと、前記多関節ロボット及び前記エンドエフェクタの動作を制御する制御装置と、を備え、前記制御装置は、前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第３駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第１伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する。 In the robot system according to a preferred aspect of the present invention, in the above-mentioned multi-jointed robot, an axis having an angle less than or equal to the predetermined angle with a direction perpendicular to the bottom surface of the base is set as a fourth rotation axis, and at least one of the base a fourth drive mechanism that rotates a portion of the shaft; and a fifth drive mechanism that connects the base and the first link; The tip further includes a fifth drive mechanism that rotates the first link relative to the base as a fifth rotation axis, and the tip is connected to the second link, and the tip is rotated by the second drive mechanism. A sixth rotation axis in which at least a portion of the tip part is rotated with respect to the second link, with an axis that makes an angle between the tip part and the second rotation axis when rotating is larger than the predetermined angle as a sixth rotation axis. a driving mechanism, the plurality of links are the first link and the second link, and the first link has a fourth portion connected to the base and a fourth portion connected to the second link. a fifth part, a sixth part connecting the fourth part and the fifth part, and moving the sixth part with respect to the fourth part along the direction in which the fourth part extends. , a second telescopic mechanism that extends and contracts the first link, an end effector attached to the distal end portion, and a control device that controls operations of the multi-joint robot and the end effector. The control device includes a motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, and a motor that drives the fifth drive mechanism. The articulated robot operates by controlling a motor that drives a drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the first telescoping mechanism, and a motor that drives the second telescoping mechanism. control.
　本発明の好適な態様に係る物品の製造方法は、上述のロボットシステムにより、部品を組み付ける、又は、部品を取り除く。 A method for manufacturing an article according to a preferred embodiment of the present invention involves assembling or removing parts using the above-mentioned robot system.
　本発明の好適な態様に係る多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記第２リンクと、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、を備え、前記第２リンクは、前記第１リンクに接続される第１部分と、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、前記第１部分と前記第２部分とを接続する第３部分と、前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として前記第３部分を前記第１部分に対して回転させることにより、前記第２部分を前記第１部分に対して回転させる第３駆動機構と、前記第１部分に対して前記第３部分を前記第１部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第１伸縮機構と、を含む。 An articulated robot according to a preferred aspect of the present invention includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link. A first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis. A first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip. a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism, the second link includes a first portion connected to the first link, and a link other than the first link and the second link among the plurality of links. or the angle formed by the second part connected to the tip, the third part connecting the first part and the second part, and the direction in which the first part extends is less than or equal to the predetermined angle. a third drive mechanism that rotates the second part relative to the first part by rotating the third part relative to the first part using an axis of the third part as a third rotation axis; A first expansion/contraction mechanism that expands/contracts the second link by moving the third portion along the extending direction of the first portion.
　本発明の好適な態様に係る多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記第２リンクと、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、を備え、前記第２リンクは、前記第１リンクに接続される第１部分と、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、前記第１部分と前記第２部分とを接続する第３部分と、前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記第３部分を前記第１部分に対して回転させる第７駆動機構と、前記第３部分に対して前記第２部分を前記第３部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第３伸縮機構と、を含む。 An articulated robot according to a preferred aspect of the present invention includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link. A first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis. A first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip. a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism, the second link includes a first portion connected to the first link, and a link other than the first link and the second link among the plurality of links. or the angle formed by the second part connected to the tip, the third part connecting the first part and the second part, and the direction in which the first part extends is less than or equal to the predetermined angle. a seventh drive mechanism that rotates the third portion relative to the first portion using an axis of the third portion as a third rotation axis; and a third expansion/contraction mechanism that expands/contracts the second link by moving it along the link.
　本発明の好適な態様に係る多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を回転軸として前記第２リンクを前記第１リンクに対して回転させる駆動機構と、を備え、前記駆動機構は、前記回転軸に沿って、前記第２リンクを前記第１リンクに対して相対的に移動させる第４伸縮機構を含む。 An articulated robot according to a preferred aspect of the present invention includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link. A drive mechanism that connects the second link to the first link, the second link being connected to the first link using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a rotation axis. and a drive mechanism for rotating the link, the drive mechanism including a fourth telescoping mechanism for moving the second link relative to the first link along the rotation axis.
　本発明によれば、ロボットの大型化を抑制しつつ、ロボットの先端部が到達可能な領域を広くすることができる。 According to the present invention, it is possible to widen the area that the tip of the robot can reach while suppressing the increase in size of the robot.
第１実施形態に係るロボットシステムの概要を説明するための説明図である。FIG. 1 is an explanatory diagram for explaining an overview of a robot system according to a first embodiment. 関節機構及び伸縮機構を含むリンクの一例を説明するための説明図である。FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism. 伸縮機構を含むリンクの一例を説明するための説明図である。FIG. 2 is an explanatory diagram for explaining an example of a link including a telescoping mechanism. 図１に示したロボットの利点を説明するための説明図である。FIG. 2 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 1. FIG. 図１に示したロボットコントローラのハードウェア構成の一例を示す図である。2 is a diagram showing an example of the hardware configuration of the robot controller shown in FIG. 1. FIG. 第２実施形態に係るロボットシステムの概要を説明するための説明図である。It is an explanatory view for explaining an outline of a robot system concerning a 2nd embodiment. 図６に示したリンクの一例を説明するための説明図である。7 is an explanatory diagram for explaining an example of the link shown in FIG. 6. FIG. 図６に示したリンクの別の例を説明するための説明図である。7 is an explanatory diagram for explaining another example of the link shown in FIG. 6. FIG. 変形例Ａ１に係るリンクの一例を説明するための説明図である。It is an explanatory view for explaining an example of the link concerning modification A1. 第３実施形態に係るロボットシステムの概要を説明するための説明図である。It is an explanatory view for explaining an outline of a robot system concerning a 3rd embodiment. 関節機構及び伸縮機構を含むリンクの一例を説明するための説明図である。FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism. 変形例Ｂ１に係るリンクの一例を説明するための説明図である。It is an explanatory view for explaining an example of the link concerning modification B1. 変形例Ｂ１に係るリンクの別の例を説明するための説明図である。It is an explanatory view for explaining another example of the link concerning modification B1. 第４実施形態に係るロボットシステムの概要を説明するための説明図である。It is an explanatory view for explaining an outline of a robot system concerning a 4th embodiment. 伸縮機構を含む関節機構の一例を説明するための説明図である。FIG. 2 is an explanatory diagram for explaining an example of a joint mechanism including a telescoping mechanism. 図１４に示したロボットの利点を説明するための説明図である。15 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 14. FIG. 変形例Ｃ１に係る関節機構の一例を説明するための説明図である。It is an explanatory view for explaining an example of the joint mechanism concerning modification C1. 変形例Ｃ２に係る関節機構の一例を説明するための説明図である。It is an explanatory view for explaining an example of the joint mechanism concerning modification C2. 変形例Ｃ２に係る関節機構の別の例を説明するための説明図である。It is an explanatory view for explaining another example of the joint mechanism concerning modification C2. 旋回の一例を説明するための説明図である。It is an explanatory view for explaining an example of turning.
　以下、本発明を実施するための形態について図面を参照して説明する。なお、各図において、各部の寸法及び縮尺は、実際のものと適宜に異ならせてある。また、以下に述べる実施の形態は、本発明の好適な具体例であるから、技術的に好ましい種々の限定が付されているが、本発明の範囲は、以下の説明において特に本発明を限定する旨の記載がない限り、これらの形態に限られるものではない。 Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In each figure, the dimensions and scale of each part are appropriately different from the actual ones. Furthermore, since the embodiments described below are preferred specific examples of the present invention, various technically preferable limitations are attached thereto. Unless there is a statement to that effect, it is not limited to these forms.
［Ａ－１．第１実施形態］
　先ず、図１を参照しながら、実施形態に係るロボットシステム１の概要の一例について説明する。 [A-1. First embodiment]
First, an example of an outline of a robot system 1 according to an embodiment will be described with reference to FIG. 1.
　図１は、第１実施形態に係るロボットシステム１の概要を説明するための説明図である。 FIG. 1 is an explanatory diagram for explaining an overview of a robot system 1 according to the first embodiment.
　ロボットシステム１は、例えば、ロボット１０と、ロボット１０に着脱可能に取り付けられるエンドエフェクタ２０と、ロボット１０及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。ロボット１０は、「多関節ロボット」の一例であり、ロボットコントローラ３０は、「制御装置」の一例である。 The robot system 1 includes, for example, a robot 10, an end effector 20 that is detachably attached to the robot 10, and a robot controller 30 that controls the operations of the robot 10 and the end effector 20. The robot 10 is an example of an "articulated robot," and the robot controller 30 is an example of a "control device."
　ロボット１０及びロボットコントローラ３０は、例えば、有線を用いた接続により、互いに通信可能に接続されている。なお、ロボット１０とロボットコントローラ３０との接続は、無線を用いた接続であってもよいし、有線及び無線の両方を用いた接続であってもよい。また、ロボットコントローラ３０は、ロボット１０に取り付けられたエンドエフェクタ２０と通信可能である。ロボットコントローラ３０としては、他の装置と通信可能な任意の情報処理装置を採用することができる。なお、ロボットコントローラ３０の構成は、後述する図５において説明される。 The robot 10 and the robot controller 30 are communicably connected to each other, for example, by a wired connection. Note that the connection between the robot 10 and the robot controller 30 may be a wireless connection, or may be a wired and wireless connection. Further, the robot controller 30 is capable of communicating with an end effector 20 attached to the robot 10. As the robot controller 30, any information processing device that can communicate with other devices can be employed. Note that the configuration of the robot controller 30 will be explained in FIG. 5, which will be described later.
　ロボット１０は、例えば、農場、工場及び倉庫等での作業に用いられる多関節ロボットである。具体的には、ロボット１０は、垂直６軸多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ２を追加した６軸２伸多関節ロボットである。例えば、ロボット１０は、関節機構ＡＲ１、ＡＲ２、ＡＲ３、ＡＲ４、ＡＲ５及びＡＲ６と、伸縮機構ＴＥ１及びＴＥ２とを有する。なお、ロボット１０は、複数の関節機構ＡＲ（ＡＲ１、ＡＲ２、ＡＲ３、ＡＲ４、ＡＲ５及びＡＲ６）及び複数の伸縮機構ＴＥ（ＴＥ１及びＴＥ２）の他に、土台部ＢＳＰ、ボディ部ＢＤＰ、リンクＬＫ１、リンクＬＫ２及びリンクＬＫ３を有する。なお、伸縮機構ＴＥ１は、リンクＬＫ１に設けられ、伸縮機構ＴＥ２及び関節機構ＡＲ４は、リンクＬＫ２に設けられる。また、ロボット１０は、複数の関節機構ＡＲと複数の伸縮機構ＴＥとを駆動する複数のモータをさらに有する。図１では、図を見やすくするために、複数のモータのうちの関節機構ＡＲ４を駆動するモータＭＯａ４以外のモータの記載を省略している。 The robot 10 is, for example, an articulated robot used for work in farms, factories, warehouses, and the like. Specifically, the robot 10 is a 6-axis, 2-extension, multi-joint robot that is a vertical 6-axis, 6-axis, multi-joint robot to which two telescoping mechanisms TE1 and TE2 are added. For example, the robot 10 includes joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, and extension and contraction mechanisms TE1 and TE2. In addition, the robot 10 includes a base part BSP, a body part BDP, a link LK1, in addition to a plurality of joint mechanisms AR (AR1, AR2, AR3, AR4, AR5, and AR6) and a plurality of extension and contraction mechanisms TE (TE1 and TE2). It has a link LK2 and a link LK3. Note that the telescoping mechanism TE1 is provided on the link LK1, and the telescoping mechanism TE2 and the joint mechanism AR4 are provided on the link LK2. Moreover, the robot 10 further includes a plurality of motors that drive the plurality of joint mechanisms AR and the plurality of extension and contraction mechanisms TE. In FIG. 1, in order to make the diagram easier to read, illustrations of motors other than the motor MOa4 that drives the joint mechanism AR4 among the plurality of motors are omitted.
　ボディ部ＢＤＰは、「基部」の一例である。また、リンクＬＫ１は、「第１リンク」の一例であり、リンクＬＫ２は、「第２リンク」の一例である。従って、リンクＬＫ１及びＬＫ２は、「複数のリンク」に該当する。リンクＬＫ３は、「先端部」の一例である。関節機構ＡＲ１は、「第４駆動機構」の一例であり、関節機構ＡＲ２は、「第５駆動機構」の一例である。関節機構ＡＲ３は、「第１駆動機構」の一例であり、関節機構ＡＲ５は、「第２駆動機構」の一例である。 The body part BDP is an example of a "base". Further, the link LK1 is an example of a "first link", and the link LK2 is an example of a "second link". Therefore, links LK1 and LK2 correspond to "a plurality of links". Link LK3 is an example of a "tip part." The joint mechanism AR1 is an example of a "fourth drive mechanism," and the joint mechanism AR2 is an example of a "fifth drive mechanism." The joint mechanism AR3 is an example of a "first drive mechanism," and the joint mechanism AR5 is an example of a "second drive mechanism."
　土台部ＢＳＰは、床等の所定の場所に固定される。ボディ部ＢＤＰは、関節機構ＡＲ１を介して土台部ＢＳＰに接続される。関節機構ＡＲ１は、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な軸Ａｘ１を回転軸として、ボディ部ＢＤＰを回転させる。但し、「垂直」は、厳密な垂直だけではなく、実質的な垂直（例えば、誤差範囲内の垂直）も含む。同様に、後述する「平行」は、厳密な平行だけではなく、実質的な平行（例えば、誤差範囲内の平行）も含む。 The base part BSP is fixed to a predetermined location such as the floor. Body portion BDP is connected to base portion BSP via joint mechanism AR1. The joint mechanism AR1 rotates the body part BDP about an axis Ax1 perpendicular to the bottom surface BDPbt of the body part BDP as a rotation axis. However, "vertical" includes not only strictly vertical but also substantially vertical (for example, vertical within an error range). Similarly, "parallel" described below includes not only exact parallel but also substantial parallel (for example, parallel within an error range).
　このように、ボディ部ＢＤＰは、関節機構ＡＲ１により、軸Ａｘ１を回転軸として回転可能に土台部ＢＳＰに接続される。図１の回転方向Ｄｒ１は、軸Ａｘ１を回転軸として回転する場合のボディ部ＢＤＰの回転方向を示す。軸Ａｘ１は、「第４回転軸」の一例である。 In this way, the body part BDP is rotatably connected to the base part BSP by the joint mechanism AR1 about the axis Ax1. The rotation direction Dr1 in FIG. 1 indicates the rotation direction of the body portion BDP when rotating around the axis Ax1. Axis Ax1 is an example of a "fourth rotation axis."
　関節機構ＡＲ２は、ボディ部ＢＤＰとリンクＬＫ１とを接続し、ボディ部ＢＤＰの底面ＢＤＰｂｔに平行な軸Ａｘ２を回転軸としてリンクＬＫ１をボディ部ＢＤＰに対して回転させる。図１の回転方向Ｄｒ２は、軸Ａｘ２を回転軸として回転する場合のボディ部ＢＤＰの回転方向を示す。軸Ａｘ２は、「第５回転軸」の一例である。 The joint mechanism AR2 connects the body part BDP and the link LK1, and rotates the link LK1 with respect to the body part BDP using an axis Ax2 parallel to the bottom surface BDPbt of the body part BDP as a rotation axis. The rotation direction Dr2 in FIG. 1 indicates the rotation direction of the body portion BDP when rotating around the axis Ax2. Axis Ax2 is an example of a "fifth rotation axis."
　リンクＬＫ１は、例えば、リンクＬＫ１が延在する方向Ｄｅ１に沿って伸縮可能に構成される。例えば、リンクＬＫ１は、ボディ部ＢＤＰに接続される支持部分ＬＫ１１と、可動部分ＬＫ１２及びＬＫ１３と、伸縮機構ＴＥ１とを含む。可動部分ＬＫ１２は、支持部分ＬＫ１１と可動部分ＬＫ１３とを接続する。可動部分ＬＫ１３は、リンクＬＫ２に接続される。本実施形態では、支持部分ＬＫ１１、可動部分ＬＫ１２及び可動部分ＬＫ１３の各々が方向Ｄｅ１に沿って延在する場合を想定する。すなわち、方向Ｄｅ１は、支持部分ＬＫ１１、可動部分ＬＫ１２及び可動部分ＬＫ１３の各々の長手方向に該当する。また、本実施形態では、支持部分ＬＫ１１が延在する方向Ｄｅ１１が、リンクＬＫ１が延在する方向Ｄｅ１である場合を想定する。 The link LK1 is configured to be expandable and contractible, for example, along the direction De1 in which the link LK1 extends. For example, the link LK1 includes a support portion LK11 connected to the body portion BDP, movable portions LK12 and LK13, and an expansion/contraction mechanism TE1. Movable portion LK12 connects support portion LK11 and movable portion LK13. Movable part LK13 is connected to link LK2. In this embodiment, a case is assumed in which each of the support portion LK11, the movable portion LK12, and the movable portion LK13 extends along the direction De1. That is, the direction De1 corresponds to the longitudinal direction of each of the supporting portion LK11, the movable portion LK12, and the movable portion LK13. Moreover, in this embodiment, it is assumed that the direction De11 in which the support portion LK11 extends is the direction De1 in which the link LK1 extends.
　伸縮機構ＴＥ１は、支持部分ＬＫ１１と可動部分ＬＫ１２とを接続し、可動部分ＬＫ１２を支持部分ＬＫ１１に対して、支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させる。可動部分ＬＫ１２が方向Ｄｅ１１に沿って移動することにより、可動部分ＬＫ１３が方向Ｄｅ１１に沿って移動する。可動部分ＬＫ１２及びＬＫ１３が方向Ｄｅ１１に沿って移動することにより、リンクＬＫ１は、方向Ｄｅ１１（すなわち、方向Ｄｅ１）に沿って伸縮する。図１の方向Ｄｍ１は、リンクＬＫ１の伸縮方向（方向Ｄｅ１に沿う方向）を示す。 The telescopic mechanism TE1 connects the support portion LK11 and the movable portion LK12, and moves the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends. As the movable portion LK12 moves along the direction De11, the movable portion LK13 moves along the direction De11. As the movable parts LK12 and LK13 move along the direction De11, the link LK1 expands and contracts along the direction De11 (ie, the direction De1). Direction Dm1 in FIG. 1 indicates the expansion/contraction direction (direction along direction De1) of link LK1.
　なお、支持部分ＬＫ１１は、「第４部分」の一例であり、可動部分ＬＫ１２は、「第６部分」の一例である。また、可動部分ＬＫ１３は、「第５部分」の一例であり、伸縮機構ＴＥ１は、「第２伸縮機構」の一例である。 Note that the supporting portion LK11 is an example of a “fourth portion” and the movable portion LK12 is an example of a “sixth portion”. Moreover, the movable part LK13 is an example of a "fifth part", and the telescoping mechanism TE1 is an example of a "second telescoping mechanism".
　関節機構ＡＲ３は、リンクＬＫ１とリンクＬＫ２とを接続し、リンクＬＫ１が延在する方向Ｄｅ１に垂直な軸Ａｘ３を回転軸としてリンクＬＫ２をリンクＬＫ１に対して回転させる。図１の回転方向Ｄｒ３は、軸Ａｘ３を回転軸として回転する場合のリンクＬＫ２の回転方向を示す。軸Ａｘ３は、「第１回転軸」の一例である。 The joint mechanism AR3 connects the link LK1 and the link LK2, and rotates the link LK2 with respect to the link LK1 using an axis Ax3 perpendicular to the direction De1 in which the link LK1 extends as a rotation axis. The rotation direction Dr3 in FIG. 1 indicates the rotation direction of the link LK2 when rotating around the axis Ax3. Axis Ax3 is an example of a "first rotation axis."
　リンクＬＫ２は、例えば、リンクＬＫ２が延在する方向Ｄｅ２に沿って伸縮可能に構成される。例えば、リンクＬＫ２は、リンクＬＫ１に接続される支持部分ＬＫ２１と、可動部分ＬＫ２２及びＬＫ２３と、伸縮機構ＴＥ２と、関節機構ＡＲ４と、関節機構ＡＲ４を駆動するモータＭＯａ４とを含む。可動部分ＬＫ２２は、支持部分ＬＫ２１と可動部分ＬＫ２３とを接続する。可動部分ＬＫ２３は、リンクＬＫ３に接続される。本実施形態では、支持部分ＬＫ２１、可動部分ＬＫ２２及び可動部分ＬＫ２３の各々が方向Ｄｅ２に沿って延在する場合を想定する。すなわち、方向Ｄｅ２は、支持部分ＬＫ２１、可動部分ＬＫ２２及び可動部分ＬＫ２３の各々の長手方向に該当する。また、本実施形態では、支持部分ＬＫ２１が延在する方向Ｄｅ２１が、リンクＬＫ２が延在する方向Ｄｅ２である場合を想定する。 The link LK2 is configured to be expandable and contractible, for example, along the direction De2 in which the link LK2 extends. For example, the link LK2 includes a support portion LK21 connected to the link LK1, movable portions LK22 and LK23, a telescoping mechanism TE2, a joint mechanism AR4, and a motor MOa4 that drives the joint mechanism AR4. Movable portion LK22 connects support portion LK21 and movable portion LK23. Movable part LK23 is connected to link LK3. In this embodiment, a case is assumed in which each of the support portion LK21, the movable portion LK22, and the movable portion LK23 extends along the direction De2. That is, the direction De2 corresponds to the longitudinal direction of each of the support portion LK21, the movable portion LK22, and the movable portion LK23. Moreover, in this embodiment, it is assumed that the direction De21 in which the support portion LK21 extends is the direction De2 in which the link LK2 extends.
　伸縮機構ＴＥ２は、支持部分ＬＫ２１と可動部分ＬＫ２２とを接続し、可動部分ＬＫ２２を支持部分ＬＫ２１に対して、支持部分ＬＫ２１が延在する方向Ｄｅ２１に沿って移動させる。可動部分ＬＫ２２が方向Ｄｅ２１に沿って移動することにより、可動部分ＬＫ２３が方向Ｄｅ２１に沿って移動する。可動部分ＬＫ２２及びＬＫ２３が方向Ｄｅ２１に沿って移動することにより、リンクＬＫ２は、方向Ｄｅ２１（すなわち、方向Ｄｅ２）に沿って伸縮する。図１の方向Ｄｍ２は、リンクＬＫ２の伸縮方向（方向Ｄｅ２に沿う方向）を示す。 The telescopic mechanism TE2 connects the support portion LK21 and the movable portion LK22, and moves the movable portion LK22 with respect to the support portion LK21 along the direction De21 in which the support portion LK21 extends. As the movable portion LK22 moves along the direction De21, the movable portion LK23 moves along the direction De21. As the movable parts LK22 and LK23 move along the direction De21, the link LK2 expands and contracts along the direction De21 (ie, the direction De2). Direction Dm2 in FIG. 1 indicates the expansion/contraction direction (direction along direction De2) of link LK2.
　関節機構ＡＲ４は、支持部分ＬＫ２１が延在する方向Ｄｅ２１と平行な軸Ａｘ４を回転軸として、可動部分ＬＫ２３を支持部分ＬＫ２１に対して回転させる。図１の回転方向Ｄｒ４は、軸Ａｘ４を回転軸として回転する場合の可動部分ＬＫ２３の回転方向を示す。軸Ａｘ４は、「第３回転軸」の一例である。 The joint mechanism AR4 rotates the movable portion LK23 with respect to the support portion LK21 using an axis Ax4 parallel to the direction De21 in which the support portion LK21 extends as a rotation axis. The rotation direction Dr4 in FIG. 1 indicates the rotation direction of the movable portion LK23 when rotating around the axis Ax4. Axis Ax4 is an example of a "third rotation axis."
　支持部分ＬＫ２１は、「第１部分」の一例であり、可動部分ＬＫ２２は、「第３部分」の一例であり、可動部分ＬＫ２３は、「第２部分」の一例である。また、関節機構ＡＲ４は、「第３駆動機構」の一例であり、伸縮機構ＴＥ２は、「第１伸縮機構」の一例である。 The supporting portion LK21 is an example of a “first portion,” the movable portion LK22 is an example of a “third portion,” and the movable portion LK23 is an example of a “second portion.” Further, the joint mechanism AR4 is an example of a "third drive mechanism," and the telescoping mechanism TE2 is an example of a "first telescoping mechanism."
　関節機構ＡＲ５は、リンクＬＫ２とリンクＬＫ３とを接続し、リンクＬＫ２が延在する方向Ｄｅ２に垂直な軸Ａｘ５を回転軸としてリンクＬＫ３をリンクＬＫ２に対して回転させる。図１の回転方向Ｄｒ５は、軸Ａｘ５を回転軸として回転する場合のリンクＬＫ３の回転方向を示す。軸Ａｘ５は、「第２回転軸」の一例である。 The joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5 perpendicular to the direction De2 in which the link LK2 extends as a rotation axis. The rotation direction Dr5 in FIG. 1 indicates the rotation direction of the link LK3 when rotating around the axis Ax5. Axis Ax5 is an example of a "second rotation axis."
　リンクＬＫ３には、例えば、物品を把持するエンドエフェクタ２０が取り付けられる。例えば、リンクＬＫ３の端面ＬＫ３ｓｆには、エンドエフェクタ２０が取り付けられる。また、リンクＬＫ３は、軸Ａｘ５に垂直な軸Ａｘ６を回転軸として、リンクＬＫ３の少なくとも一部分をリンクＬＫ２に対して回転させる関節機構ＡＲ６を含む。例えば、関節機構ＡＲ６は、軸Ａｘ６を回転軸として、リンクＬＫ３の端面ＬＫ３ｓｆをリンクＬＫ２に対して回転させる。図１の回転方向Ｄｒ６は、軸Ａｘ６を回転軸として回転する場合のリンクＬＫ３の端面ＬＫ３ｓｆの回転方向を示す。なお、関節機構ＡＲ６は、「第６駆動機構」の一例である。軸Ａｘ６は、「第６回転軸」の一例である。 For example, an end effector 20 that grips an article is attached to the link LK3. For example, the end effector 20 is attached to the end surface LK3sf of the link LK3. Further, the link LK3 includes a joint mechanism AR6 that rotates at least a portion of the link LK3 relative to the link LK2 about an axis Ax6 perpendicular to the axis Ax5 as a rotation axis. For example, the joint mechanism AR6 rotates the end surface LK3sf of the link LK3 with respect to the link LK2 using the axis Ax6 as the rotation axis. The rotation direction Dr6 in FIG. 1 indicates the rotation direction of the end face LK3sf of the link LK3 when rotating around the axis Ax6. Note that the joint mechanism AR6 is an example of a "sixth drive mechanism." Axis Ax6 is an example of a "sixth rotation axis."
　また、エンドエフェクタ２０により行われる作業は、物品の把持に限定されない。エンドエフェクタ２０としては、ロボット１０の作業目的に応じて適切な部品（例えば、ロボットハンド及びロボットフィンガー等）を適用することができる。すなわち、各種作業に適したエンドエフェクタ２０がリンクＬＫ３に取り付けられる。 Further, the work performed by the end effector 20 is not limited to gripping an article. As the end effector 20, appropriate parts (for example, a robot hand, a robot finger, etc.) can be used depending on the purpose of the robot 10. That is, an end effector 20 suitable for various tasks is attached to the link LK3.
　ここで、本実施形態では、特定の方向とのなす角度が所定の角度より大きい軸を回転軸とした回転を、特定の方向とのなす角度が所定の角度以下の軸を回転軸とした回転と区別して、「旋回」と称する場合がある。所定の角度は、例えば、４５°であってもよい。なお、所定の角度は、４５°に限定されない。 Here, in this embodiment, rotation about an axis whose angle with a specific direction is larger than a predetermined angle is rotation axis, and rotation about an axis whose angle with a specific direction is less than or equal to a predetermined angle as a rotation axis. It is sometimes referred to as a "swivel" to distinguish it from this. The predetermined angle may be, for example, 45°. Note that the predetermined angle is not limited to 45°.
　例えば、軸Ａｘ１及びＡｘ２の各々を回転軸とする回転では、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１が特定の方向に該当する。この場合、軸Ａｘ１は、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度以下の軸に該当し、軸Ａｘ２は、方向Ｄｖ１とのなす角度が所定の角度より大きい軸に該当する。従って、軸Ａｘ２を回転軸とするリンクＬＫ１の回転は、旋回に該当する。なお、本実施形態では、ボディ部ＢＤＰが底面ＢＤＰｂｔに垂直な方向Ｄｖ１に沿って延在しているため、ボディ部ＢＤＰが延在する方向Ｄｅｂを特定の方向としてもよい。 For example, in rotation using each of the axes Ax1 and Ax2 as rotation axes, the direction Dv1 perpendicular to the bottom surface BDPbt of the body portion BDP corresponds to the specific direction. In this case, the axis Ax1 corresponds to an axis whose angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP is less than or equal to a predetermined angle, and the axis Ax2 corresponds to an axis whose angle with the direction Dv1 is larger than the predetermined angle. Applies to. Therefore, the rotation of the link LK1 about the axis Ax2 corresponds to turning. In this embodiment, since the body portion BDP extends along the direction Dv1 perpendicular to the bottom surface BDPbt, the direction Deb in which the body portion BDP extends may be a specific direction.
　また、軸Ａｘ３を回転軸とする回転では、リンクＬＫ１が延在する方向Ｄｅ１が特定の方向に該当し、軸Ａｘ４を回転軸とする回転では、支持部分ＬＫ２１が延在する方向Ｄｅ２１が特定の方向に該当する。この場合、軸Ａｘ３は、リンクＬＫ１が延在する方向Ｄｅ１とのなす角度が所定の角度より大きい軸に該当し、軸Ａｘ４は、支持部分ＬＫ２１が延在する方向Ｄｅ２１とのなす角度が所定の角度以下の軸に該当する。従って、軸Ａｘ３を回転軸とするリンクＬＫ２の回転は、旋回に該当する。 Further, in the rotation about the axis Ax3 as the rotation axis, the direction De1 in which the link LK1 extends corresponds to a specific direction, and in the rotation about the axis Ax4 as the rotation axis, the direction De21 in which the support portion LK21 extends corresponds to a specific direction. Corresponds to the direction. In this case, the axis Ax3 corresponds to an axis whose angle with the direction De1 in which the link LK1 extends is larger than a predetermined angle, and the axis Ax4 corresponds to an axis whose angle with the direction De21 in which the support portion LK21 extends is larger than a predetermined angle. Applies to an axis that is less than or equal to an angle. Therefore, the rotation of the link LK2 about the axis Ax3 corresponds to turning.
　また、軸Ａｘ５を回転軸とする回転では、リンクＬＫ２が延在する方向Ｄｅ２が特定の方向に該当し、軸Ａｘ６を回転軸とする回転では、リンクＬＫ３が延在する方向Ｄｅ３が特定の方向に該当する。この場合、軸Ａｘ５は、リンクＬＫ２が延在する方向Ｄｅ２とのなす角度が所定の角度より大きい軸に該当し、軸Ａｘ６は、リンクＬＫ３が延在する方向Ｄｅ３とのなす角度が所定の角度以下の軸に該当する。従って、軸Ａｘ５を回転軸とするリンクＬＫ３の回転は、旋回に該当する。なお、本実施形態では、リンクＬＫ３が延在する方向Ｄｅ３が、軸Ａｘ５に垂直な方向である場合を想定する。このため、本実施形態では、方向Ｄｅ３とのなす角度が所定の角度以下の軸Ａｘ６は、関節機構ＡＲ５によりリンクＬＫ３が回転する場合のリンクＬＫ３の軸Ａｘ５（回転軸）とのなす角度が所定の角度より大きい軸に該当する。 In addition, in rotation with the axis Ax5 as the rotation axis, the direction De2 in which the link LK2 extends corresponds to a specific direction, and in rotation with the axis Ax6 as the rotation axis, the direction De3 in which the link LK3 extends corresponds to a specific direction. Applies to. In this case, the axis Ax5 corresponds to an axis whose angle with the direction De2 in which the link LK2 extends is larger than a predetermined angle, and the axis Ax6 corresponds to an axis whose angle with the direction De3 in which the link LK3 extends is a predetermined angle. It corresponds to the following axes. Therefore, the rotation of the link LK3 about the axis Ax5 corresponds to turning. In this embodiment, it is assumed that the direction De3 in which the link LK3 extends is perpendicular to the axis Ax5. Therefore, in the present embodiment, the axis Ax6 whose angle with the direction De3 is equal to or less than a predetermined angle is such that the angle formed with the axis Ax5 (rotation axis) of the link LK3 when the link LK3 is rotated by the joint mechanism AR5 is a predetermined angle. Corresponds to an axis whose angle is greater than .
　このように、本実施形態では、ロボット１０の複数の部分（ボディ部ＢＤＰ、リンクＬＫ１、ＬＫ２及びＬＫ３等）の各々が軸Ａｘ１、Ａｘ２、Ａｘ３、Ａｘ４、Ａｘ５及びＡｘ６の各々を回転軸として回転可能である。これにより、本実施形態では、ロボット１０は、人と同様の動作を実行できる。 As described above, in this embodiment, each of the plurality of parts of the robot 10 (body part BDP, links LK1, LK2, LK3, etc.) rotates about each of the axes Ax1, Ax2, Ax3, Ax4, Ax5, and Ax6. It is possible. Thereby, in this embodiment, the robot 10 can perform actions similar to humans.
　例えば、関節機構ＡＲ２と関節機構ＡＲ３との間のリンクＬＫ１が上腕に相当し、関節機構ＡＲ３と関節機構ＡＲ５との間のリンクＬＫ２が前腕に相当する。そして、ロボット１０は、関節機構ＡＲ１により、人の腰のねじりを模した動作を行うことができ、関節機構ＡＲ２により、肩の旋回を模した動作を行うことができる。また、ロボット１０は、関節機構ＡＲ３により、肘の旋回を模した動作を行うことができ、関節機構ＡＲ４により、腕のねじりを模した動作を行うことができる。また、ロボット１０は、関節機構ＡＲ５により、手首の旋回を模した動作を行うことができ、関節機構ＡＲ６により、指先のねじりを模した動作を行うことができる。 For example, the link LK1 between the joint mechanism AR2 and the joint mechanism AR3 corresponds to the upper arm, and the link LK2 between the joint mechanism AR3 and the joint mechanism AR5 corresponds to the forearm. The robot 10 can use the joint mechanism AR1 to perform a motion that simulates the twisting of a human's waist, and the joint mechanism AR2 can perform a motion that simulates the turning of the shoulder. Further, the robot 10 can perform a motion that simulates turning an elbow using the joint mechanism AR3, and can perform a motion that simulates twisting an arm using the joint mechanism AR4. Further, the robot 10 can perform an action simulating turning a wrist using the joint mechanism AR5, and can perform an action simulating twisting a fingertip using the joint mechanism AR6.
　さらに、本実施形態では、リンクＬＫ１を旋回させる関節機構ＡＲ２とリンクＬＫ２を旋回させる関節機構ＡＲ３との間に設けられた伸縮機構ＴＥ１により、リンクＬＫ１を伸縮することができる。また、本実施形態では、関節機構ＡＲ３とリンクＬＫ３を旋回させる関節機構ＡＲ５との間に設けられた伸縮機構ＴＥ２及び関節機構ＡＲ４により、リンクＬＫ２を伸縮すること、及び、可動部分ＬＫ２３を回転させることができる。本実施形態では、伸縮機構ＴＥ１及びＴＥ２により、ロボット１０の先端部（例えば、リンクＬＫ３の端面ＬＫ３ｓｆ）が到達可能な領域を広くすることができ、ロボット１０に取り付けられるエンドエフェクタ２０が到達可能な領域を広くすることができる。 Furthermore, in this embodiment, the link LK1 can be expanded and contracted by the expansion and contraction mechanism TE1 provided between the joint mechanism AR2 that rotates the link LK1 and the joint mechanism AR3 that rotates the link LK2. In addition, in this embodiment, the link LK2 is extended and contracted and the movable portion LK23 is rotated by the extension mechanism TE2 and the joint mechanism AR4 provided between the joint mechanism AR3 and the joint mechanism AR5 that rotates the link LK3. be able to. In the present embodiment, the telescopic mechanisms TE1 and TE2 can widen the reachable area of the robot 10's tip (for example, the end face LK3sf of the link LK3), and the end effector 20 attached to the robot 10 can reach. The area can be expanded.
　なお、ロボットシステム１の構成は、図１に示す例に限定されない。例えば、ロボットコントローラ３０は、ロボット１０に内蔵されてもよい。また、図１では、ロボット１０が床等の所定の場所に固定される場合を想定したが、ロボット１０は、所定の場所に固定されずに、ロボット１０自体が移動可能であってもよい。また、関節機構ＡＲ１は、ボディ部ＢＤＰに含まれてもよい。この場合、ボディ部ＢＤＰの全体が、軸Ａｘ１を回転軸として回転してもよいし、ボディ部ＢＤＰの一部（例えば、関節機構ＡＲ２と接続される部分を部分）が、軸Ａｘ１を回転軸として回転してもよい。あるいは、ボディ部ＢＤＰは土台部ＢＳＰに回転しないように固定され、関節機構ＡＲ２が、軸Ａｘ１を回転軸として回転してもよい。また、リンクＬＫ２と「先端部」であるリンクＬＫ３は、必ずしも、「第２駆動機構」である関節機構ＡＲ５を介して接続されている必要はない。例えば、関節機構ＡＲ５とリンクＬＫ３との間に、リンクＬＫ１及びリンクＬＫ２とは異なるリンクが配置されてもよい。 Note that the configuration of the robot system 1 is not limited to the example shown in FIG. 1. For example, the robot controller 30 may be built into the robot 10. Furthermore, although FIG. 1 assumes that the robot 10 is fixed to a predetermined location such as the floor, the robot 10 itself may be movable without being fixed to a predetermined location. Moreover, the joint mechanism AR1 may be included in the body part BDP. In this case, the entire body part BDP may rotate with the axis Ax1 as the rotation axis, or a part of the body part BDP (for example, a part connected to the joint mechanism AR2) may rotate with the axis Ax1 as the rotation axis. It may be rotated as Alternatively, the body part BDP may be fixed to the base part BSP so as not to rotate, and the joint mechanism AR2 may rotate about the axis Ax1. Further, the link LK2 and the link LK3, which is the "tip part", do not necessarily need to be connected via the joint mechanism AR5, which is the "second drive mechanism." For example, a link different from link LK1 and link LK2 may be arranged between joint mechanism AR5 and link LK3.
　次に、図２を参照しながら、関節機構ＡＲ４及び伸縮機構ＴＥ２を含むリンクＬＫ２の一例について説明する。 Next, with reference to FIG. 2, an example of the link LK2 including the joint mechanism AR4 and the telescopic mechanism TE2 will be described.
　図２は、関節機構ＡＲ４及び伸縮機構ＴＥ２を含むリンクＬＫ２の一例を説明するための説明図である。図２の上段は、収縮している状態のリンクＬＫ２を示し、図２の下段は、伸長している状態のリンクＬＫ２を示している。また、図２では、説明を分かり易くするために、リンクＬＫ２の伸縮方向を示す方向Ｄｍ２を、符号の末尾に“ｐ”又は“ｍ”を付して、区別して図示している。方向Ｄｍ２ｍは、リンクＬＫ２が収縮する方向を示し、方向Ｄｍ２ｐは、方向Ｄｍ２ｍの反対方向であり、リンクＬＫ２が伸長する方向を示す。なお、図２以降において、方向Ｄｍ２ｍ及びＤｍ２ｐを、特に区別することなく、方向Ｄｍ２と称する場合がある。 FIG. 2 is an explanatory diagram for explaining an example of the link LK2 including the joint mechanism AR4 and the telescopic mechanism TE2. The upper part of FIG. 2 shows the link LK2 in a contracted state, and the lower part of FIG. 2 shows the link LK2 in an extended state. In addition, in FIG. 2, in order to make the explanation easier to understand, the direction Dm2 indicating the expansion/contraction direction of the link LK2 is shown to be distinguished by adding "p" or "m" to the end of the reference numeral. The direction Dm2m indicates the direction in which the link LK2 contracts, and the direction Dm2p is the opposite direction to the direction Dm2m and indicates the direction in which the link LK2 extends. Note that in FIG. 2 and subsequent figures, directions Dm2m and Dm2p may be referred to as direction Dm2 without particular distinction.
　リンクＬＫ２は、図１において説明したように、支持部分ＬＫ２１と、可動部分ＬＫ２２及びＬＫ２３と、伸縮機構ＴＥ２と、関節機構ＡＲ４と、モータＭＯａ４と、モータＭＯｔ２とを含む。支持部分ＬＫ２１は、中空である。支持部分ＬＫ２１の内部には、伸縮機構ＴＥ２が設けられる。 As explained in FIG. 1, the link LK2 includes the support portion LK21, the movable portions LK22 and LK23, the telescopic mechanism TE2, the joint mechanism AR4, the motor MOa4, and the motor MOt2. Support portion LK21 is hollow. A telescopic mechanism TE2 is provided inside the support portion LK21.
　伸縮機構ＴＥ２は、例えば、可動部分ＬＫ２２の２つの端部のうちの可動部分ＬＫ２３から遠い端部に固定されたナットＴＥ２１と、方向Ｄｅ２１に沿って延在し、ナットＴＥ２１に挿通されるボールねじＴＥ２２とを含む。ボールねじＴＥ２２は、伸縮機構ＴＥ２を駆動するモータＭＯｔ２に取り付けられている。そして、ボールねじＴＥ２２は、モータＭＯｔ２の回転に伴い、軸Ａｘｔｅ２を回転軸として回転する。軸Ａｘｔｅ２は、例えば、ボールねじＴＥ２２の中心軸である。ナットＴＥ２１は、ボールねじＴＥ２２の回転に伴い、軸Ａｘｔｅ２に沿って移動する。ナットＴＥ２１が可動部分ＬＫ２２に固定されているため、可動部分ＬＫ２２は、ナットＴＥ２１の移動に伴い、軸Ａｘｔｅ２（すなわち、方向Ｄｅ２１）に沿って移動する。このように、ボールねじＴＥ２２は、可動部分ＬＫ２２を移動可能に支持する。 The telescopic mechanism TE2 includes, for example, a nut TE21 fixed to the end farthest from the movable part LK23 of the two ends of the movable part LK22, and a ball screw extending along the direction De21 and inserted into the nut TE21. TE22. The ball screw TE22 is attached to a motor MOt2 that drives the telescopic mechanism TE2. The ball screw TE22 rotates about the axis Axte2 as the motor MOt2 rotates. The axis Axte2 is, for example, the central axis of the ball screw TE22. The nut TE21 moves along the axis Axte2 as the ball screw TE22 rotates. Since the nut TE21 is fixed to the movable portion LK22, the movable portion LK22 moves along the axis Axte2 (ie, the direction De21) as the nut TE21 moves. In this way, the ball screw TE22 movably supports the movable portion LK22.
　なお、可動部分ＬＫ２２は、ボールねじＴＥ２２を格納可能に構成される。また、例えば、可動部分ＬＫ２２の中心軸は、ボールねじＴＥ２２の中心軸、すなわち、軸Ａｘｔｅ２と同じ軸である。また、可動部分ＬＫ２２は、ボールねじＴＥ２２が回転した場合でも、軸Ａｘｔｅ２を回転軸として回転しないように、支持部分ＬＫ２１に接続される。これにより、可動部分ＬＫ２２に固定されたナットＴＥ２１が、上述したように、ボールねじＴＥ２２の回転に伴い、軸Ａｘｔｅ２に沿って移動する。 Note that the movable part LK22 is configured to be able to store the ball screw TE22. Further, for example, the central axis of the movable portion LK22 is the same as the central axis of the ball screw TE22, that is, the axis Axte2. Further, the movable portion LK22 is connected to the support portion LK21 so as not to rotate about the axis Axte2 even when the ball screw TE22 rotates. As a result, the nut TE21 fixed to the movable portion LK22 moves along the axis Axte2 as the ball screw TE22 rotates, as described above.
　モータＭＯｔ２の回転方向を切り替えることにより、ナットＴＥ２１の移動方向、すなわち、可動部分ＬＫ２２の移動方向が、方向Ｄｍ２ｐと方向Ｄｍ２ｍとの間で切り替わる。例えば、モータＭＯｔ２の回転が第１の回転方向の回転である場合、ナットＴＥ２１は、方向Ｄｍ２ｐに移動し、モータＭＯｔ２の回転が第１の回転方向の回転に対して逆回転となる第２の回転方向の回転である場合、ナットＴＥ２１は、方向Ｄｍ２ｍに移動する。 By switching the rotational direction of the motor MOt2, the moving direction of the nut TE21, that is, the moving direction of the movable portion LK22, is switched between the direction Dm2p and the direction Dm2m. For example, when the motor MOt2 rotates in the first rotational direction, the nut TE21 moves in the direction Dm2p, and the motor MOt2 rotates in the second rotational direction in the opposite direction to the first rotational direction. In the case of rotation in the rotational direction, the nut TE21 moves in the direction Dm2m.
　例えば、可動部分ＬＫ２２が支持部分ＬＫ２１の内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ２を第１の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２２は、支持部分ＬＫ２１から徐々に突出する。これにより、リンクＬＫ２は、方向Ｄｍ２ｐに伸長する。図２に示す例では、リンクＬＫ２は、最大で、可動部分ＬＫ２２の長さとほぼ同じ長さだけ伸長する。また、可動部分ＬＫ２２が支持部分ＬＫ２１から突出している状態において、ロボットコントローラ３０がモータＭＯｔ２を第２の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２２は、支持部分ＬＫ２１の内部に徐々に格納される。これにより、リンクＬＫ２は、方向Ｄｍ２ｍに収縮する。このように、リンクＬＫ２が収縮した場合、可動部分ＬＫ２２の少なくとも一部が支持部分ＬＫ２１の内部に格納される。 For example, when the robot controller 30 rotates the motor MOt2 in the first rotation direction in a state where the movable part LK22 is stored inside the support part LK21, as the nut TE21 moves, the movable part LK22 moves into the support part LK21. It gradually protrudes from LK21. As a result, link LK2 extends in direction Dm2p. In the example shown in FIG. 2, the link LK2 extends at most by a length approximately equal to the length of the movable part LK22. Further, when the robot controller 30 rotates the motor MOt2 in the second rotation direction in a state where the movable part LK22 protrudes from the support part LK21, the movable part LK22 moves from the support part LK21 as the nut TE21 moves. It is gradually stored inside. As a result, link LK2 contracts in direction Dm2m. In this manner, when link LK2 contracts, at least a portion of movable portion LK22 is stored inside support portion LK21.
　関節機構ＡＲ４は、例えば、可動部分ＬＫ２２の２つの端部のうちの可動部分ＬＫ２３に近い端部（すなわち、可動部分ＬＫ２２と可動部分ＬＫ２３との境界付近）に取り付けられる。例えば、関節機構ＡＲ４は、ステーＡＲ４１と、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２と、プーリＡＲ４３及びＡＲ４４と、タイミングベルトＡＲ４５と、プーリＡＲ４４の回転が伝達される伝達軸ＡＲ４６と、ギアＡＲ４７とを有する。 The joint mechanism AR4 is attached to, for example, one of the two ends of the movable portion LK22 that is closer to the movable portion LK23 (that is, near the boundary between the movable portion LK22 and the movable portion LK23). For example, the joint mechanism AR4 includes a stay AR41, a transmission shaft AR42 to which the rotation of the motor MOa4 is transmitted, pulleys AR43 and AR44, a timing belt AR45, a transmission shaft AR46 to which the rotation of the pulley AR44 is transmitted, and a gear AR47. and has.
　ステーＡＲ４１は、可動部分ＬＫ２２の２つの端部のうちの可動部分ＬＫ２３に近い端部に、可動部分ＬＫ２２から張り出すように取り付けられている。ステーＡＲ４１のうち、可動部分ＬＫ２２から張り出した部分には、モータＭＯａ４が取り付けられる。すなわち、モータＭＯａ４は、可動部分ＬＫ２２が方向Ｄｍ２ｐ又はＤｍ２ｍに移動した場合に可動部分ＬＫ２２と一緒に移動するように、可動部分ＬＫ２２にステーＡＲ４１を介して取り付けられる。 The stay AR41 is attached to one of the two ends of the movable part LK22, which is closer to the movable part LK23, so as to protrude from the movable part LK22. A motor MOa4 is attached to a portion of the stay AR41 that protrudes from the movable portion LK22. That is, the motor MOa4 is attached to the movable part LK22 via the stay AR41 so that it moves together with the movable part LK22 when the movable part LK22 moves in the direction Dm2p or Dm2m.
　また、ステーＡＲ４１には、プーリＡＲ４３及びＡＲ４４が並列に設けられている。例えば、プーリＡＲ４３は、伝達軸ＡＲ４２に取り付けられる。また、プーリＡＲ４４は、方向Ｄｅ２からの平面視において、全体が可動部分ＬＫ２３と重なるように、配置される。タイミングベルトＡＲ４５は、プーリＡＲ４３の回転がプーリＡＲ４４に伝達されるように、プーリＡＲ４３とプーリＡＲ４４とを連結する。プーリＡＲ４４には、伝達軸ＡＲ４６が取り付けられている。例えば、伝達軸ＡＲ４６の中心軸は、軸Ａｘ４に対応する。伝達軸ＡＲ４６は、ギアＡＲ４７を介して可動部分ＬＫ２３と連結している。 Furthermore, pulleys AR43 and AR44 are provided in parallel on the stay AR41. For example, pulley AR43 is attached to transmission shaft AR42. Further, the pulley AR44 is arranged so that the entire pulley AR44 overlaps the movable portion LK23 when viewed in plan from the direction De2. Timing belt AR45 connects pulley AR43 and pulley AR44 so that rotation of pulley AR43 is transmitted to pulley AR44. A transmission shaft AR46 is attached to the pulley AR44. For example, the central axis of the transmission shaft AR46 corresponds to the axis Ax4. The transmission shaft AR46 is connected to the movable part LK23 via a gear AR47.
　これにより、例えば、モータＭＯａ４が回転した場合、伝達軸ＡＲ４２、プーリＡＲ４３、タイミングベルトＡＲ４５、プーリＡＲ４４、伝達軸ＡＲ４６、及び、ギアＡＲ４７を介して、可動部分ＬＫ２３にモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２３は、軸Ａｘ４を回転軸として回転する。なお、ステーＡＲ４１は、可動部分ＬＫ２２に取り付けられており、可動部分ＬＫ２３は可動部分ＬＫ２２に対して回転可能に取り付けられている。このため、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４及びステーＡＲ４１が軸Ａｘ４を回転軸として回転することはない。また、関節機構ＡＲ４及びモータＭＯａ４は、可動部分ＬＫ２２が方向Ｄｍ２ｐ又はＤｍ２ｍに移動した場合、可動部分ＬＫ２２と一緒に移動する。 Thus, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK23 via the transmission shaft AR42, pulley AR43, timing belt AR45, pulley AR44, transmission shaft AR46, and gear AR47. . As a result, the movable portion LK23 rotates about the axis Ax4. Note that the stay AR41 is attached to the movable portion LK22, and the movable portion LK23 is rotatably attached to the movable portion LK22. Therefore, even if the movable part LK23 rotates about the axis Ax4, the motor MOa4 and stay AR41 do not rotate about the axis Ax4. Further, the joint mechanism AR4 and the motor MOa4 move together with the movable portion LK22 when the movable portion LK22 moves in the direction Dm2p or Dm2m.
　ここで、例えば、関節機構ＡＲ４による回転動作では、関節機構ＡＲ２、ＡＲ３又はＡＲ５による旋回動作に比べて、駆動源であるモータＭＯａ４の出力位置と実際に回転する可動部分ＬＫ２３との軸Ａｘ４に沿う距離が、回転精度に与える影響が大きくなる。なお、軸Ａｘ４に沿う距離は、可動部分ＬＫ２３が回転する際の回転軸に沿う距離である。モータＭＯａ４の出力位置と可動部分ＬＫ２３との軸Ａｘ４に沿う距離が長い場合、モータＭＯａ４の出力位置と可動部分ＬＫ２３との軸Ａｘ４に沿う距離が短い場合に比べて、回転時のリンクＬＫ２のたわみ等による軸Ａｘ４（回転軸）に対する偏心が大きくなる。また、可動部分ＬＫ２３が軸Ａｘｔｅ２に沿って移動している最中、又は、リンクＬＫ２が旋回している最中に、モータＭＯａ４の出力位置と可動部分ＬＫ２３との軸Ａｘ４に沿う距離が変化した場合、軸Ａｘ４に対する偏心等が大きくなる。 Here, for example, in the rotating motion by the joint mechanism AR4, compared to the turning motion by the joint mechanisms AR2, AR3, or AR5, the output position of the motor MOa4, which is the drive source, and the movable part LK23 that actually rotates along the axis Ax4. Distance has a greater influence on rotation accuracy. Note that the distance along the axis Ax4 is the distance along the rotation axis when the movable portion LK23 rotates. When the distance between the output position of the motor MOa4 and the movable part LK23 along the axis Ax4 is long, the deflection of the link LK2 during rotation is greater than when the distance between the output position of the motor MOa4 and the movable part LK23 along the axis Ax4 is short. etc., the eccentricity with respect to the axis Ax4 (rotation axis) increases. Furthermore, while the movable part LK23 is moving along the axis Axte2 or while the link LK2 is turning, the distance between the output position of the motor MOa4 and the movable part LK23 along the axis Ax4 changes. In this case, the eccentricity with respect to the axis Ax4 becomes large.
　本実施形態では、上述したように、関節機構ＡＲ４及びモータＭＯａ４は、可動部分ＬＫ２２が方向Ｄｍ２ｐ又はＤｍ２ｍに移動した場合、可動部分ＬＫ２２と一緒に移動する。このため、本実施形態では、伸縮機構ＴＥ２により伸縮動作が行われた場合においても、可動部分ＬＫ２３に対するモータＭＯａ４の相対的な位置は、変化しない。この結果、本実施形態では、可動部分ＬＫ２３が軸Ａｘｔｅ２に沿って移動している最中、又は、リンクＬＫ２が旋回している最中であっても、偏芯の大きさを小さくすることができ、軸Ａｘ４を回転軸として可動部分ＬＫ２３を安定して回転させることができる。なお、本実施形態では、モータＭＯａ４はステーＡＲ４１を介して可動部分ＬＫ２２に取り付けられているため、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体は軸Ａｘ４の周りを回転（公転）しない。そのため、回転（公転）に伴う外乱が発生することはない。 In this embodiment, as described above, the joint mechanism AR4 and the motor MOa4 move together with the movable portion LK22 when the movable portion LK22 moves in the direction Dm2p or Dm2m. Therefore, in this embodiment, even when the telescoping mechanism TE2 performs a telescoping operation, the relative position of the motor MOa4 with respect to the movable portion LK23 does not change. As a result, in this embodiment, it is possible to reduce the eccentricity even while the movable part LK23 is moving along the axis Axte2 or while the link LK2 is rotating. Therefore, the movable portion LK23 can be stably rotated using the axis Ax4 as the rotation axis. In this embodiment, the motor MOa4 is attached to the movable part LK22 via the stay AR41, so even if the movable part LK23 rotates about the axis Ax4, the motor MOa4 itself rotates around the axis Ax4. (revolution) not. Therefore, no disturbance occurs due to rotation (revolution).
　また、本実施形態では、関節機構ＡＲ４により可動部分ＬＫ２３が回転する場合の可動部分ＬＫ２３の回転軸は、可動部分ＬＫ２２の中心軸と平行である。例えば、リンクＬＫ２は、可動部分ＬＫ２２が移動する際の軸Ａｘｔｅ２（ボールねじＴＥ２２の中心軸及び可動部分ＬＫ２２の中心軸）が、可動部分ＬＫ２３が回転する際の軸Ａｘ４と同じ軸又はほぼ同じ軸になるように、構成されている。これにより、本実施形態では、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転している最中に、可動部分ＬＫ２２を軸Ａｘｔｅ２に沿って移動させた場合でも、リンクＬＫ２全体のたわみ及び偏心等を抑制することができる。この結果、本実施形態では、ロボット１０を精度よく制御することができる。また、本実施形態では、可動部分ＬＫ２３の重心が、可動部分ＬＫ２３が回転する際の軸Ａｘ４上に位置するように、リンクＬＫ２を構成することが好ましい。この場合、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転する際に生ずる慣性を小さくすることができ、リンクＬＫ２全体のたわみ及び偏心等をさらに抑制することができる。 Furthermore, in the present embodiment, when the movable portion LK23 is rotated by the joint mechanism AR4, the rotation axis of the movable portion LK23 is parallel to the central axis of the movable portion LK22. For example, in the link LK2, the axis Axte2 (the central axis of the ball screw TE22 and the central axis of the movable part LK22) when the movable part LK22 moves is the same axis or almost the same axis as the axis Ax4 when the movable part LK23 rotates. It is configured so that As a result, in this embodiment, even if the movable part LK22 is moved along the axis Axte2 while the movable part LK23 is rotating about the axis Ax4, the deflection and eccentricity of the entire link LK2 can be prevented. Can be suppressed. As a result, in this embodiment, the robot 10 can be controlled with high precision. Further, in the present embodiment, it is preferable that the link LK2 is configured such that the center of gravity of the movable portion LK23 is located on the axis Ax4 when the movable portion LK23 rotates. In this case, the inertia that occurs when the movable portion LK23 rotates about the axis Ax4 can be reduced, and the deflection, eccentricity, etc. of the entire link LK2 can be further suppressed.
　また、本実施形態では、リンクＬＫ２の伸縮は、支持部分ＬＫ２１に対して可動部分ＬＫ２２が軸Ａｘｔｅ２に沿って移動することにより実現され、リンクＬＫ２の回転は、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転することにより実現される。このように、本実施形態では、リンクＬＫ２の伸縮及び回転を行う際の制御対象が可動部分ＬＫ２２と可動部分ＬＫ２３とに分離されているため、リンクＬＫ２を動かすためのモータＭＯｔ２及びＭＯａ４の制御が煩雑になることを抑制することができる。 Further, in this embodiment, the expansion and contraction of the link LK2 is realized by moving the movable part LK22 along the axis Axte2 with respect to the supporting part LK21, and the rotation of the link LK2 is realized by moving the movable part LK23 around the axis Ax4 as the rotation axis. This is achieved by rotating as . In this way, in the present embodiment, the objects to be controlled when extending, contracting and rotating the link LK2 are separated into the movable portion LK22 and the movable portion LK23, so that the control of the motors MOt2 and MOa4 for moving the link LK2 is controlled. Complications can be suppressed.
　また、本実施形態では、可動部分ＬＫ２３の方向Ｄｅ２に沿う長さ（長手方向の長さ）をある程度長く（例えば、可動部分ＬＫ２３の径よりも長く）することにより、可動部分ＬＫ２３の重量を大きくしている。これにより、本実施形態では、可動部分ＬＫ２３の固有振動周波数を小さくすることができる。この結果、本実施形態では、リンクＬＫ３に取り付けられたエンドエフェクタ２０による作業の最中に発生する振動を吸収することができ、リンクＬＫ３及びエンドエフェクタ２０の振動を抑制することができる。また、本実施形態では、可動部分ＬＫ２３の固有振動周波数が小さいため、ロボット１０のうちの関節機構ＡＲ５から土台部ＢＳＰまでの部分における振動がリンクＬＫ３及びエンドエフェクタ２０に伝搬することを抑制することができる。特に、リンクＬＫ１及びＬＫ２を伸縮中又は伸長した状態でのリンクＬＫ３及びエンドエフェクタ２０の動作精度が重要になるロボットシステム１では、可動部分ＬＫ２３の方向Ｄｅ２に沿う長さ及び可動部分ＬＫ２３の重量をある程度大きくすることが重要である。 Furthermore, in this embodiment, the weight of the movable portion LK23 is increased by increasing the length (longitudinal length) of the movable portion LK23 along the direction De2 to a certain extent (for example, longer than the diameter of the movable portion LK23). are doing. Thereby, in this embodiment, the natural vibration frequency of the movable portion LK23 can be reduced. As a result, in this embodiment, vibrations generated during work by the end effector 20 attached to the link LK3 can be absorbed, and vibrations of the link LK3 and the end effector 20 can be suppressed. Furthermore, in the present embodiment, since the natural vibration frequency of the movable portion LK23 is small, vibrations in the portion of the robot 10 from the joint mechanism AR5 to the base portion BSP are suppressed from propagating to the link LK3 and the end effector 20. I can do it. In particular, in the robot system 1 in which the operational accuracy of the link LK3 and the end effector 20 is important when the links LK1 and LK2 are being extended, contracted or extended, the length of the movable part LK23 in the direction De2 and the weight of the movable part LK23 are It is important to increase the size to some extent.
　なお、リンクＬＫ２の構成は、図２に示す例に限定されない。例えば、リンクＬＫ２が収縮した場合に、可動部分ＬＫ２２の少なくとも一部は、可動部分ＬＫ２３に格納されてもよい。あるいは、リンクＬＫ２が収縮した場合、可動部分ＬＫ２２の一部が支持部分ＬＫ２１に格納され、可動部分ＬＫ２２の他の一部が可動部分ＬＫ２３に格納されてもよい。また、例えば、リンクＬＫ２が最大限に収縮した場合に、可動部分ＬＫ２２の一部が支持部分ＬＫ２１の内部に格納されずに、支持部分ＬＫ２１から露出していてもよい。また、可動部分ＬＫ２２は、可動部分ＬＫ２３と一体に構成されてもよい。また、支持部分ＬＫ２１と可動部分ＬＫ２２とが一体に構成され、一体に構成された支持部分ＬＫ２１及び可動部分ＬＫ２２に対して可動部分ＬＫ２３を相対的に移動させる伸縮機構が伸縮機構ＴＥ２としてリンクＬＫ２に設けられてもよい。 Note that the configuration of link LK2 is not limited to the example shown in FIG. 2. For example, when link LK2 contracts, at least a portion of movable portion LK22 may be stored in movable portion LK23. Alternatively, when the link LK2 contracts, a part of the movable part LK22 may be stored in the support part LK21, and another part of the movable part LK22 may be stored in the movable part LK23. Further, for example, when the link LK2 is contracted to the maximum extent, a part of the movable portion LK22 may not be stored inside the support portion LK21 but may be exposed from the support portion LK21. Furthermore, the movable portion LK22 may be configured integrally with the movable portion LK23. Further, the support portion LK21 and the movable portion LK22 are integrally constructed, and a telescoping mechanism for moving the movable portion LK23 relative to the integrally constructed support portion LK21 and movable portion LK22 is attached to the link LK2 as a telescoping mechanism TE2. may be provided.
　次に、図３を参照しながら、伸縮機構ＴＥ１を含むリンクＬＫ１の一例について説明する。 Next, an example of the link LK1 including the telescoping mechanism TE1 will be described with reference to FIG. 3.
　図３は、伸縮機構ＴＥ１を含むリンクＬＫ１の一例を説明するための説明図である。図３の上段は、収縮している状態のリンクＬＫ１を示し、図３の下段は、伸長している状態のリンクＬＫ１を示している。また、図３では、図２と同様に、説明を分かり易くするために、リンクＬＫ１の伸縮方向を示す方向Ｄｍ１を、符号の末尾に“ｐ”又は“ｍ”を付して、区別して図示している。方向Ｄｍ１ｍは、リンクＬＫ１が収縮する方向を示し、方向Ｄｍ１ｐは、方向Ｄｍ１ｍの反対方向であり、リンクＬＫ１が伸長する方向を示す。 FIG. 3 is an explanatory diagram for explaining an example of the link LK1 including the telescoping mechanism TE1. The upper part of FIG. 3 shows the link LK1 in a contracted state, and the lower part in FIG. 3 shows the link LK1 in an expanded state. In addition, in FIG. 3, in order to make the explanation easier to understand, in FIG. It shows. The direction Dm1m indicates the direction in which the link LK1 contracts, and the direction Dm1p is the opposite direction to the direction Dm1m and indicates the direction in which the link LK1 extends.
　リンクＬＫ１は、図１において説明したように、支持部分ＬＫ１１と、可動部分ＬＫ１２及びＬＫ１３と、伸縮機構ＴＥ１と、モータＭＯｔ１とを含む。支持部分ＬＫ１１は、中空である。支持部分ＬＫ１１の内部には、伸縮機構ＴＥ１が設けられる。 As explained in FIG. 1, the link LK1 includes the support portion LK11, the movable portions LK12 and LK13, the telescoping mechanism TE1, and the motor MOt1. Support portion LK11 is hollow. A telescoping mechanism TE1 is provided inside the support portion LK11.
　伸縮機構ＴＥ１は、例えば、可動部分ＬＫ１２の２つの端部のうちの可動部分ＬＫ１３から遠い端部に固定されたナットＴＥ１１と、方向Ｄｅ１１に沿って延在し、ナットＴＥ１１に挿通されるボールねじＴＥ１２とを含む。ボールねじＴＥ１２は、伸縮機構ＴＥ１を駆動するモータＭＯｔ１に取り付けられている。そして、ボールねじＴＥ１２は、モータＭＯｔ１の回転に伴い、軸Ａｘｔｅ１を回転軸として回転する。軸Ａｘｔｅ１は、例えば、ボールねじＴＥ１２の中心軸である。 The telescopic mechanism TE1 includes, for example, a nut TE11 fixed to the end farthest from the movable part LK13 of the two ends of the movable part LK12, and a ball screw extending along the direction De11 and inserted into the nut TE11. TE12. The ball screw TE12 is attached to a motor MOt1 that drives the telescopic mechanism TE1. The ball screw TE12 rotates about the axis Axte1 as the motor MOt1 rotates. The axis Axte1 is, for example, the central axis of the ball screw TE12.
　ここで、可動部分ＬＫ１２は、ボールねじＴＥ１２が回転した場合でも、軸Ａｘｔｅ１を回転軸として回転しないように、支持部分ＬＫ１１に接続される。これにより、可動部分ＬＫ１２に固定されたナットＴＥ１１は、ボールねじＴＥ１２の回転に伴い、軸Ａｘｔｅ１に沿って移動する。また、ナットＴＥ１１が可動部分ＬＫ１２に固定されているため、可動部分ＬＫ１２は、ナットＴＥ１１の移動に伴い、軸Ａｘｔｅ１（すなわち、方向Ｄｅ１１）に沿って移動する。このように、ボールねじＴＥ１２は、可動部分ＬＫ１２を移動可能に支持する。なお、可動部分ＬＫ１２は、ボールねじＴＥ１２を格納可能に構成される。 Here, the movable portion LK12 is connected to the support portion LK11 so as not to rotate about the axis Axte1 even when the ball screw TE12 rotates. Thereby, the nut TE11 fixed to the movable portion LK12 moves along the axis Axte1 as the ball screw TE12 rotates. Furthermore, since the nut TE11 is fixed to the movable portion LK12, the movable portion LK12 moves along the axis Axte1 (that is, the direction De11) as the nut TE11 moves. In this way, the ball screw TE12 movably supports the movable portion LK12. Note that the movable portion LK12 is configured to be able to store the ball screw TE12.
　モータＭＯｔ１の回転方向を切り替えることにより、ナットＴＥ１１の移動方向、すなわち、可動部分ＬＫ１２の移動方向が、方向Ｄｍ１ｐと方向Ｄｍ１ｍとの間で切り替わる。例えば、モータＭＯｔ１の回転が第１の回転方向の回転である場合、ナットＴＥ１１は、方向Ｄｍ１ｐに移動し、モータＭＯｔ１の回転が第１の回転方向の回転に対して逆回転となる第２の回転方向の回転である場合、ナットＴＥ１１は、方向Ｄｍ１ｍに移動する。 By switching the rotational direction of the motor MOt1, the moving direction of the nut TE11, that is, the moving direction of the movable portion LK12, is switched between the direction Dm1p and the direction Dm1m. For example, when the motor MOt1 rotates in the first rotational direction, the nut TE11 moves in the direction Dm1p, and the motor MOt1 rotates in the second rotational direction in the opposite direction to the first rotational direction. In the case of rotation in the rotational direction, the nut TE11 moves in the direction Dm1m.
　例えば、可動部分ＬＫ１２が支持部分ＬＫ１１の内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ１を第１の回転方向に回転させた場合、ナットＴＥ１１の移動に伴い、可動部分ＬＫ１２は、支持部分ＬＫ１１から徐々に突出する。これにより、リンクＬＫ１は、方向Ｄｍ１ｐに伸長する。図３に示す例では、リンクＬＫ１は、最大で、可動部分ＬＫ１２の長さとほぼ同じ長さだけ伸長する。また、可動部分ＬＫ１２が支持部分ＬＫ１１から突出している状態において、ロボットコントローラ３０がモータＭＯｔ１を第２の回転方向に回転させた場合、ナットＴＥ１１の移動に伴い、可動部分ＬＫ１２は、支持部分ＬＫ１１の内部に徐々に格納される。これにより、リンクＬＫ１は、方向Ｄｍ１ｍに収縮する。このように、リンクＬＫ１が収縮した場合、可動部分ＬＫ１２の少なくとも一部が支持部分ＬＫ１１の内部に格納される。 For example, when the robot controller 30 rotates the motor MOt1 in the first rotation direction in a state where the movable part LK12 is stored inside the support part LK11, as the nut TE11 moves, the movable part LK12 moves into the support part LK11. It gradually protrudes from LK11. As a result, link LK1 extends in direction Dm1p. In the example shown in FIG. 3, the link LK1 extends at most by a length approximately equal to the length of the movable portion LK12. Further, when the robot controller 30 rotates the motor MOt1 in the second rotation direction in a state where the movable part LK12 protrudes from the support part LK11, as the nut TE11 moves, the movable part LK12 protrudes from the support part LK11. It is gradually stored inside. As a result, the link LK1 contracts in the direction Dm1m. In this way, when link LK1 contracts, at least a portion of movable portion LK12 is stored inside support portion LK11.
　なお、リンクＬＫ１の構成は、図３に示す例に限定されない。例えば、リンクＬＫ１が収縮した場合に、可動部分ＬＫ１２の少なくとも一部は、可動部分ＬＫ１３に格納されてもよい。あるいは、リンクＬＫ１が収縮した場合、可動部分ＬＫ１２の一部が支持部分ＬＫ１１に格納され、可動部分ＬＫ１２の他の一部が可動部分ＬＫ１３に格納されてもよい。また、例えば、リンクＬＫ１が最大限に収縮した場合に、可動部分ＬＫ１２の一部が支持部分ＬＫ１１の内部に格納されずに、支持部分ＬＫ１１から露出していてもよい。また、可動部分ＬＫ１２は、可動部分ＬＫ１３と一体に構成されてもよい。また、支持部分ＬＫ１１と可動部分ＬＫ１２とが一体に構成され、一体に構成された支持部分ＬＫ１１及び可動部分ＬＫ１２に対して可動部分ＬＫ１３を相対的に移動させる伸縮機構が伸縮機構ＴＥ１としてリンクＬＫ１に設けられてもよい。 Note that the configuration of link LK1 is not limited to the example shown in FIG. 3. For example, when link LK1 contracts, at least a portion of movable portion LK12 may be stored in movable portion LK13. Alternatively, when the link LK1 contracts, a part of the movable part LK12 may be stored in the support part LK11, and another part of the movable part LK12 may be stored in the movable part LK13. Further, for example, when the link LK1 is contracted to the maximum, a part of the movable portion LK12 may not be stored inside the support portion LK11 but may be exposed from the support portion LK11. Furthermore, the movable portion LK12 may be configured integrally with the movable portion LK13. Further, the support portion LK11 and the movable portion LK12 are integrally constructed, and a telescoping mechanism for moving the movable portion LK13 relative to the integrally constructed support portion LK11 and movable portion LK12 is attached to the link LK1 as a telescoping mechanism TE1. may be provided.
　また、例えば、可動部分ＬＫ１２は、モータＭＯｔ１、ナットＴＥ１１及びボールねじＴＥ１２の構造を工夫することにより、支持部分ＬＫ１１の外周を覆うように構成されてもよい。この構成では、リンクＬＫ１が収縮した場合、支持部分ＬＫ１１の少なくとも一部が、可動部分ＬＫ１２に格納されてもよい。また、伸縮機構ＴＥ１は、リンクＬＫ１を伸縮できれば、図３に示す構成に限定されない。 Furthermore, for example, the movable portion LK12 may be configured to cover the outer periphery of the support portion LK11 by devising the structure of the motor MOt1, the nut TE11, and the ball screw TE12. In this configuration, at least a portion of the support portion LK11 may be stored in the movable portion LK12 when the link LK1 is retracted. Further, the expansion/contraction mechanism TE1 is not limited to the configuration shown in FIG. 3 as long as the link LK1 can be expanded/contracted.
　次に、図４を参照しながら、ロボット１０の利点について説明する。 Next, the advantages of the robot 10 will be explained with reference to FIG. 4.
　図４は、図１に示したロボット１０の利点を説明するための説明図である。なお、図４では、ロボット１０と対比される形態として、伸縮機構ＴＥ１及びＴＥ２がロボット１０から省かれたロボット１０Ｚ（垂直６軸多関節ロボット）が点線で示されている。図４では、棚ＲＫに配置された物品ＧＤに対する作業を例にして、ロボット１０の利点を説明する。先ず、ロボット１０と対比されるロボット１０Ｚについて説明する。 FIG. 4 is an explanatory diagram for explaining the advantages of the robot 10 shown in FIG. 1. In FIG. 4, a robot 10Z (vertical 6-axis multi-joint robot) in which the telescoping mechanisms TE1 and TE2 are omitted from the robot 10 is shown in dotted lines as a form to be contrasted with the robot 10. In FIG. 4, the advantages of the robot 10 will be explained using an example of work on articles GD placed on a shelf RK. First, a robot 10Z, which is compared to the robot 10, will be explained.
　対比例のロボット１０Ｚは、リンクＬＫ１及びＬＫ２の代わりにリンクＬＫ１ｚ及びＬＫ２ｚを有することを除いて、ロボット１０と同様である。リンクＬＫ１ｚ及びＬＫ２ｚは、所定の長さで固定され、伸縮しない。図４に示す例では、リンクＬＫ１ｚの長さは、リンクＬＫ１を最大限に収縮した場合のリンクＬＫ１の長さとほぼ同じ長さであり、リンクＬＫ２ｚの長さは、リンクＬＫ２を最大限に伸長した場合のリンクＬＫ２の長さとほぼ同じ長さである。なお、リンクＬＫ１ｚの長さは、リンクＬＫ１を最大限に伸長した場合のリンクＬＫ１の長さとほぼ同じ長さであってもよい。 The robot 10Z of the comparative example is the same as the robot 10 except that it has links LK1z and LK2z instead of links LK1 and LK2. Links LK1z and LK2z are fixed at predetermined lengths and do not expand or contract. In the example shown in FIG. 4, the length of link LK1z is approximately the same length as link LK1 when link LK1 is contracted to the maximum, and the length of link LK2z is the length when link LK2 is expanded to the maximum. The length is approximately the same as the length of link LK2 in the case of Note that the length of the link LK1z may be approximately the same length as the length of the link LK1 when the link LK1 is expanded to the maximum extent.
　リンクＬＫ１ｚ及びＬＫ２ｚを伸縮可能とせずに、リンクＬＫ１ｚ及びＬＫ２ｚの一方又は両方を単純に長くしたロボット１０Ｚでは、ロボット１０Ｚ自体が大型化する。このため、ロボット１０Ｚが用いられる場合、ロボット１０Ｚを設置するスペース、又は、ロボット１０Ｚが移動するスペースを、ロボット１０が用いられる場合に比べて、大きくする必要がある。従って、リンクＬＫ１ｚ及びＬＫ２ｚを伸縮できない形態（例えば、ロボット１０Ｚ）では、大型のロボットを設置するスペースを確保できない場合、ロボットの先端部が到達可能な領域を広くすることが困難である。 In the robot 10Z in which one or both of the links LK1z and LK2z are simply made longer without making the links LK1z and LK2z extensible, the robot 10Z itself becomes larger. Therefore, when the robot 10Z is used, the space in which the robot 10Z is installed or the space in which the robot 10Z moves needs to be larger than when the robot 10 is used. Therefore, in a configuration in which the links LK1z and LK2z cannot be extended or contracted (for example, robot 10Z), it is difficult to widen the area that the tip of the robot can reach if space for installing a large robot cannot be secured.
　また、ロボット１０Ｚでは、例えば、棚ＲＫの奥に配置された物品ＧＤを棚ＲＫの奥から前方に取り出す場合、リンクＬＫ１ｚ及びＬＫ２ｚを旋回させて、リンクＬＫ３及びエンドエフェクタ２０を直線的に動かす必要がある。このため、ロボット１０Ｚでは、リンクＬＫ３の可動スペース以外に、リンクＬＫ１ｚ及びＬＫ２ｚの可動スペースが必要となる。従って、ロボット１０Ｚでは、物品ＧＤの周辺（特に前上方）に他の物品ＧＤや棚ＲＫの枠ＦＲＭ等がある場合、他の物品ＧＤや棚ＲＫの枠ＦＲＭ等が障害物となりロボット１０Ｚの動作と干渉するため、ロボット１０Ｚによる所望の作業ができないおそれがある。 Further, in the robot 10Z, for example, when taking out an article GD placed at the back of the shelf RK from the back to the front, it is necessary to rotate the links LK1z and LK2z and move the link LK3 and the end effector 20 linearly. There is. Therefore, the robot 10Z requires movable spaces for the links LK1z and LK2z in addition to the movable space for the link LK3. Therefore, in the robot 10Z, if there are other articles GD, the frame FRM of the shelf RK, etc. around the article GD (especially in the upper front), the other articles GD, the frame FRM of the shelf RK, etc. become obstacles and the movement of the robot 10Z is hindered. Therefore, there is a possibility that the robot 10Z may not be able to perform the desired work.
　これに対し、本実施形態では、上述したように、リンクＬＫ２が伸縮するため、ロボット１０の全体が大きくなることを抑制しつつ、ロボット１０の先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。これにより、本実施形態では、ロボット１０Ｚを設置するためのスペースを確保できない狭い場所にも、ロボット１０を設置することができる。この結果、本実施形態では、ロボット１０は、狭い場所においても、リンクＬＫ２を伸縮することにより、ロボット１０に近い場所に配置された物品に対する作業、及び、ロボット１０から遠い場所に配置された物品に対する作業の両方を効率よく行うことができる。 On the other hand, in the present embodiment, as described above, the link LK2 expands and contracts, so the area that the tip of the robot 10 (for example, the link LK3) can reach while suppressing the overall size of the robot 10 is suppressed. can be made wider. Thereby, in this embodiment, the robot 10 can be installed even in a narrow place where space for installing the robot 10Z cannot be secured. As a result, in the present embodiment, even in a narrow space, the robot 10 can work on objects placed close to the robot 10 and work on objects placed far from the robot 10 by expanding and contracting the link LK2. Both tasks can be done efficiently.
　また、本実施形態では、ロボット１０は、リンクＬＫ２を伸縮することにより、図４の破線の矢印で示すように、リンクＬＫ３及びエンドエフェクタ２０を直線的に動かすことができる。このため、本実施形態では、ロボット１０は、棚ＲＫの枠ＦＲＭ等の障害物がある狭い空間においても、リンクＬＫ２を伸縮することにより、棚ＲＫの奥に配置された物品ＧＤに対する作業を容易に行うことができる。また、本実施形態では、例えば、関節機構ＡＲ２及びＡＲ３を同時に駆動しなくても、伸縮機構ＴＥ２を駆動することにより、リンクＬＫ３及びエンドエフェクタ２０を直線的に動かすことができる。このため、本実施形態では、複数の関節機構ＡＲの制御が煩雑になることを抑制することができ、リンクＬＫ３及びエンドエフェクタ２０を直線的に動かす場合の精度を向上させることができる。 Furthermore, in this embodiment, the robot 10 can linearly move the link LK3 and the end effector 20, as shown by the broken arrow in FIG. 4, by expanding and contracting the link LK2. Therefore, in the present embodiment, even in a narrow space where there are obstacles such as the frame FRM of the shelf RK, the robot 10 can easily work on the article GD placed at the back of the shelf RK by extending and contracting the link LK2. can be done. Furthermore, in this embodiment, for example, the link LK3 and the end effector 20 can be linearly moved by driving the extension mechanism TE2 without simultaneously driving the joint mechanisms AR2 and AR3. Therefore, in the present embodiment, it is possible to suppress the control of the plurality of joint mechanisms AR from becoming complicated, and it is possible to improve the accuracy when moving the link LK3 and the end effector 20 linearly.
　さらに、本実施形態では、上述したように、リンクＬＫ１が伸縮するため、ロボット１０の全体が大きくなることを抑制しつつ、ロボット１０の先端部が到達可能な領域をリンクＬＫ１が伸縮しない形態に比べて広くすることができる。これにより、本実施形態では、ロボット１０は、リンクＬＫ１が伸縮しない形態では届かない高い位置に配置された物品ＧＤに対して作業することが可能となる。また、本実施形態では、ロボット１０は、伸縮機構ＴＥ１により関節機構ＡＲ３を高い位置に移動させることにより、棚ＲＫの高い位置で、かつ棚ＲＫの奥に配置された物品ＧＤに対する作業を容易に行うことができる。 Furthermore, in this embodiment, as described above, the link LK1 expands and contracts, so while suppressing the overall size of the robot 10, the area that the tip of the robot 10 can reach is configured so that the link LK1 does not expand or contract. It can be made wider. As a result, in this embodiment, the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
　次に、図５を参照しながら、ロボットコントローラ３０のハードウェア構成について説明する。 Next, the hardware configuration of the robot controller 30 will be described with reference to FIG. 5.
　図５は、図１に示したロボットコントローラ３０のハードウェア構成の一例を示す図である。 FIG. 5 is a diagram showing an example of the hardware configuration of the robot controller 30 shown in FIG. 1.
　ロボットコントローラ３０は、ロボットコントローラ３０の各部を制御する処理装置３２と、各種情報を記憶するメモリ３３と、通信装置３４と、作業者等による操作を受け付ける操作装置３５と、表示装置３６と、ドライバ回路３７とを有する。 The robot controller 30 includes a processing device 32 that controls each part of the robot controller 30, a memory 33 that stores various information, a communication device 34, an operating device 35 that accepts operations by an operator, a display device 36, and a driver. It has a circuit 37.
　メモリ３３は、例えば、処理装置３２の作業領域として機能するＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）等の揮発性メモリと、制御プログラムＰＧｒ等の各種情報を記憶するＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ　Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ－Ｏｎｌｙ　Ｍｅｍｏｒｙ）等の不揮発性メモリとの、一方又は両方を含む。なお、メモリ３３は、ロボットコントローラ３０に着脱可能であってもよい。具体的には、メモリ３３は、ロボットコントローラ３０に着脱されるメモリカード等の記憶媒体であってもよい。また、メモリ３３は、例えば、ロボットコントローラ３０とネットワーク等を介して通信可能に接続された記憶装置（例えば、オンラインストレージ）であってもよい。 The memory 33 includes, for example, a volatile memory such as a RAM (Random Access Memory) that functions as a work area of the processing device 32, and an EEPROM (Electrically Erasable Programmable Read-On Memory) that stores various information such as a control program PGr. ly　Memory) etc. This includes one or both of non-volatile memory. Note that the memory 33 may be removably attached to the robot controller 30. Specifically, the memory 33 may be a storage medium such as a memory card that is detachable from the robot controller 30. Furthermore, the memory 33 may be, for example, a storage device (for example, online storage) that is communicably connected to the robot controller 30 via a network or the like.
　図５に示すメモリ３３は、制御プログラムＰＧｒを記憶している。本実施形態では、制御プログラムＰＧｒは、例えば、ロボットコントローラ３０がロボット１０の動作を制御するためのアプリケーションプログラムを含む。但し、制御プログラムＰＧｒは、例えば、処理装置３２がロボットコントローラ３０の各部を制御するためのオペレーティングロボットシステムプログラムを含んでもよい。 The memory 33 shown in FIG. 5 stores a control program PGr. In this embodiment, the control program PGr includes, for example, an application program for the robot controller 30 to control the operation of the robot 10. However, the control program PGr may include, for example, an operating robot system program for the processing device 32 to control each part of the robot controller 30.
　処理装置３２は、ロボットコントローラ３０の全体を制御するプロセッサであり、例えば、１又は複数のＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）を含んで構成される。処理装置３２は、例えば、メモリ３３に記憶された制御プログラムＰＧｒを実行し、制御プログラムＰＧｒに従って動作することで、ロボット１０の動作を制御する。なお、制御プログラムＰＧｒは、ネットワーク等を介して他の装置から送信されてもよい。 The processing device 32 is a processor that controls the entire robot controller 30, and includes, for example, one or more CPUs (Central Processing Units). The processing device 32 controls the operation of the robot 10 by, for example, executing a control program PGr stored in the memory 33 and operating according to the control program PGr. Note that the control program PGr may be transmitted from another device via a network or the like.
　また、例えば、処理装置３２が複数のＣＰＵを含んで構成される場合、処理装置３２の機能の一部又は全部は、これら複数のＣＰＵが制御プログラムＰＧｒ等のプログラムに従って協働して動作することで実現されてもよい。また、処理装置３２は、１又は複数のＣＰＵに加え、又は、１又は複数のＣＰＵのうち一部又は全部に代えて、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）、又は、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）等のハードウェアを含んで構成されるものであってもよい。この場合、処理装置３２の機能の一部又は全部は、ＤＳＰ等のハードウェアにより実現されてもよい。 Further, for example, when the processing device 32 is configured to include a plurality of CPUs, some or all of the functions of the processing device 32 may be performed by the plurality of CPUs working together according to a program such as the control program PGr. It may be realized by In addition to one or more CPUs, or in place of a part or all of one or more CPUs, the processing device 32 may include a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA ( It may be configured to include hardware such as Field, Programmable, Gate, Array. In this case, part or all of the functions of the processing device 32 may be realized by hardware such as a DSP.
　通信装置３４は、ロボットコントローラ３０の外部に存在する外部装置と通信を行うためのハードウェアである。例えば、通信装置３４は、近距離無線通信によって外部装置と通信する機能を有する。なお、通信装置３４は、移動体通信網又はネットワークを介して外部装置と通信する機能をさらに有してもよい。 The communication device 34 is hardware for communicating with an external device existing outside the robot controller 30. For example, the communication device 34 has a function of communicating with an external device by short-range wireless communication. Note that the communication device 34 may further have a function of communicating with an external device via a mobile communication network or a network.
　操作装置３５は、外部からの入力を受け付ける入力デバイス（例えば、キーボード、マウス、スイッチ、ボタン及びセンサ等）である。例えば、操作装置３５は、作業者の操作を受け付け、操作に応じた操作情報を処理装置３２に出力する。なお、例えば、表示装置３６の表示面に対する接触を検出するタッチパネルが、操作装置３５として採用されてもよい。 The operating device 35 is an input device (eg, keyboard, mouse, switch, button, sensor, etc.) that accepts input from the outside. For example, the operating device 35 receives an operation from a worker and outputs operation information corresponding to the operation to the processing device 32. Note that, for example, a touch panel that detects contact with the display surface of the display device 36 may be employed as the operating device 35.
　表示装置３６は、外部への出力を実施するディスプレイ等の出力デバイスである。表示装置３６は、例えば、処理装置３２による制御のもとで、画像を表示する。なお、操作装置３５及び表示装置３６は、一体となった構成（例えば、タッチパネル）であってもよい。 The display device 36 is an output device such as a display that performs output to the outside. The display device 36 displays images under the control of the processing device 32, for example. Note that the operating device 35 and the display device 36 may have an integrated configuration (for example, a touch panel).
　ドライバ回路３７は、処理装置３２による制御のもとで、ロボット１０を駆動するための信号をロボット１０に出力するハードウェアである。例えば、ドライバ回路３７は、処理装置３２による制御のもとで、モータＭＯａ１、ＭＯａ２、ＭＯａ２、ＭＯａ４、ＭＯａ５、ＭＯａ６、ＭＯｔ１及びＭＯｔ２等を駆動する信号をロボット１０に出力する。なお、モータＭＯａ１、ＭＯａ２、ＭＯａ２、ＭＯａ４、ＭＯａ５及びＭＯａ６は、関節機構ＡＲ１、ＡＲ２、ＡＲ３、ＡＲ４、ＡＲ５及びＡＲ６をそれぞれ駆動するモータである。また、モータＭＯｔ１及びＭＯｔ２は、伸縮機構ＴＥ１及びＴＥ２をそれぞれ駆動するモータである。 The driver circuit 37 is hardware that outputs signals for driving the robot 10 to the robot 10 under the control of the processing device 32. For example, the driver circuit 37 outputs signals for driving the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, MOt2, etc. to the robot 10 under the control of the processing device 32. Note that the motors MOa1, MOa2, MOa2, MOa4, MOa5, and MOa6 are motors that drive the joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, respectively. Furthermore, the motors MOt1 and MOt2 are motors that drive the telescoping mechanisms TE1 and TE2, respectively.
　このように、ロボットコントローラ３０は、モータＭＯａ１、ＭＯａ２、ＭＯａ２、ＭＯａ４、ＭＯａ５、ＭＯａ６、ＭＯｔ１及びＭＯｔ２を制御することにより、ロボット１０の動作を制御する。 In this way, the robot controller 30 controls the operation of the robot 10 by controlling the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, and MOt2.
　以上、本実施形態では、ロボット１０は、ボディ部ＢＤＰと、リンクＬＫ３と、ボディ部ＢＤＰとリンクＬＫ３とを接続する複数のリンクＬＫ１及びＬＫ２と、関節機構ＡＲ３と、関節機構ＡＲ５とを有する。関節機構ＡＲ３は、リンクＬＫ１とリンクＬＫ２とを接続し、リンクＬＫ１が延在する方向Ｄｅ１とのなす角度が所定の角度より大きい軸Ａｘ３を第１回転軸としてリンクＬＫ２をリンクＬＫ１に対して回転させる。関節機構ＡＲ５は、リンクＬＫ２とリンクＬＫ３とを接続し、リンクＬＫ２が延在する方向Ｄｅ２とのなす角度が所定の角度より大きい軸Ａｘ５を第２回転軸としてリンクＬＫ３をリンクＬＫ２に対して回転させる。リンクＬＫ２は、リンクＬＫ１に接続される支持部分ＬＫ２１と、リンクＬＫ３に接続される可動部分ＬＫ２３と、支持部分ＬＫ２１と可動部分ＬＫ２３とを接続する可動部分ＬＫ２２と、関節機構ＡＲ４と、伸縮機構ＴＥ２とを有する。関節機構ＡＲ４は、支持部分ＬＫ２１が延在する方向Ｄｅ２１とのなす角度が所定の角度以下の軸Ａｘ４を第３回転軸として、可動部分ＬＫ２３を支持部分ＬＫ２１に対して回転させる。伸縮機構ＴＥ２は、支持部分ＬＫ２１に対して可動部分ＬＫ２２を支持部分ＬＫ２１の延在方向（方向Ｄｅ２１）に沿って移動させることにより、リンクＬＫ２を伸縮させる。 As described above, in this embodiment, the robot 10 includes a body part BDP, a link LK3, a plurality of links LK1 and LK2 that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5. The joint mechanism AR3 connects the link LK1 and the link LK2, and rotates the link LK2 with respect to the link LK1 using an axis Ax3, which is larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis. let The joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5, which is larger than a predetermined angle at an angle with the direction De2 in which the link LK2 extends, as a second rotation axis. let The link LK2 includes a support portion LK21 connected to the link LK1, a movable portion LK23 connected to the link LK3, a movable portion LK22 that connects the support portion LK21 and the movable portion LK23, a joint mechanism AR4, and a telescopic mechanism TE2. and has. The joint mechanism AR4 rotates the movable portion LK23 with respect to the support portion LK21 using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21 extends, as a third rotation axis. The expansion/contraction mechanism TE2 expands/contracts the link LK2 by moving the movable part LK22 with respect to the support part LK21 along the extending direction (direction De21) of the support part LK21.
　このように、本実施形態では、伸縮機構ＴＥ２により、リンクＬＫ２が伸縮する。このため、本実施形態では、ロボット１０の全体が大きくなることを抑制しつつ、ロボット１０の先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。これにより、本実施形態では、大型のロボットを設置するためのスペースを確保できない狭い場所にも、ロボット１０を設置することができる。すなわち、本実施形態では、狭い場所で用いられるロボット１０においても、ロボット１０の先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。 In this way, in this embodiment, the link LK2 is expanded and contracted by the expansion and contraction mechanism TE2. Therefore, in this embodiment, it is possible to widen the area that the tip of the robot 10 (for example, the link LK3) can reach while suppressing the overall size of the robot 10. Thereby, in this embodiment, the robot 10 can be installed even in a narrow place where space for installing a large robot cannot be secured. That is, in this embodiment, even in the robot 10 used in a narrow place, the area that the tip of the robot 10 (for example, the link LK3) can reach can be widened.
　また、本実施形態では、リンクＬＫ２の可動部分ＬＫ２３の回転が関節機構ＡＲ４により行われ、リンクＬＫ２の伸縮が伸縮機構ＴＥ２により行われる。このため、本実施形態では、リンクＬＫ２の可動部分ＬＫ２３の回転及びリンクＬＫ２の伸縮の制御が煩雑になることを抑制することができる。 Furthermore, in this embodiment, the rotation of the movable portion LK23 of the link LK2 is performed by the joint mechanism AR4, and the expansion and contraction of the link LK2 is performed by the expansion and contraction mechanism TE2. Therefore, in this embodiment, it is possible to suppress the rotation of the movable portion LK23 of the link LK2 and the control of the expansion and contraction of the link LK2 from becoming complicated.
　また、本実施形態では、支持部分ＬＫ２１は、中空である。リンクＬＫ２が収縮した場合、可動部分ＬＫ２２の少なくとも一部が、支持部分ＬＫ２１の内部に格納される。これにより、本実施形態では、リンクＬＫ２の伸縮を簡易な構成で実現することができる。 Furthermore, in this embodiment, the support portion LK21 is hollow. When the link LK2 is retracted, at least a portion of the movable part LK22 is stored inside the support part LK21. Thereby, in this embodiment, expansion and contraction of the link LK2 can be realized with a simple configuration.
　また、本実施形態では、ロボット１０は、関節機構ＡＲ４を駆動するモータＭＯａ４をさらに含む。モータＭＯａ４は、可動部分ＬＫ２２が支持部分ＬＫ２１の延在方向（方向Ｄｅ２１）に沿って移動した場合、可動部分ＬＫ２２と一緒に移動するように、可動部分ＬＫ２２に取り付けられる。 Furthermore, in this embodiment, the robot 10 further includes a motor MOa4 that drives the joint mechanism AR4. Motor MOa4 is attached to movable portion LK22 so that it moves together with movable portion LK22 when movable portion LK22 moves along the extending direction (direction De21) of support portion LK21.
　これにより、本実施形態では、モータＭＯａ４とモータＭＯａ４の回転に応じて回転する可動部分ＬＫ２３との相対的な位置関係は、リンクＬＫ２が伸縮した場合においても、一定の位置関係に維持される。この結果、本実施形態では、可動部分ＬＫ２３が方向Ｄｅ２１に沿って移動している最中、又は、リンクＬＫ２が旋回している最中であっても、軸Ａｘ４を回転軸として可動部分ＬＫ２３を安定して回転させることができる。また、本実施形態では、モータＭＯａ４が可動部分ＬＫ２２に取り付けられるため、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体は軸Ａｘ４の周りを回転（公転）しない。このため、本実施形態では、モータＭＯａ４自体の公転に伴う外乱の発生を抑制することができる。 Thereby, in this embodiment, the relative positional relationship between the motor MOa4 and the movable part LK23 that rotates in accordance with the rotation of the motor MOa4 is maintained at a constant positional relationship even when the link LK2 expands and contracts. As a result, in this embodiment, even when the movable portion LK23 is moving along the direction De21 or while the link LK2 is rotating, the movable portion LK23 is rotated about the axis Ax4. It can be rotated stably. Furthermore, in this embodiment, since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances caused by the revolution of the motor MOa4 itself.
　また、本実施形態では、関節機構ＡＲ４により可動部分ＬＫ２３が回転する場合の可動部分ＬＫ２３の第３回転軸（軸Ａｘ４）は、可動部分ＬＫ２２の中心軸と平行である。これにより、本実施形態では、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転している最中に、可動部分ＬＫ２２を方向Ｄｅ２１に沿って移動させた場合でも、リンクＬＫ２全体のたわみ及び偏心等を抑制することができる。この結果、本実施形態では、ロボット１０を精度よく制御することができる。 Furthermore, in this embodiment, the third rotation axis (axis Ax4) of the movable part LK23 when the movable part LK23 is rotated by the joint mechanism AR4 is parallel to the central axis of the movable part LK22. As a result, in this embodiment, even if the movable part LK22 is moved along the direction De21 while the movable part LK23 is rotating about the axis Ax4, the deflection and eccentricity of the entire link LK2 can be prevented. Can be suppressed. As a result, in this embodiment, the robot 10 can be controlled with high precision.
　また、本実施形態では、リンクＬＫ１は、支持部分ＬＫ１１と、リンクＬＫ２に接続される可動部分ＬＫ１３と、支持部分ＬＫ１１と可動部分ＬＫ１３とを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１を伸縮させる。 Furthermore, in this embodiment, the link LK1 includes a support portion LK11, a movable portion LK13 connected to the link LK2, a movable portion LK12 that connects the support portion LK11 and the movable portion LK13, and an expansion/contraction mechanism TE1. The expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
　このように、本実施形態では、伸縮機構ＴＥ１により、リンクＬＫ１が伸縮する。このため、本実施形態では、ロボット１０の全体が大きくなることを抑制しつつ、ロボット１０の先端部が到達可能な領域をリンクＬＫ１が伸縮しない形態に比べて広くすることができる。これにより、本実施形態では、例えば、ロボット１０は、リンクＬＫ１が伸縮しない形態では届かない高い位置に配置された物品ＧＤに対して作業する事が可能となる。また、本実施形態では、ロボット１０は、伸縮機構ＴＥ１により関節機構ＡＲ３を高い位置に移動させることにより、棚ＲＫの高い位置で、かつ棚ＲＫの奥に配置された物品ＧＤに対する作業を容易に行うことができる。 In this manner, in this embodiment, the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10 can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10. As a result, in this embodiment, for example, the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
　また、本実施形態では、支持部分ＬＫ１１は、中空である。リンクＬＫ１が収縮した場合、可動部分ＬＫ１２の少なくとも一部が、支持部分ＬＫ１１の内部に格納される。これにより、本実施形態では、リンクＬＫ１の伸縮を簡易な構成で実現することができる。 Furthermore, in this embodiment, the support portion LK11 is hollow. When the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11. Thereby, in this embodiment, expansion and contraction of the link LK1 can be realized with a simple configuration.
　また、本実施形態では、ロボット１０は、関節機構ＡＲ１と関節機構ＡＲ２とをさらに有する。関節機構ＡＲ１は、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度以下の軸Ａｘ１を第４回転軸として、ボディ部ＢＤＰの少なくとも一部分を回転させる。関節機構ＡＲ２は、ボディ部ＢＤＰとリンクＬＫ１とを接続し、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度より大きい軸Ａｘ２を第５回転軸としてリンクＬＫ１をボディ部ＢＤＰに対して回転させる。リンクＬＫ３は、関節機構ＡＲ５によりリンクＬＫ３が回転する場合のリンクＬＫの第２回転軸（軸Ａｘ５）とのなす角度が所定の角度より大きい軸Ａｘ６を第６回転軸として、リンクＬＫ３の少なくとも一部分をリンクＬＫ２に対して回転させる関節機構ＡＲ６を含む。このように、本実施形態に係る発明は、垂直６軸多関節ロボットに適用されてもよい。 Furthermore, in this embodiment, the robot 10 further includes a joint mechanism AR1 and a joint mechanism AR2. The joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis. The joint mechanism AR2 connects the body part BDP and the link LK1, and connects the link LK1 to the body part with an axis Ax2 that is larger than a predetermined angle at an angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP as a fifth rotation axis. Rotate against BDP. The link LK3 is configured to rotate at least a portion of the link LK3 by using an axis Ax6 as a sixth rotation axis, which makes an angle with the second rotation axis (axis Ax5) of the link LK that is larger than a predetermined angle when the link LK3 is rotated by the joint mechanism AR5. includes a joint mechanism AR6 that rotates the link LK2 relative to the link LK2. In this way, the invention according to this embodiment may be applied to a vertical six-axis articulated robot.
　また、本実施形態では、リンクＬＫ１は、ボディ部ＢＤＰに接続される支持部分ＬＫ１１と、リンクＬＫ２に接続される可動部分ＬＫ１３と、支持部分ＬＫ１１と可動部分ＬＫ１３とを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１を伸縮させる。このように、本実施形態では、垂直６軸多関節ロボットに２つの伸縮機構を追加することにより、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０を簡易に構成することができる。 In the present embodiment, the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1. The expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends. As described above, in this embodiment, by adding two expansion and contraction mechanisms to a vertical six-axis multi-joint robot, it is possible to easily configure a robot 10 in which the reachable area of the tip (for example, link LK3) is widened. I can do it.
　また、本実施形態では、ロボットコントローラ３０は、関節機構ＡＲ１を駆動するモータＭＯａ１、関節機構ＡＲ２を駆動するモータＭＯａ２、関節機構ＡＲ３を駆動するモータＭＯａ３、関節機構ＡＲ４を駆動するモータＭＯａ４、関節機構ＡＲ５を駆動するモータＭＯａ５、関節機構ＡＲ６を駆動するモータＭＯａ６、伸縮機構ＴＥ１を駆動するモータＭＯｔ１、及び、伸縮機構ＴＥ２を駆動するモータＭＯｔ２を制御することにより、ロボット１０の動作を制御する。このように、本実施形態では、ロボットコントローラ３０により、ロボット１０の動作を容易に制御することができる。 In the present embodiment, the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4, a motor MOa4 that drives the joint mechanism AR4, and a motor MOa4 that drives the joint mechanism AR4. The operation of the robot 10 is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2. In this manner, in this embodiment, the robot controller 30 can easily control the operation of the robot 10.
　また、本実施形態では、ロボットシステム１は、ロボット１０と、リンクＬＫ３に取り付けられたエンドエフェクタ２０と、ロボット１０及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。このように、本実施形態では、全体の大きさが大きくなることを抑制しつつ、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０がロボットシステム１に用いられる。このため、本実施形態では、狭い場所においても、ロボットシステム１は、ロボット１０に近い場所に配置された物品に対する作業、及び、ロボット１０から遠い場所に配置された物品に対する作業の両方を効率よく行うことができる。例えば、部品を組み付ける、又は、部品を取り除くことを含む物品の製造方法にロボットシステム１が用いられてもよい。この場合、部品を組み付ける、又は、部品を取り除く作業を効率よく実行することができる。 Furthermore, in this embodiment, the robot system 1 includes a robot 10, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10 and the end effector 20. As described above, in this embodiment, the robot 10 is used in the robot system 1 in which the area reachable by the tip portion (for example, the link LK3) is widened while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10 and operations on objects placed far from the robot 10. It can be carried out. For example, the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
［Ａ－２．第２実施形態］
　次に、図６を参照しながら、第２実施形態に係るロボットシステム１の概要の一例について説明する。 [A-2. Second embodiment]
Next, an example of the outline of the robot system 1 according to the second embodiment will be described with reference to FIG. 6.
　図６は、第２実施形態に係るロボットシステム１の概要を説明するための説明図である。図１から図５において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。 FIG. 6 is an explanatory diagram for explaining an overview of the robot system 1 according to the second embodiment. Elements similar to those described in FIGS. 1 to 5 are denoted by the same reference numerals, and detailed description thereof will be omitted.
　図６に示すロボットシステム１は、図１に示したロボット１０の代わりにロボット１０Ａを有することを除いて、図１に示したロボットシステム１と同様である。例えば、図６に示すロボットシステム１は、ロボット１０Ａと、ロボット１０Ａに着脱可能に取り付けられるエンドエフェクタ２０と、ロボット１０Ａ及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。ロボット１０Ａは、「多関節ロボット」の他の例である。 The robot system 1 shown in FIG. 6 is the same as the robot system 1 shown in FIG. 1 except that it has a robot 10A instead of the robot 10 shown in FIG. For example, the robot system 1 shown in FIG. 6 includes a robot 10A, an end effector 20 that is detachably attached to the robot 10A, and a robot controller 30 that controls the operations of the robot 10A and the end effector 20. The robot 10A is another example of an "articulated robot."
　ロボット１０Ａは、図１に示したリンクＬＫ２の代わりにリンクＬＫ２ａを有することを除いて、図１に示したロボット１０と同様である。リンクＬＫ２ａは、「第２リンク」の他の例である。以下では、リンクＬＫ２ａを中心に説明する。 The robot 10A is similar to the robot 10 shown in FIG. 1 except that it has a link LK2a instead of the link LK2 shown in FIG. Link LK2a is another example of a "second link." Below, link LK2a will be mainly explained.
　リンクＬＫ２ａは、リンクＬＫ２と同様に、リンクＬＫ２ａが延在する方向Ｄｅ２に沿って伸縮可能に構成される。但し、リンクＬＫ２ａは、軸Ａｘ４を回転軸として可動部分ＬＫ２２ａ及びＬＫ２３ａの両方が回転するように構成されている点が、リンクＬＫ２と相違する。 Similar to link LK2, link LK2a is configured to be expandable and contractible along direction De2 in which link LK2a extends. However, link LK2a differs from link LK2 in that both movable parts LK22a and LK23a are configured to rotate about axis Ax4.
　例えば、リンクＬＫ２ａは、リンクＬＫ１に接続される支持部分ＬＫ２１ａと、可動部分ＬＫ２２ａ及びＬＫ２３ａと、伸縮機構ＴＥ２と、関節機構ＡＲ４ａと、関節機構ＡＲ４ａを駆動するモータＭＯａ４とを含む。可動部分ＬＫ２２ａは、支持部分ＬＫ２１ａと可動部分ＬＫ２３ａとを接続する。可動部分ＬＫ２３ａは、リンクＬＫ３に接続される。本実施形態においても、第１実施形態と同様に、支持部分ＬＫ２１ａ、可動部分ＬＫ２２ａ及び可動部分ＬＫ２３ａの各々が方向Ｄｅ２に沿って延在し、支持部分ＬＫ２１が延在する方向Ｄｅ２１が、リンクＬＫ２が延在する方向Ｄｅ２である場合を想定する。従って、本実施形態においても、方向Ｄｅ２は、支持部分ＬＫ２１ａ、可動部分ＬＫ２２ａ及び可動部分ＬＫ２３ａの各々の長手方向に該当する。 For example, the link LK2a includes a support portion LK21a connected to the link LK1, movable portions LK22a and LK23a, a telescoping mechanism TE2, a joint mechanism AR4a, and a motor MOa4 that drives the joint mechanism AR4a. Movable portion LK22a connects support portion LK21a and movable portion LK23a. Movable part LK23a is connected to link LK3. Also in this embodiment, similarly to the first embodiment, each of the support portion LK21a, the movable portion LK22a, and the movable portion LK23a extends along the direction De2, and the direction De21 in which the support portion LK21 extends is the link LK2. Assume that the extending direction is De2. Therefore, also in this embodiment, the direction De2 corresponds to the longitudinal direction of each of the support portion LK21a, the movable portion LK22a, and the movable portion LK23a.
　伸縮機構ＴＥ２は、図１に示した伸縮機構ＴＥ２と同様に、支持部分ＬＫ２１ａと可動部分ＬＫ２２ａとを接続し、可動部分ＬＫ２２ａを支持部分ＬＫ２１ａに対して、支持部分ＬＫ２１ａが延在する方向Ｄｅ２１に沿って移動させる。可動部分ＬＫ２２ａが方向Ｄｅ２１に沿って移動することにより、可動部分ＬＫ２３ａが方向Ｄｅ２１に沿って移動する。可動部分ＬＫ２２ａ及びＬＫ２３ａが方向Ｄｅ２１に沿って移動することにより、リンクＬＫ２ａは、方向Ｄｅ２１（すなわち、方向Ｄｅ２）に沿って伸縮する。 Similar to the telescopic mechanism TE2 shown in FIG. 1, the telescopic mechanism TE2 connects the supporting part LK21a and the movable part LK22a, and moves the movable part LK22a in the direction De21 in which the supporting part LK21a extends with respect to the supporting part LK21a. move along. As the movable portion LK22a moves along the direction De21, the movable portion LK23a moves along the direction De21. As the movable parts LK22a and LK23a move along the direction De21, the link LK2a expands and contracts along the direction De21 (that is, the direction De2).
　関節機構ＡＲ４ａは、支持部分ＬＫ２１ａが延在する方向Ｄｅ２１と平行な軸Ａｘ４を回転軸として、可動部分ＬＫ２２ａを支持部分ＬＫ２１に対して回転させることにより、可動部分ＬＫ２３ａを支持部分ＬＫ２１に対して回転させる。例えば、可動部分ＬＫ２３ａは、可動部分ＬＫ２２ａと一緒に移動及び回転するように、可動部分ＬＫ２２ａと連結されている。図６の回転方向Ｄｒ４は、軸Ａｘ４を回転軸として回転する場合の可動部分ＬＫ２２ａ及びＬＫ２３ａの回転方向を示す。なお、詳細は、図７において後述されるが、リンクＬＫ２では、関節機構ＡＲ４ａは、支持部分ＬＫ２１ａに取り付けられる。 The joint mechanism AR4a rotates the movable part LK22a with respect to the support part LK21 about an axis Ax4 parallel to the direction De21 in which the support part LK21a extends, and thereby rotates the movable part LK23a with respect to the support part LK21. let For example, movable portion LK23a is coupled to movable portion LK22a so as to move and rotate together with movable portion LK22a. The rotation direction Dr4 in FIG. 6 indicates the rotation direction of the movable parts LK22a and LK23a when rotating around the axis Ax4. Although the details will be described later in FIG. 7, in the link LK2, the joint mechanism AR4a is attached to the support portion LK21a.
　支持部分ＬＫ２１ａは、「第１部分」の他の例であり、可動部分ＬＫ２２ａは、「第３部分」の他の例であり、可動部分ＬＫ２３ａは、「第２部分」の他の例である。また、関節機構ＡＲ４ａは、「第３駆動機構」の他の例である。 The supporting part LK21a is another example of the "first part", the movable part LK22a is another example of the "third part", and the movable part LK23a is another example of the "second part". . Further, the joint mechanism AR4a is another example of the "third drive mechanism".
　次に、図７を参照しながら、関節機構ＡＲ４ａ及び伸縮機構ＴＥ２を含むリンクＬＫ２ａの一例について説明する。 Next, with reference to FIG. 7, an example of the link LK2a including the joint mechanism AR4a and the telescoping mechanism TE2 will be described.
　図７は、図６に示したリンクＬＫ２ａの一例を説明するための説明図である。図１から図６において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。図７の上段は、収縮している状態のリンクＬＫ２ａを示し、図７の下段は、伸長している状態のリンクＬＫ２ａを示している。 FIG. 7 is an explanatory diagram for explaining an example of the link LK2a shown in FIG. 6. Elements similar to those described in FIGS. 1 to 6 are denoted by the same reference numerals, and detailed description thereof will be omitted. The upper part of FIG. 7 shows the link LK2a in a contracted state, and the lower part in FIG. 7 shows the link LK2a in an extended state.
　リンクＬＫ２ａは、図６において説明したように、支持部分ＬＫ２１ａと、可動部分ＬＫ２２ａ及びＬＫ２３ａと、伸縮機構ＴＥ２と、関節機構ＡＲ４ａと、モータＭＯａ４と、モータＭＯｔ２とを含む。支持部分ＬＫ２１ａは、中空である。支持部分ＬＫ２１ａの内部には、伸縮機構ＴＥ２が設けられる。伸縮機構ＴＥ２は、図２に示した伸縮機構ＴＥ２と同様である。 As explained in FIG. 6, the link LK2a includes a support portion LK21a, movable portions LK22a and LK23a, an expansion/contraction mechanism TE2, a joint mechanism AR4a, a motor MOa4, and a motor MOt2. Support portion LK21a is hollow. A telescopic mechanism TE2 is provided inside the support portion LK21a. The telescoping mechanism TE2 is similar to the telescoping mechanism TE2 shown in FIG.
　例えば、可動部分ＬＫ２２ａが支持部分ＬＫ２１ａの内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ２を第１の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２２ａは、支持部分ＬＫ２１ａから徐々に突出する。これにより、リンクＬＫ２ａは、方向Ｄｍ２ｐに伸長する。また、可動部分ＬＫ２２ａが支持部分ＬＫ２１ａから突出している状態において、ロボットコントローラ３０がモータＭＯｔ２を第２の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２２ａは、支持部分ＬＫ２１ａの内部に徐々に格納される。これにより、リンクＬＫ２ａは、方向Ｄｍ２ｍに収縮する。このように、リンクＬＫ２ａが収縮した場合、可動部分ＬＫ２２ａの少なくとも一部が支持部分ＬＫ２１ａの内部に格納される。 For example, when the robot controller 30 rotates the motor MOt2 in the first rotational direction in a state where the movable part LK22a is stored inside the support part LK21a, as the nut TE21 moves, the movable part LK22a moves into the support part LK21a. Gradually protrudes from LK21a. As a result, link LK2a extends in direction Dm2p. Further, when the robot controller 30 rotates the motor MOt2 in the second rotation direction in a state in which the movable portion LK22a protrudes from the support portion LK21a, the movable portion LK22a moves from the support portion LK21a as the nut TE21 moves. It is gradually stored inside. As a result, link LK2a contracts in direction Dm2m. In this manner, when link LK2a contracts, at least a portion of movable portion LK22a is stored inside support portion LK21a.
　本実施形態においても、例えば、リンクＬＫ２ａは、可動部分ＬＫ２２ａが移動する際の軸Ａｘｔｅ２が、可動部分ＬＫ２２ａが回転する際の軸Ａｘ４と同じ軸又はほぼ同じ軸になるように、構成されている。 Also in this embodiment, for example, the link LK2a is configured such that the axis Axte2 along which the movable portion LK22a moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22a rotates. .
　関節機構ＡＲ４ａは、例えば、支持部分ＬＫ２１ａの２つの端部のうちの可動部分ＬＫ２３ａに近い端部に取り付けられる。例えば、関節機構ＡＲ４ａは、ステーＡＲ４１ａと、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２ａと、伝達軸ＡＲ４２ａに取り付けられた回転ギアＡＲ４７ａとを有する。 The joint mechanism AR4a is attached to, for example, one of the two ends of the support portion LK21a that is closer to the movable portion LK23a. For example, the joint mechanism AR4a includes a stay AR41a, a transmission shaft AR42a to which rotation of the motor MOa4 is transmitted, and a rotating gear AR47a attached to the transmission shaft AR42a.
　ステーＡＲ４１ａは、支持部分ＬＫ２１ａの２つの端部のうちの可動部分ＬＫ２３ａに近い端部に、可動部分ＬＫ２２ａから張り出すように取り付けられている。ステーＡＲ４１ａのうち、可動部分ＬＫ２２ａから張り出した部分には、モータＭＯａ４が取り付けられる。すなわち、モータＭＯａ４は、可動部分ＬＫ２２ａが移動しても移動しない支持部分ＬＫ２１ａに、ステーＡＲ４１ａを介して取り付けられる。 The stay AR41a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a so as to protrude from the movable part LK22a. A motor MOa4 is attached to a portion of the stay AR41a that protrudes from the movable portion LK22a. That is, the motor MOa4 is attached to the support portion LK21a, which does not move even if the movable portion LK22a moves, via the stay AR41a.
　また、ステーＡＲ４１ａには、伝達軸ＡＲ４２ａ及び回転ギアＡＲ４７ａが設けられている。例えば、回転ギアＡＲ４７ａは、方向Ｄｅ２からの平面視において、回転ギアＡＲ４７ａの中心に伝達軸ＡＲ４２ａが位置するように、伝達軸ＡＲ４２ａに取り付けられる。また、可動部分ＬＫ２２ａの外周には、可動部分ＬＫ２２ａを回転ギアＡＲ４７ａと噛み合う歯車として動作させるための複数の溝が設けられている。可動部分ＬＫ２２ａの外周に設けられた複数の溝の各々は、可動部分ＬＫ２２ａの長手方向（方向Ｄｅ２）に延在している。これにより、例えば、可動部分ＬＫ２２ａが支持部分ＬＫ２１ａに対して移動し、可動部分ＬＫ２２ａに対する回転ギアＡＲ４７ａの相対的な位置が変化した場合においても、可動部分ＬＫ２２ａは、回転ギアＡＲ４７ａと噛み合う。すなわち、リンクＬＫ２ａが方向Ｄｅ２１に沿って伸縮する場合に、可動部分ＬＫ２２ａがどの位置で停止しても、回転ギアＡＲ４７ａは、可動部分ＬＫ２２ａと噛み合った状態を維持することができる。 Furthermore, the stay AR41a is provided with a transmission shaft AR42a and a rotating gear AR47a. For example, the rotating gear AR47a is attached to the transmission shaft AR42a such that the transmission shaft AR42a is located at the center of the rotating gear AR47a when viewed in plan from the direction De2. Furthermore, a plurality of grooves are provided on the outer periphery of the movable portion LK22a for operating the movable portion LK22a as a gear that meshes with the rotating gear AR47a. Each of the plurality of grooves provided on the outer periphery of the movable portion LK22a extends in the longitudinal direction (direction De2) of the movable portion LK22a. As a result, even if, for example, the movable portion LK22a moves relative to the support portion LK21a and the relative position of the rotating gear AR47a with respect to the movable portion LK22a changes, the movable portion LK22a meshes with the rotating gear AR47a. That is, when the link LK2a expands and contracts along the direction De21, the rotary gear AR47a can maintain a state of meshing with the movable part LK22a, no matter where the movable part LK22a stops.
　これにより、例えば、モータＭＯａ４が回転した場合、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２ａの回転に伴い回転ギアＡＲ４７ａが回転し、回転ギアＡＲ４７ａの回転に伴い、回転ギアＡＲ４７ａと噛み合う可動部分ＬＫ２２ａが回転する。このように、モータＭＯａ４が回転した場合、伝達軸ＡＲ４２ａ及び回転ギアＡＲ４７ａを介して、可動部分ＬＫ２２ａにモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２２ａは、軸Ａｘ４を回転軸として回転する。また、可動部分ＬＫ２３ａは、可動部分ＬＫ２２ａと連結されているため、可動部分ＬＫ２２ａと一体的に回転する。なお、可動部分ＬＫ２２ａと可動部分ＬＫ２３ａとは一体的に構成されていてもよい。 As a result, for example, when the motor MOa4 rotates, the rotating gear AR47a rotates with the rotation of the transmission shaft AR42a to which the rotation of the motor MOa4 is transmitted, and as the rotating gear AR47a rotates, the movable part LK22a meshes with the rotating gear AR47a. rotates. In this way, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK22a via the transmission shaft AR42a and the rotating gear AR47a. As a result, the movable portion LK22a rotates about the axis Ax4. Moreover, since the movable part LK23a is connected to the movable part LK22a, it rotates integrally with the movable part LK22a. Note that the movable portion LK22a and the movable portion LK23a may be integrally configured.
　また、モータＭＯａ４は、ステーＡＲ４１ａを介して支持部分ＬＫ２１ａに取り付けられているため、可動部分ＬＫ２２ａ及びＬＫ２３ａが回転した場合でも、軸Ａｘ４を回転軸として回転することはない。従って、本実施形態においても、可動部分ＬＫ２２ａ及びＬＫ２３ａが軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体は軸Ａｘ４の周りを回転（公転）しないため、回転（公転）に伴う外乱が発生することを抑制することができる。 Moreover, since the motor MOa4 is attached to the support part LK21a via the stay AR41a, even if the movable parts LK22a and LK23a rotate, it does not rotate about the axis Ax4. Therefore, in this embodiment as well, even if the movable parts LK22a and LK23a rotate about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4, and therefore disturbances occur due to the rotation (revolution). can be restrained from doing so.
　また、関節機構ＡＲ４ａにより可動部分ＬＫ２２ａが回転した場合、可動部分ＬＫ２２ａに固定されたナットＴＥ２１が、可動部分ＬＫ２２ａと一緒に回転する。この場合、ナットＴＥ２１の回転に伴いナットＴＥ２１がボールねじＴＥ２２に沿って移動しないように、ボールねじＴＥ２２が、ナットＴＥ２１と一緒に回転する。例えば、ボールねじＴＥ２２は、関節機構ＡＲ４ａにより可動部分ＬＫ２２ａが回転した場合にナットＴＥ２１と一緒にモータＭＯｔ２に対して空転するように、モータＭＯｔ２に取り付けられる。これにより、可動部分ＬＫ２２ａは、関節機構ＡＲ４ａにより回転した場合でも、軸Ａｘｔｅ２に沿って移動することはない。 Further, when the movable part LK22a is rotated by the joint mechanism AR4a, the nut TE21 fixed to the movable part LK22a rotates together with the movable part LK22a. In this case, the ball screw TE22 rotates together with the nut TE21 so that the nut TE21 does not move along the ball screw TE22 as the nut TE21 rotates. For example, the ball screw TE22 is attached to the motor MOt2 so as to idle with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22a is rotated by the joint mechanism AR4a. Thereby, even when the movable part LK22a is rotated by the joint mechanism AR4a, it does not move along the axis Axte2.
　なお、伝達軸ＡＲ４２ａは、モータＭＯｔ２の回転に伴いボールねじＴＥ２２が回転した場合にモータＭＯａ４に対して空転しないように、モータＭＯａ４に取り付けられる。これにより、回転ギアＡＲ４７ａと噛み合った状態の可動部分ＬＫ２２ａは、ボールねじＴＥ２２が回転した場合でも、軸Ａｘ４を回転軸として回転することはない。従って、可動部分ＬＫ２２ａに固定されたナットＴＥ２１は、ボールねじＴＥ２２が回転した場合、軸Ａｘｔｅ２を回転軸として回転せずに、ボールねじＴＥ２２に対するナットＴＥ２１の相対的な位置が変化するように、軸Ａｘｔｅ２に沿って移動する。可動部分ＬＫ２２ａ及びＬＫ２３ａは、ナットＴＥ２１の移動に伴い、軸Ａｘｔｅ２（すなわち、方向Ｄｅ２１）に沿って移動する。 Note that the transmission shaft AR42a is attached to the motor MOa4 so as not to idle relative to the motor MOa4 when the ball screw TE22 rotates with the rotation of the motor MOt2. Thereby, the movable part LK22a in a state of meshing with the rotating gear AR47a does not rotate about the axis Ax4 even when the ball screw TE22 rotates. Therefore, when the ball screw TE22 rotates, the nut TE21 fixed to the movable part LK22a does not rotate about the axis Axte2 as the axis of rotation, but rather changes the relative position of the nut TE21 with respect to the ball screw TE22. Move along Axte2. The movable parts LK22a and LK23a move along the axis Axte2 (ie, direction De21) as the nut TE21 moves.
　このように、関節機構ＡＲ４ａは、支持部分ＬＫ２１ａの２つの端部のうちの可動部分ＬＫ２３ａに近い端部に取り付けられ、リンクＬＫ２ａの伸縮状態にかかわらず、支持部分ＬＫ２１ａに対して可動部分ＬＫ２２ａを回転させることが可能である。 In this way, the joint mechanism AR4a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a, and is able to move the movable part LK22a with respect to the support part LK21a regardless of the expansion/contraction state of the link LK2a. It is possible to rotate.
　次に、図８を参照しながら、関節機構ＡＲ４ａ及び伸縮機構ＴＥ２を含むリンクＬＫ２ａの別の例について説明する。 Next, with reference to FIG. 8, another example of the link LK2a including the joint mechanism AR4a and the telescoping mechanism TE2 will be described.
　図８は、図６に示したリンクＬＫ２ａの別の例を説明するための説明図である。図１から図７において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。図８の上段は、収縮している状態のリンクＬＫ２ａを示し、図８の下段は、伸長している状態のリンクＬＫ２ａを示している。 FIG. 8 is an explanatory diagram for explaining another example of link LK2a shown in FIG. 6. Elements similar to those described in FIGS. 1 to 7 are designated by the same reference numerals, and detailed description thereof will be omitted. The upper part of FIG. 8 shows the link LK2a in a contracted state, and the lower part in FIG. 8 shows the link LK2a in an extended state.
　図８に示すリンクＬＫ２ａは、可動部分ＬＫ２３ａの方向Ｄｅ２１に沿う長さが図７に示した可動部分ＬＫ２３ａの方向Ｄｅ２１に沿う長さよりも短いことを除いて、図７に示したリンクＬＫ２ａと同様である。例えば、可動部分ＬＫ２３ａの方向Ｄｅ２１に沿う長さは、可動部分ＬＫ２３ａの径よりも短くてもよいし、可動部分ＬＫ２３ａの径と同じであってもよい。 The link LK2a shown in FIG. 8 is similar to the link LK2a shown in FIG. 7, except that the length of the movable portion LK23a along the direction De21 is shorter than the length of the movable portion LK23a shown in FIG. 7 along the direction De21. It is. For example, the length of the movable portion LK23a along the direction De21 may be shorter than the diameter of the movable portion LK23a, or may be the same as the diameter of the movable portion LK23a.
　なお、図８に示す例では、支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さは、図７に示した支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さよりも長く、可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さは、図７に示した可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さよりも長い。但し、支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さは、図７に示した支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さと同じで、可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さは、図７に示した可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さと同じであってもよい。あるいは、支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さは、図７に示した支持部分ＬＫ２１ａの方向Ｄｅ２１に沿う長さよりも短く、可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さは、図７に示した可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さよりも短くてもよい。 In the example shown in FIG. 8, the length of the supporting portion LK21a along the direction De21 is longer than the length of the supporting portion LK21a shown in FIG. 7 along the direction De21, and the length of the movable portion LK22a along the direction De21 is , is longer than the length of the movable portion LK22a shown in FIG. 7 along the direction De21. However, the length of the supporting portion LK21a along the direction De21 is the same as the length of the supporting portion LK21a shown in FIG. 7 along the direction De21, and the length of the movable portion LK22a along the direction De21 is It may be the same as the length of the portion LK22a along the direction De21. Alternatively, the length of the supporting portion LK21a along the direction De21 is shorter than the length of the supporting portion LK21a along the direction De21 shown in FIG. It may be shorter than the length of the portion LK22a along the direction De21.
　本実施形態においても、上述したように、軸Ａｘｔｅ２と軸Ａｘ４とが同じ軸又はほぼ同じ軸になるように、リンクＬＫ２ａが構成されている。このため、本実施形態では、軸Ａｘ４を回転軸として可動部分ＬＫ２２ａ及びＬＫ２３ａを回転させた場合、又は、可動部分ＬＫ２２ａ及びＬＫ２３ａを軸Ａｘｔｅ２に沿って移動させた場合でも、リンクＬＫ２ａ全体のたわみ及び偏心等を抑制することができる。 Also in this embodiment, as described above, the link LK2a is configured such that the axis Axte2 and the axis Ax4 are the same axis or substantially the same axis. Therefore, in the present embodiment, even when the movable parts LK22a and LK23a are rotated about the axis Ax4, or when the movable parts LK22a and LK23a are moved along the axis Axte2, the entire link LK2a is deflected and Eccentricity etc. can be suppressed.
　また、本実施形態においても、図７に示したように、可動部分ＬＫ２３ａの方向Ｄｅ２に沿う長さ（長手方向の長さ）をある程度長く（例えば、可動部分ＬＫ２３ａの径よりも長く）することにより、可動部分ＬＫ２３ａの重量を大きくしている。これにより、本実施形態においても、可動部分ＬＫ２３ａの固有振動周波数を小さくすることができる。 Also, in this embodiment, as shown in FIG. 7, the length (longitudinal length) of the movable portion LK23a along the direction De2 is made long to some extent (for example, longer than the diameter of the movable portion LK23a). This increases the weight of the movable portion LK23a. Thereby, also in this embodiment, the natural vibration frequency of the movable portion LK23a can be made small.
　また、本実施形態では、図８に示したように、可動部分ＬＫ２３ａの方向Ｄｅ２１に沿う長さを短くした場合においても、可動部分ＬＫ２２ａ及びＬＫ２３ａを一体に構成することにより、可動部分ＬＫ２２ａ及びＬＫ２３ａの固有振動周波数を小さくすることができる。 Further, in this embodiment, as shown in FIG. 8, even when the length of the movable portion LK23a in the direction De21 is shortened, the movable portions LK22a and LK23a are integrally configured. The natural vibration frequency of can be reduced.
　このように、本実施形態においても、可動部分ＬＫ２３ａの固有振動周波数を小さくすることができるため、リンクＬＫ３に取り付けられたエンドエフェクタ２０による作業の最中に発生する振動を吸収することができる。本実施形態においても、リンクＬＫ３及びエンドエフェクタ２０の振動を抑制することができるため、リンクＬＫ１及びＬＫ２ａを伸縮中又は伸長した状態でのリンクＬＫ３及びエンドエフェクタ２０を精度よく動作させることができる。 In this way, also in this embodiment, the natural vibration frequency of the movable part LK23a can be made small, so it is possible to absorb vibrations generated during work by the end effector 20 attached to the link LK3. Also in this embodiment, since the vibrations of the link LK3 and the end effector 20 can be suppressed, the link LK3 and the end effector 20 can be operated with high precision while the links LK1 and LK2a are being extended/contracted or in an extended state.
　また、本実施形態においても、可動部分ＬＫ２３の固有振動周波数が小さいため、ロボット１０のうちの関節機構ＡＲ５から土台部ＢＳＰまでの部分における振動がリンクＬＫ３及びエンドエフェクタ２０に伝搬することを抑制することができる。 Also in this embodiment, since the natural vibration frequency of the movable portion LK23 is small, vibrations in the portion of the robot 10 from the joint mechanism AR5 to the base portion BSP are suppressed from propagating to the link LK3 and the end effector 20. be able to.
　また、本実施形態では、モータＭＯａ４が支持部分ＬＫ２１ａの２つの端部のうちの可動部分ＬＫ２３ａに近い端部に固定されているため、関節機構ＡＲ４ａからロボット１０Ａの先端部（例えば、リンクＬＫ３の端面ＬＫ３ｓｆ）までの部分の重量を軽量化することができる。 Furthermore, in this embodiment, since the motor MOa4 is fixed to one of the two ends of the support part LK21a, which is closer to the movable part LK23a, the joint mechanism AR4a is connected to the tip of the robot 10A (for example, the end of the link LK3). The weight of the portion up to the end surface LK3sf) can be reduced.
　また、本実施形態では、図８に示したように、可動部分ＬＫ２３ａの方向Ｄｅ２１に沿う長さを短くした代わりに、支持部分ＬＫ２１ａ及び可動部分ＬＫ２２ａの方向Ｄｅ２１に沿う長さを長くすることにより、リンクＬＫ２ａの伸縮範囲を大きくすることができる。リンクＬＫ２ａの伸縮範囲は、例えば、リンクＬＫ２ａを最大限に収縮した場合のリンクＬＫ２ａの方向Ｄｅ２に沿う長さと、リンクＬＫ２ａを最大限に伸長した場合のリンクＬＫ２ａの方向Ｄｅ２に沿う長さとの差に対応する範囲である。 Furthermore, in this embodiment, as shown in FIG. 8, instead of shortening the length of the movable portion LK23a along the direction De21, the length of the support portion LK21a and the movable portion LK22a along the direction De21 is lengthened. , the expansion/contraction range of the link LK2a can be increased. The expansion/contraction range of the link LK2a is, for example, the difference between the length of the link LK2a along the direction De2 when the link LK2a is contracted to the maximum and the length of the link LK2a along the direction De2 when the link LK2a is expanded to the maximum. The range corresponds to
　以上、本実施形態では、ロボット１０Ａは、ボディ部ＢＤＰと、リンクＬＫ３と、ボディ部ＢＤＰとリンクＬＫ３とを接続する複数のリンクＬＫ１及びＬＫ２ａと、関節機構ＡＲ３と、関節機構ＡＲ５とを有する。関節機構ＡＲ３は、リンクＬＫ１とリンクＬＫ２ａとを接続し、リンクＬＫ１が延在する方向Ｄｅ１とのなす角度が所定の角度より大きい軸Ａｘ３を第１回転軸としてリンクＬＫ２ａをリンクＬＫ１に対して回転させる。関節機構ＡＲ５は、リンクＬＫ２ａとリンクＬＫ３とを接続し、リンクＬＫ２ａが延在する方向Ｄｅ２とのなす角度が所定の角度より大きい軸Ａｘ５を第２回転軸としてリンクＬＫ３をリンクＬＫ２ａに対して回転させる。リンクＬＫ２ａは、リンクＬＫ１に接続される支持部分ＬＫ２１ａと、リンクＬＫ３に接続される可動部分ＬＫ２３ａと、支持部分ＬＫ２１ａと可動部分ＬＫ２３ａとを接続する可動部分ＬＫ２２ａと、関節機構ＡＲ４ａと、伸縮機構ＴＥ２とを有する。関節機構ＡＲ４ａは、支持部分ＬＫ２１ａが延在する方向Ｄｅ２１とのなす角度が所定の角度以下の軸Ａｘ４を第３回転軸として可動部分ＬＫ２２ａを支持部分ＬＫ２１ａに対して回転させることにより、可動部分ＬＫ２３ａを支持部分ＬＫ２１ａに対して回転させる。伸縮機構ＴＥ２は、支持部分ＬＫ２１ａに対して可動部分ＬＫ２２ａを支持部分ＬＫ２１ａの延在方向（方向Ｄｅ２１）に沿って移動させることにより、リンクＬＫ２ａを伸縮させる。本実施形態においても、上述した第１実施形態と同様の効果を得ることができる。 As described above, in this embodiment, the robot 10A includes a body part BDP, a link LK3, a plurality of links LK1 and LK2a that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5. The joint mechanism AR3 connects the link LK1 and the link LK2a, and rotates the link LK2a with respect to the link LK1 using an axis Ax3, which makes an angle larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis. let The joint mechanism AR5 connects the link LK2a and the link LK3, and rotates the link LK3 with respect to the link LK2a using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2a extends, as a second rotation axis. let The link LK2a includes a support portion LK21a connected to the link LK1, a movable portion LK23a connected to the link LK3, a movable portion LK22a connecting the support portion LK21a and the movable portion LK23a, a joint mechanism AR4a, and an extendable mechanism TE2. and has. The joint mechanism AR4a rotates the movable part LK22a with respect to the support part LK21a using the axis Ax4, which has an angle equal to or less than a predetermined angle with the direction De21 in which the support part LK21a extends, as a third rotation axis, thereby rotating the movable part LK23a. is rotated relative to the support portion LK21a. The expansion/contraction mechanism TE2 expands/contracts the link LK2a by moving the movable portion LK22a with respect to the support portion LK21a along the extending direction (direction De21) of the support portion LK21a. Also in this embodiment, the same effects as in the first embodiment described above can be obtained.
　また、本実施形態では、ロボット１０Ａは、関節機構ＡＲ４ａに取り付けられ、関節機構ＡＲ４ａを駆動するモータＭＯａ４をさらに含む。関節機構ＡＲ４ａは、支持部分ＬＫ２１ａの２つの端部のうちの可動部分ＬＫ２３ａに近い端部に取り付けられ、リンクＬＫ２ａの伸縮状態にかかわらず、支持部分ＬＫ２１ａに対して可動部分ＬＫ２２ａを回転させることが可能である。このように、本実施形態では、関節機構ＡＲ４ａ及びモータＭＯａ４が支持部分ＬＫ２１ａに取り付けられているため、リンクＬＫ２ａの伸縮状態にかかわらず、軸Ａｘ４を回転軸として可動部分ＬＫ２２ａを安定して回転させることができる。 Furthermore, in this embodiment, the robot 10A further includes a motor MOa4 that is attached to the joint mechanism AR4a and drives the joint mechanism AR4a. The joint mechanism AR4a is attached to one of the two ends of the support portion LK21a that is closer to the movable portion LK23a, and is capable of rotating the movable portion LK22a with respect to the support portion LK21a regardless of the expansion/contraction state of the link LK2a. It is possible. In this way, in this embodiment, since the joint mechanism AR4a and the motor MOa4 are attached to the support part LK21a, the movable part LK22a can be stably rotated about the axis Ax4, regardless of the expansion/contraction state of the link LK2a. be able to.
［Ａ－３．第１実施形態及び第２実施形態の変形例］
　本発明は、以上に例示した実施形態に限定されない。具体的な変形の態様を以下に例示する。以下の例示から任意に選択された２以上の態様を併合してもよい。 [A-3. Modifications of the first embodiment and the second embodiment]
The present invention is not limited to the embodiments illustrated above. Specific modes of modification are illustrated below. Two or more aspects arbitrarily selected from the examples below may be combined.
［変形例Ａ１］
　上述した第１実施形態では、モータＭＯａ４が可動部分ＬＫ２２の外側に設けられる場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、モータＭＯａ４は、可動部分ＬＫ２２の内部に設けられてもよい。 [Modification A1]
In the first embodiment described above, the case where the motor MOa4 is provided outside the movable portion LK22 is illustrated, but the present invention is not limited to such an embodiment. For example, motor MOa4 may be provided inside movable portion LK22.
　図９は、変形例Ａ１に係るリンクＬＫ２ｂの一例を説明するための説明図である。図１から図８において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。本変形例に係るロボット１０は、図１に示したリンクＬＫ２の代わりにリンクＬＫ２ｂを有することを除いて、図１に示したロボット１０と同様である。図９の上段は、収縮している状態のリンクＬＫ２ｂを示し、図７の下段は、伸長している状態のリンクＬＫ２ｂを示している。リンクＬＫ２ｂは、「第２リンク」の他の例である。 FIG. 9 is an explanatory diagram for explaining an example of link LK2b according to modification A1. Elements similar to those described in FIGS. 1 to 8 are denoted by the same reference numerals, and detailed description thereof will be omitted. The robot 10 according to this modification is the same as the robot 10 shown in FIG. 1 except that it has a link LK2b instead of the link LK2 shown in FIG. The upper part of FIG. 9 shows the link LK2b in a contracted state, and the lower part in FIG. 7 shows the link LK2b in an extended state. Link LK2b is another example of a "second link."
　リンクＬＫ２ｂは、図２に示した可動部分ＬＫ２２及び関節機構ＡＲ４代わりに可動部分ＬＫ２２ｂ及び関節機構ＡＲ４ｂを有することを除いて、図２に示したリンクＬＫ２と同様である。可動部分ＬＫ２２ｂは、「第３部分」の他の例であり、関節機構ＡＲ４ｂは、「第３駆動機構」の他の例である。図９では、可動部分ＬＫ２２ｂ及び関節機構ＡＲ４ｂを中心に説明する。 The link LK2b is similar to the link LK2 shown in FIG. 2, except that it has a movable part LK22b and a joint mechanism AR4b instead of the movable part LK22 and joint mechanism AR4 shown in FIG. The movable part LK22b is another example of the "third part", and the joint mechanism AR4b is another example of the "third drive mechanism". In FIG. 9, the movable portion LK22b and the joint mechanism AR4b will be mainly explained.
　例えば、可動部分ＬＫ２２ｂは、中空である。可動部分ＬＫ２２ｂの内部には、モータＭＯａ４が取り付けられている。このため、本変形例では、図２に示した伝達軸ＡＲ４２、プーリＡＲ４３、プーリＡＲ４４及びタイミングベルトＡＲ４５を省くことができ、関節機構ＡＲ４ｂの構成を簡易にすることができる。例えば、関節機構ＡＲ４ｂは、可動部分ＬＫ２２ｂの２つの端部のうちの可動部分ＬＫ２３に近い端部（すなわち、可動部分ＬＫ２２ｂと可動部分ＬＫ２３との境界付近）に設けられたモータ固定部分ＡＲ４１ｂと、伝達軸ＡＲ４６と、ギアＡＲ４７とを有する。 For example, the movable part LK22b is hollow. A motor MOa4 is attached inside the movable part LK22b. Therefore, in this modification, the transmission shaft AR42, pulley AR43, pulley AR44, and timing belt AR45 shown in FIG. 2 can be omitted, and the configuration of the joint mechanism AR4b can be simplified. For example, the joint mechanism AR4b includes a motor fixed portion AR41b provided at an end closer to the movable portion LK23 of the two ends of the movable portion LK22b (that is, near the boundary between the movable portion LK22b and the movable portion LK23); It has a transmission shaft AR46 and a gear AR47.
　モータ固定部分ＡＲ４１ｂには、可動部分ＬＫ２２ｂの内部に配置されたモータＭＯａ４が固定される。すなわち、モータＭＯａ４は、可動部分ＬＫ２２ｂが方向Ｄｍ２ｐ又はＤｍ２ｍに移動した場合に可動部分ＬＫ２２ｂと一緒に移動するように、可動部分ＬＫ２２ｂの内部に取り付けられる。 A motor MOa4 arranged inside the movable part LK22b is fixed to the motor fixed part AR41b. That is, the motor MOa4 is mounted inside the movable part LK22b so that it moves together with the movable part LK22b when the movable part LK22b moves in the direction Dm2p or Dm2m.
　伝達軸ＡＲ４６は、モータＭＯａ４の回転が伝達されるように、モータＭＯａ４に取り付けられる。さらに、伝達軸ＡＲ４６は、ギアＡＲ４７を介して可動部分ＬＫ２３と連結している。これにより、例えば、モータＭＯａ４が回転した場合、伝達軸ＡＲ４６及びギアＡＲ４７を介して、可動部分ＬＫ２３にモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２３は、軸Ａｘ４を回転軸として回転する。なお、モータＭＯａ４は、可動部分ＬＫ２２に取り付けられているため、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転した場合でも、軸Ａｘ４を回転軸として回転することはない。従って、本変形例においても、可動部分ＬＫ２３が軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体の回転に伴う外乱が発生することを抑制することができる。 The transmission shaft AR46 is attached to the motor MOa4 so that the rotation of the motor MOa4 is transmitted. Further, the transmission shaft AR46 is connected to the movable portion LK23 via a gear AR47. Thereby, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK23 via the transmission shaft AR46 and the gear AR47. As a result, the movable portion LK23 rotates about the axis Ax4. Note that since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, it does not rotate about the axis Ax4. Therefore, in this modification as well, even when the movable portion LK23 rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
　また、本変形例では、リンクＬＫ２ｂ全体の重心が、可動部分ＬＫ２３が回転する際の軸Ａｘ４上に位置するように、リンクＬＫ２ｂを構成することができる。この場合、例えば、伸縮機構ＴＥ２によるリンクＬＫ２ｂの伸縮時のリンクＬＫ２ｂのたわみを抑制することができる。 Furthermore, in this modification, the link LK2b can be configured such that the center of gravity of the entire link LK2b is located on the axis Ax4 when the movable portion LK23 rotates. In this case, for example, it is possible to suppress the deflection of the link LK2b when the link LK2b is expanded or contracted by the expansion mechanism TE2.
　また、本変形例では、リンクＬＫ２ｂが最大限に収縮した場合でも、ボールねじＴＥ２２がモータＭＯａ４と干渉しないように、ボールねじＴＥ２２の方向Ｄｅ２１に沿う長さが決められる。例えば、可動部分ＬＫ２２ｂの方向Ｄｅ２１に沿う長さが図２に示した可動部分ＬＫ２２の方向Ｄｅ２１に沿う長さと同じ場合、ボールねじＴＥ２２の方向Ｄｅ２１に沿う長さは、図２に示したボールねじＴＥ２２の方向Ｄｅ２１に沿う長さよりも短い。 Furthermore, in this modification, the length of the ball screw TE22 along the direction De21 is determined so that the ball screw TE22 does not interfere with the motor MOa4 even when the link LK2b is contracted to the maximum. For example, if the length of the movable portion LK22b along the direction De21 is the same as the length of the movable portion LK22 along the direction De21 shown in FIG. It is shorter than the length along direction De21 of TE22.
　なお、リンクＬＫ２ｂの構成は、図９に示す例に限定されない。例えば、可動部分ＬＫ２２ｂは、モータＭＯｔ２、ナットＴＥ２１及びボールねじＴＥ２２の構造を工夫することにより、支持部分ＬＫ２１の外周を覆うように構成されてもよい。この構成では、リンクＬＫ２ｂが収縮した場合、支持部分ＬＫ２１の少なくとも一部が、可動部分ＬＫ２２ｂに格納されてもよい。また、図３に示したリンクＬＫ１も、リンクＬＫ２ｂの上述の構成と同様に、可動部分ＬＫ１２が支持部分ＬＫ１１の外周を覆い、リンクＬＫ１が収縮した場合に支持部分ＬＫ１１の少なくとも一部が可動部分ＬＫ１２に格納されるように、構成されてもよい。 Note that the configuration of link LK2b is not limited to the example shown in FIG. 9. For example, the movable portion LK22b may be configured to cover the outer periphery of the support portion LK21 by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22. In this configuration, when link LK2b contracts, at least a portion of support portion LK21 may be stored in movable portion LK22b. Further, in the link LK1 shown in FIG. 3, similarly to the above-described structure of the link LK2b, the movable portion LK12 covers the outer periphery of the support portion LK11, and when the link LK1 contracts, at least a portion of the support portion LK11 becomes the movable portion. It may be configured to be stored in LK12.
　また、モータＭＯａ４は、可動部分ＬＫ２３の内部に配置されてもよい。この場合、モータＭＯａ４の駆動により可動部分ＬＫ２３を回転させるために、モータＭＯａ４の回転を可動部分ＬＫ２３に伝達する部分の構成が複雑になるおそれがあるが、ボールねじＴＥ２２の方向Ｄｅ２１に沿う長さを図９に示す構成よりも長くすることができる。従って、モータＭＯａ４を可動部分ＬＫ２３の内部に配置した構成では、リンクＬＫ２ｂの伸縮範囲を図９に示す構成よりも大きくすることができる。 Furthermore, the motor MOa4 may be arranged inside the movable part LK23. In this case, since the movable part LK23 is rotated by the drive of the motor MOa4, the structure of the part that transmits the rotation of the motor MOa4 to the movable part LK23 may become complicated, but the length along the direction De21 of the ball screw TE22 can be made longer than the configuration shown in FIG. Therefore, in the configuration in which the motor MOa4 is disposed inside the movable portion LK23, the expansion/contraction range of the link LK2b can be made larger than in the configuration shown in FIG. 9.
　以上、本変形例においても、上述した第１実施形態と同様の効果を得ることができる。 As described above, the same effects as in the first embodiment described above can be obtained in this modification as well.
［変形例Ａ２］
　上述した実施形態及び変形例では、垂直６軸多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ２を追加した６軸２伸多関節ロボットをロボット１０又は１０Ａとして例示したが、本発明はこのような態様に限定されるものではない。例えば、ロボット１０又は１０Ａは、垂直６軸多関節ロボットに１つの伸縮機構ＴＥ２を追加した６軸１伸多関節ロボットであってもよい。 [Modification A2]
In the above-described embodiments and modifications, a 6-axis 2-extensible articulated robot in which two extension mechanisms TE1 and TE2 are added to a vertical 6-axis articulated robot is illustrated as the robot 10 or 10A, but the present invention does not apply to such an aspect. It is not limited to. For example, the robot 10 or 10A may be a 6-axis, 1-extension, multi-joint robot obtained by adding one extension/contraction mechanism TE2 to a vertical 6-axis, multi-joint robot.
　また、例えば、ロボット１０又は１０Ａは、７軸以上の多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ２を追加した構成であってもよいし、７軸以上の多関節ロボットに１つの伸縮機構ＴＥ２を追加した構成であってもよい。具体的には、ロボット１０又は１０Ａは、ボディ部ＢＤＰとリンクＬＫ１とを接続する１以上のリンクを有してもよい。すなわち、ロボット１０又は１０Ａは、ボディ部ＢＤＰとリンクＬＫ３とを接続する３以上のリンク（リンクＬＫ３を除いた３以上のリンク）を有してもよい。なお、ロボット１０が有する３以上のリンクには、リンクＬＫ１及びＬＫ２（又はＬＫ２ｂ）が含まれ、ロボット１０Ａが有する３以上のリンクには、リンクＬＫ１及びＬＫ２ａが含まれる。リンクＬＫ３を除いた３以上のリンクは、「複数のリンク」に該当する。 Furthermore, for example, the robot 10 or 10A may have a configuration in which two telescopic mechanisms TE1 and TE2 are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2 is added to an articulated robot with seven or more axes. It may be an additional configuration. Specifically, the robot 10 or 10A may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10 or 10A may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10 has include links LK1 and LK2 (or LK2b), and the three or more links that the robot 10A has include links LK1 and LK2a. Three or more links excluding link LK3 correspond to "multiple links".
　以上、本変形例においても、上述した実施形態及び変形例と同様の効果を得ることができる。 As described above, in this modification as well, the same effects as in the embodiment and modification described above can be obtained.
［Ｂ－１．第３実施形態］
　図１０を参照しながら、第３実施形態に係るロボットシステム１の概要の一例について説明する。 [B-1. Third embodiment]
An example of the outline of the robot system 1 according to the third embodiment will be described with reference to FIG. 10.
　図１０は、第３実施形態に係るロボットシステム１の概要を説明するための説明図である。 FIG. 10 is an explanatory diagram for explaining an overview of the robot system 1 according to the third embodiment.
　ロボットシステム１は、例えば、ロボット１０Ｂと、ロボット１０Ｂに着脱可能に取り付けられるエンドエフェクタ２０と、ロボット１０Ｂ及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。ロボット１０Ｂは、「多関節ロボット」の一例である。 The robot system 1 includes, for example, a robot 10B, an end effector 20 that is detachably attached to the robot 10B, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20. The robot 10B is an example of an "articulated robot."
　ロボット１０Ｂは、図１に示したリンクＬＫ２の代わりにリンクＬＫ２ｃを有することを除いて、図１に示したロボット１０と同様である。リンクＬＫ２ｃは、「第２リンク」の一例である。従って、リンクＬＫ１及びＬＫ２ｃは、「複数のリンク」に該当する。以下では、リンクＬＫ２ｃを中心に説明する。なお、以下では、リンクＬＫ２ｃをリンクＬＫ２と称する場合がある。 The robot 10B is similar to the robot 10 shown in FIG. 1, except that it has a link LK2c instead of the link LK2 shown in FIG. Link LK2c is an example of a "second link." Therefore, links LK1 and LK2c correspond to "a plurality of links". Below, link LK2c will be mainly explained. In addition, below, link LK2c may be called link LK2.
　リンクＬＫ２ｃは、例えば、リンクＬＫ２ｃが延在する方向Ｄｅ２に沿って伸縮可能に構成される。例えば、リンクＬＫ２ｃは、リンクＬＫ１に接続される支持部分ＬＫ２１ｃと、可動部分ＬＫ２２ｃ及びＬＫ２３ｃと、伸縮機構ＴＥ２ｃと、関節機構ＡＲ４ｃとを含む。可動部分ＬＫ２２ｃは、支持部分ＬＫ２１ｃと可動部分ＬＫ２３ｃとを接続する。可動部分ＬＫ２３ｃは、リンクＬＫ３に接続される。本実施形態では、支持部分ＬＫ２１ｃ、可動部分ＬＫ２２ｃ及び可動部分ＬＫ２３ｃの各々が方向Ｄｅ２に沿って延在する場合を想定する。すなわち、方向Ｄｅ２は、支持部分ＬＫ２１ｃ、可動部分ＬＫ２２ｃ及び可動部分ＬＫ２３ｃの各々の長手方向に該当する。また、本実施形態では、可動部分ＬＫ２２ｃが延在する方向Ｄｅ２２が、リンクＬＫ２ｃが延在する方向Ｄｅ２である場合を想定する。 The link LK2c is configured to be expandable and contractible, for example, along the direction De2 in which the link LK2c extends. For example, the link LK2c includes a support portion LK21c connected to the link LK1, movable portions LK22c and LK23c, a telescoping mechanism TE2c, and a joint mechanism AR4c. Movable portion LK22c connects support portion LK21c and movable portion LK23c. Movable part LK23c is connected to link LK3. In this embodiment, a case is assumed in which each of the support portion LK21c, the movable portion LK22c, and the movable portion LK23c extends along the direction De2. That is, the direction De2 corresponds to the longitudinal direction of each of the supporting portion LK21c, the movable portion LK22c, and the movable portion LK23c. Furthermore, in this embodiment, it is assumed that the direction De22 in which the movable portion LK22c extends is the direction De2 in which the link LK2c extends.
　伸縮機構ＴＥ２ｃは、可動部分ＬＫ２２ｃと可動部分ＬＫ２３ｃとを接続し、可動部分ＬＫ２３ｃを可動部分ＬＫ２２ｃに対して、可動部分ＬＫ２２ｃが延在する方向Ｄｅ２２に沿って移動させる。可動部分ＬＫ２３ｃが方向Ｄｅ２２に沿って移動することにより、リンクＬＫ２ｃは、方向Ｄｅ２２（すなわち、方向Ｄｅ２）に沿って伸縮する。図１０の方向Ｄｍ２は、リンクＬＫ２ｃの伸縮方向（方向Ｄｅ２に沿う方向）を示す。 The telescopic mechanism TE2c connects the movable part LK22c and the movable part LK23c, and moves the movable part LK23c with respect to the movable part LK22c along the direction De22 in which the movable part LK22c extends. As the movable portion LK23c moves along the direction De22, the link LK2c expands and contracts along the direction De22 (namely, the direction De2). Direction Dm2 in FIG. 10 indicates the expansion/contraction direction (direction along direction De2) of link LK2c.
　関節機構ＡＲ４ｃは、支持部分ＬＫ２１ｃが延在する方向Ｄｅ２１と平行な軸Ａｘ４を回転軸として、可動部分ＬＫ２２ｃを支持部分ＬＫ２１ｃに対して回転させる。図１０の回転方向Ｄｒ４は、軸Ａｘ４を回転軸として回転する場合の可動部分ＬＫ２２ｃの回転方向を示す。なお、本実施形態では、可動部分ＬＫ２３ｃは、可動部分ＬＫ２２ｃと一緒に回転するように、可動部分ＬＫ２２ｃに接続されている。従って、本実施形態では、関節機構ＡＲ４ｃは、軸Ａｘ４を回転軸として可動部分ＬＫ２２ｃを支持部分ＬＫ２１ｃに対して回転させることにより、軸Ａｘ４を回転軸として可動部分ＬＫ２３ｃを支持部分ＬＫ２１ｃに対して回転させる。 The joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4 parallel to the direction De21 in which the support portion LK21c extends as a rotation axis. The rotation direction Dr4 in FIG. 10 indicates the rotation direction of the movable portion LK22c when rotating around the axis Ax4. In addition, in this embodiment, the movable part LK23c is connected to the movable part LK22c so as to rotate together with the movable part LK22c. Therefore, in the present embodiment, the joint mechanism AR4c rotates the movable portion LK22c relative to the support portion LK21c using the axis Ax4 as the rotation axis, and rotates the movable portion LK23c relative to the support portion LK21c using the axis Ax4 as the rotation axis. let
　支持部分ＬＫ２１ｃは、「第１部分」の一例であり、可動部分ＬＫ２２ｃは、「第３部分」の一例であり、可動部分ＬＫ２３ｃは、「第２部分」の一例である。また、関節機構ＡＲ４ｃは、「第７駆動機構」の一例であり、伸縮機構ＴＥ２ｃは、「第３伸縮機構」の一例である。 The supporting portion LK21c is an example of a “first portion,” the movable portion LK22c is an example of a “third portion,” and the movable portion LK23c is an example of a “second portion.” Further, the joint mechanism AR4c is an example of a "seventh drive mechanism," and the telescoping mechanism TE2c is an example of a "third telescoping mechanism."
　このように、本実施形態では、関節機構ＡＲ３とリンクＬＫ３を旋回させる関節機構ＡＲ５との間に設けられた伸縮機構ＴＥ２ｃ及び関節機構ＡＲ４ｃにより、リンクＬＫ２ｃを伸縮すること、及び、可動部分ＬＫ２３ｃを回転させることができる。本実施形態では、伸縮機構ＴＥ１及びＴＥ２ｃにより、ロボット１０Ｂの先端部（例えば、リンクＬＫ３の端面ＬＫ３ｓｆ）が到達可能な領域を広くすることができ、ロボット１０Ｂに取り付けられるエンドエフェクタ２０が到達可能な領域を広くすることができる。 In this way, in this embodiment, the link LK2c is extended and contracted by the extension mechanism TE2c and the joint mechanism AR4c provided between the joint mechanism AR3 and the joint mechanism AR5 that rotates the link LK3, and the movable part LK23c is It can be rotated. In the present embodiment, the expansion and contraction mechanisms TE1 and TE2c can widen the reachable area of the tip of the robot 10B (for example, the end face LK3sf of the link LK3), and the reachable area of the end effector 20 attached to the robot 10B. The area can be expanded.
　次に、図１１を参照しながら、関節機構ＡＲ４ｃ及び伸縮機構ＴＥ２ｃを含むリンクＬＫ２ｃの一例について説明する。 Next, with reference to FIG. 11, an example of the link LK2c including the joint mechanism AR4c and the expansion/contraction mechanism TE2c will be described.
　図１１は、関節機構ＡＲ４ｃ及び伸縮機構ＴＥ２ｃを含むリンクＬＫ２ｃの一例を説明するための説明図である。図１１の上段は、収縮している状態のリンクＬＫ２ｃを示し、図１１の下段は、伸長している状態のリンクＬＫ２ｃを示している。 FIG. 11 is an explanatory diagram for explaining an example of the link LK2c including the joint mechanism AR4c and the telescopic mechanism TE2c. The upper part of FIG. 11 shows the link LK2c in a contracted state, and the lower part of FIG. 11 shows the link LK2c in an expanded state.
　リンクＬＫ２ｃは、図１０において説明したように、支持部分ＬＫ２１ｃと、可動部分ＬＫ２２ｃ及びＬＫ２３ｃと、伸縮機構ＴＥ２ｃと、関節機構ＡＲ４ｃと、関節機構ＡＲ４ｃを駆動するモータＭＯａ４と、伸縮機構ＴＥ２ｃを駆動するモータＭＯｔ２とを含む。可動部分ＬＫ２２ｃは、中空である。可動部分ＬＫ２２ｃの内部には、伸縮機構ＴＥ２ｃが設けられる。また、モータＭＯｔ２は、可動部分ＬＫ２２ｃの内部に取り付けられ、モータＭＯａ４は、支持部分ＬＫ２１ｃの内部に取り付けられている。モータＭＯａ４は、「第１モータ」の一例であり、モータＭＯｔ２は、「第２モータ」の一例である。 As explained in FIG. 10, the link LK2c drives the support portion LK21c, the movable portions LK22c and LK23c, the telescopic mechanism TE2c, the joint mechanism AR4c, the motor MOa4 that drives the joint mechanism AR4c, and the telescopic mechanism TE2c. motor MOt2. Movable portion LK22c is hollow. A telescopic mechanism TE2c is provided inside the movable portion LK22c. Further, the motor MOt2 is attached inside the movable portion LK22c, and the motor MOa4 is attached inside the supporting portion LK21c. Motor MOa4 is an example of a "first motor," and motor MOt2 is an example of a "second motor."
　伸縮機構ＴＥ２ｃは、例えば、可動部分ＬＫ２３ｃの２つの端部のうちの支持部分ＬＫ２１ｃから近い端部に固定されたナットＴＥ２１と、方向Ｄｅ２２に沿って延在し、ナットＴＥ２１に挿通されるボールねじＴＥ２２とを含む。ボールねじＴＥ２２は、例えば、ボールねじＴＥ２２の中心軸が可動部分ＬＫ２２ｃの中心軸と一致するように、モータＭＯｔ２に取り付けられている。そして、ボールねじＴＥ２２は、モータＭＯｔ２の回転に伴い、軸Ａｘｔｅ２を回転軸として回転する。軸Ａｘｔｅ２は、例えば、ボールねじＴＥ２２の中心軸である。ナットＴＥ２１は、ボールねじＴＥ２２の回転に伴い、軸Ａｘｔｅ２に沿って移動する。ナットＴＥ２１が可動部分ＬＫ２３ｃに固定されているため、可動部分ＬＫ２３ｃは、ナットＴＥ２１の移動に伴い、軸Ａｘｔｅ２（すなわち、方向Ｄｅ２２）に沿って移動する。このように、ボールねじＴＥ２２は、可動部分ＬＫ２３ｃを移動可能に支持する。 The telescopic mechanism TE2c includes, for example, a nut TE21 fixed to one of the two ends of the movable part LK23c that is closer to the support part LK21c, and a ball screw extending along the direction De22 and inserted into the nut TE21. TE22. The ball screw TE22 is attached to the motor MOt2, for example, so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22c. The ball screw TE22 rotates about the axis Axte2 as the motor MOt2 rotates. The axis Axte2 is, for example, the central axis of the ball screw TE22. The nut TE21 moves along the axis Axte2 as the ball screw TE22 rotates. Since the nut TE21 is fixed to the movable portion LK23c, the movable portion LK23c moves along the axis Axte2 (ie, the direction De22) as the nut TE21 moves. In this way, the ball screw TE22 movably supports the movable portion LK23c.
　なお、可動部分ＬＫ２３ｃは、ボールねじＴＥ２２を格納可能に構成される。また、例えば、可動部分ＬＫ２３ｃの中心軸は、ボールねじＴＥ２２の中心軸、すなわち、軸Ａｘｔｅ２と同じ軸である。また、可動部分ＬＫ２３ｃは、ボールねじＴＥ２２が回転した場合でも、軸Ａｘｔｅ２を回転軸として回転しないように、可動部分ＬＫ２２ｃに接続される。これにより、可動部分ＬＫ２３ｃに固定されたナットＴＥ２１が、上述したように、ボールねじＴＥ２２の回転に伴い、軸Ａｘｔｅ２に沿って移動する。 Note that the movable portion LK23c is configured to be able to store the ball screw TE22. Further, for example, the central axis of the movable portion LK23c is the same axis as the central axis of the ball screw TE22, that is, the axis Axte2. Furthermore, the movable portion LK23c is connected to the movable portion LK22c so as not to rotate about the axis Axte2 even when the ball screw TE22 rotates. As a result, the nut TE21 fixed to the movable portion LK23c moves along the axis Axte2 as the ball screw TE22 rotates, as described above.
　モータＭＯｔ２の回転方向を切り替えることにより、ナットＴＥ２１の移動方向、すなわち、可動部分ＬＫ２３ｃの移動方向が、方向Ｄｍ２ｐと方向Ｄｍ２ｍとの間で切り替わる。例えば、モータＭＯｔ２の回転が第１の回転方向の回転である場合、ナットＴＥ２１は、方向Ｄｍ２ｐに移動し、モータＭＯｔ２の回転が第１の回転方向の回転に対して逆回転となる第２の回転方向の回転である場合、ナットＴＥ２１は、方向Ｄｍ２ｍに移動する。 By switching the rotational direction of the motor MOt2, the moving direction of the nut TE21, that is, the moving direction of the movable portion LK23c, is switched between the direction Dm2p and the direction Dm2m. For example, when the motor MOt2 rotates in the first rotational direction, the nut TE21 moves in the direction Dm2p, and the motor MOt2 rotates in the second rotational direction in the opposite direction to the first rotational direction. In the case of rotation in the rotational direction, the nut TE21 moves in the direction Dm2m.
　例えば、可動部分ＬＫ２３ｃが可動部分ＬＫ２２ｃの内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ２を第１の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２３ｃは、可動部分ＬＫ２２ｃから徐々に突出する。これにより、リンクＬＫ２ｃは、方向Ｄｍ２ｐに伸長する。図１１に示す例では、リンクＬＫ２ｃは、最大で、可動部分ＬＫ２３ｃの長さとほぼ同じ長さだけ伸長する。また、可動部分ＬＫ２３ｃが可動部分ＬＫ２２ｃから突出している状態において、ロボットコントローラ３０がモータＭＯｔ２を第２の回転方向に回転させた場合、ナットＴＥ２１の移動に伴い、可動部分ＬＫ２３ｃは、可動部分ＬＫ２２ｃの内部に徐々に格納される。これにより、リンクＬＫ２ｃは、方向Ｄｍ２ｍに収縮する。このように、リンクＬＫ２ｃが収縮した場合、可動部分ＬＫ２３ｃの少なくとも一部が可動部分ＬＫ２２ｃの内部に格納される。 For example, when the robot controller 30 rotates the motor MOt2 in the first rotation direction in a state where the movable part LK23c is stored inside the movable part LK22c, as the nut TE21 moves, the movable part LK23c Gradually protrudes from LK22c. As a result, link LK2c extends in direction Dm2p. In the example shown in FIG. 11, the link LK2c extends at most by approximately the same length as the length of the movable portion LK23c. Further, when the robot controller 30 rotates the motor MOt2 in the second rotation direction in a state where the movable part LK23c protrudes from the movable part LK22c, as the nut TE21 moves, the movable part LK23c It is gradually stored inside. As a result, link LK2c contracts in direction Dm2m. In this manner, when link LK2c contracts, at least a portion of movable portion LK23c is stored inside movable portion LK22c.
　なお、モータＭＯｔ２は、可動部分ＬＫ２３ｃを方向Ｄｍ２ｐ又はＤｍ２ｍに移動させる伸縮動作が伸縮機構ＴＥ２ｃにより行われた場合でも方向Ｄｍ２に移動しないように、可動部分ＬＫ２２ｃの２つの端部のうちの支持部分ＬＫ２１ｃに近い端部に取り付けられている。すなわち、モータＭＯｔ２は、可動部分ＬＫ２３ｃが方向Ｄｍ２ｐ又はＤｍ２ｍに移動した場合でも方向Ｄｍ２に移動しないように、可動部分ＬＫ２２ｃの２つの端部のうちの支持部分ＬＫ２１ｃに近い端部に取り付けられている。 Note that the motor MOt2 is connected to the support portion of the two ends of the movable portion LK22c so that the movable portion LK23c does not move in the direction Dm2 even when the telescopic mechanism TE2c performs a telescopic operation to move the movable portion LK23c in the direction Dm2p or Dm2m. It is attached to the end near LK21c. That is, the motor MOt2 is attached to one of the two ends of the movable portion LK22c that is closer to the support portion LK21c so that the movable portion LK23c does not move in the direction Dm2 even if the movable portion LK23c moves in the direction Dm2p or Dm2m. .
　関節機構ＡＲ４ｃは、例えば、支持部分ＬＫ２１ｃの２つの端部のうちの可動部分ＬＫ２２ｃに近い端部（すなわち、支持部分ＬＫ２１ｃと可動部分ＬＫ２２ｃとの境界付近）に取り付けられる。例えば、関節機構ＡＲ４ｃは、モータ固定部分ＡＲ４８、伝達軸ＡＲ４６及びギアＡＲ４７を有する。 The joint mechanism AR4c is attached to, for example, one of the two ends of the support portion LK21c that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21c and the movable portion LK22c). For example, the joint mechanism AR4c includes a motor fixed portion AR48, a transmission shaft AR46, and a gear AR47.
　支持部分ＬＫ２１ｃの２つの端部のうちの可動部分ＬＫ２２ｃに近い端部に設けられたモータ固定部分ＡＲ４８には、支持部分ＬＫ２１ｃの内部に配置されたモータＭＯａ４が固定される。このように、モータＭＯａ４は、支持部分ＬＫ２１ｃに固定されているため、伸縮機構ＴＥ２ｃによる伸縮動作が行われた場合でも方向Ｄｍ２に移動しない。 A motor MOa4 disposed inside the support portion LK21c is fixed to a motor fixed portion AR48 provided at the end closer to the movable portion LK22c of the two ends of the support portion LK21c. In this way, since the motor MOa4 is fixed to the support portion LK21c, it does not move in the direction Dm2 even when the expansion and contraction mechanism TE2c performs an expansion and contraction operation.
　伝達軸ＡＲ４６は、モータＭＯａ４の回転が伝達されるように、モータＭＯａ４に取り付けられる。さらに、伝達軸ＡＲ４６は、ギアＡＲ４７を介して可動部分ＬＫ２２ｃと連結している。これにより、例えば、モータＭＯａ４が回転した場合、伝達軸ＡＲ４６及びギアＡＲ４７を介して、可動部分ＬＫ２２ｃにモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２２ｃは、軸Ａｘ４を回転軸として回転する。なお、モータＭＯａ４は、支持部分ＬＫ２１ｃに取り付けられているため、軸Ａｘ４を回転軸として可動部分ＬＫ２２ｃを回転させる回転動作が関節機構ＡＲ４ｃにより行われた場合でも、軸Ａｘ４を回転軸として回転することはない。従って、本実施形態では、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体の回転に伴う外乱が発生することを抑制することができる。 The transmission shaft AR46 is attached to the motor MOa4 so that the rotation of the motor MOa4 is transmitted. Further, the transmission shaft AR46 is connected to the movable portion LK22c via a gear AR47. Thereby, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK22c via the transmission shaft AR46 and the gear AR47. As a result, the movable portion LK22c rotates about the axis Ax4. In addition, since the motor MOa4 is attached to the support part LK21c, even if the joint mechanism AR4c performs a rotation operation of rotating the movable part LK22c with the axis Ax4 as the rotation axis, it cannot rotate with the axis Ax4 as the rotation axis. There isn't. Therefore, in the present embodiment, even when the movable portion LK22c rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
　ここで、例えば、関節機構ＡＲ４ｃによる回転動作では、関節機構ＡＲ２、ＡＲ３又はＡＲ５による旋回動作に比べて、外部からの振動等の外乱が回転動作における偏心及び速度制御に与える影響が、大きくなる。なお、本実施形態では、関節機構ＡＲ４ｃによる回転動作、又は、伸縮機構ＴＥ２ｃによる伸縮動作が行われた場合でも、可動部分ＬＫ２２ｃに対するモータＭＯａ４及び関節機構ＡＲ４ｃの相対的な位置は変化しない。このため、本実施形態では、関節機構ＡＲ４ｃによる回転動作に影響を与える外乱の発生を抑制することができ、関節機構ＡＲ４ｃによる回転動作を精度よく制御することができる。すなわち、本実施形態では、ロボット１０Ｂを精度よく制御することができる。 Here, for example, in the rotational movement by the joint mechanism AR4c, the influence of disturbances such as external vibrations on eccentricity and speed control in the rotational movement is greater than in the turning movement by the joint mechanisms AR2, AR3, or AR5. In this embodiment, even if the rotational movement by the joint mechanism AR4c or the telescopic movement by the telescopic mechanism TE2c is performed, the relative positions of the motor MOa4 and the joint mechanism AR4c with respect to the movable portion LK22c do not change. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances that affect the rotational movement of the joint mechanism AR4c, and it is possible to accurately control the rotational movement of the joint mechanism AR4c. That is, in this embodiment, the robot 10B can be controlled with high precision.
　また、本実施形態では、関節機構ＡＲ４ｃにより可動部分ＬＫ２２ｃが回転する場合の可動部分ＬＫ２２ｃの回転軸は、可動部分ＬＫ２３ｃの中心軸と平行である。例えば、リンクＬＫ２ｃは、可動部分ＬＫ２３ｃが移動する際の軸Ａｘｔｅ２（ボールねじＴＥ２２、可動部分ＬＫ２２ｃ及び可動部分ＬＫ２３ｃの各々の中心軸）が、可動部分ＬＫ２２ｃが回転する際の軸Ａｘ４と同じ軸又はほぼ同じ軸になるように、構成されている。これにより、本実施形態では、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転している最中に、可動部分ＬＫ２３ｃを軸Ａｘｔｅ２に沿って移動させた場合でも、リンクＬＫ２ｃ全体のたわみ及び偏心等を抑制することができる。この結果、本実施形態では、ロボット１０Ｂを精度よく制御することができる。また、本実施形態では、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの重心が、可動部分ＬＫ２２ｃが回転する際の軸Ａｘ４上に位置するように、リンクＬＫ２ｃを構成することが好ましい。この場合、可動部分ＬＫ２２ｃ及びＬＫ２３ｃが軸Ａｘ４を回転軸として回転する際に生ずる慣性を小さくすることができ、リンクＬＫ２ｃ全体のたわみ及び偏心等をさらに抑制することができる。 Furthermore, in this embodiment, when the movable portion LK22c is rotated by the joint mechanism AR4c, the rotation axis of the movable portion LK22c is parallel to the central axis of the movable portion LK23c. For example, in the link LK2c, the axis Axte2 (the central axis of each of the ball screw TE22, the movable part LK22c, and the movable part LK23c) when the movable part LK23c moves is the same axis as the axis Ax4 when the movable part LK22c rotates, or They are configured to have almost the same axis. As a result, in this embodiment, even if the movable part LK23c is moved along the axis Axte2 while the movable part LK22c is rotating about the axis Ax4, the deflection and eccentricity of the entire link LK2c can be prevented. Can be suppressed. As a result, in this embodiment, the robot 10B can be controlled with high precision. Further, in the present embodiment, it is preferable that the link LK2c is configured such that the center of gravity of the movable parts LK22c and LK23c is located on the axis Ax4 when the movable part LK22c rotates. In this case, the inertia that occurs when the movable parts LK22c and LK23c rotate about the axis Ax4 can be reduced, and the deflection and eccentricity of the entire link LK2c can be further suppressed.
　また、本実施形態では、リンクＬＫ２ｃの伸縮は、可動部分ＬＫ２２ｃに対して可動部分ＬＫ２３ｃが軸Ａｘｔｅ２に沿って移動することにより実現され、リンクＬＫ２ｃの回転は、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転することにより実現される。このように、本実施形態では、リンクＬＫ２ｃの伸縮及び回転を行う際の制御対象が可動部分ＬＫ２２ｃと可動部分ＬＫ２３ｃとに分離されているため、リンクＬＫ２ｃを動かすためのモータＭＯｔ２及びＭＯａ４の制御が煩雑になることを抑制することができる。 Further, in this embodiment, the expansion and contraction of the link LK2c is realized by moving the movable part LK23c along the axis Axte2 with respect to the movable part LK22c, and the rotation of the link LK2c is achieved by moving the movable part LK22c around the axis Ax4 as the rotation axis. This is achieved by rotating as . In this way, in this embodiment, the objects to be controlled when extending, contracting and rotating the link LK2c are separated into the movable portion LK22c and the movable portion LK23c, so that the control of the motors MOt2 and MOa4 for moving the link LK2c is difficult. Complications can be suppressed.
　また、本実施形態では、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの方向Ｄｅ２に沿う長さ（長手方向の長さ）をある程度長く（例えば、可動部分ＬＫ２２ｃの径よりも長く）することにより、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの重量を大きくしている。これにより、本実施形態では、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの固有振動周波数を小さくすることができる。この結果、本実施形態では、リンクＬＫ３に取り付けられたエンドエフェクタ２０による作業の最中に発生する振動を吸収することができ、リンクＬＫ３及びエンドエフェクタ２０の振動を抑制することができる。また、本実施形態では、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの固有振動周波数が小さいため、ロボット１０Ｂのうちの関節機構ＡＲ５から土台部ＢＳＰまでの部分における振動がリンクＬＫ３及びエンドエフェクタ２０に伝搬することを抑制することができる。例えば、ロボットシステム１では、リンクＬＫ１及びＬＫ２ｃを伸縮中又は伸長した状態でのリンクＬＫ３及びエンドエフェクタ２０の動作精度が重要になる場合がある。この場合、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの方向Ｄｅ２に沿う長さ、及び、可動部分ＬＫ２２ｃ及びＬＫ２３ｃの重量をある程度大きくすることが重要である。 Furthermore, in the present embodiment, the length (longitudinal length) of the movable parts LK22c and LK23c along the direction De2 is made long to a certain extent (for example, longer than the diameter of the movable part LK22c), so that the movable parts LK22c and LK23c is increasing the weight. Thereby, in this embodiment, the natural vibration frequency of the movable parts LK22c and LK23c can be reduced. As a result, in this embodiment, vibrations generated during work by the end effector 20 attached to the link LK3 can be absorbed, and vibrations of the link LK3 and the end effector 20 can be suppressed. Furthermore, in this embodiment, since the natural vibration frequencies of the movable parts LK22c and LK23c are small, vibrations in the portion of the robot 10B from the joint mechanism AR5 to the base part BSP are suppressed from propagating to the link LK3 and the end effector 20. can do. For example, in the robot system 1, the operational accuracy of the link LK3 and the end effector 20 while the links LK1 and LK2c are being extended, contracted or extended may be important. In this case, it is important to increase the length of the movable parts LK22c and LK23c along the direction De2 and the weight of the movable parts LK22c and LK23c to some extent.
　なお、リンクＬＫ２ｃの構成は、図１１に示す例に限定されない。例えば、リンクＬＫ２ｃが最大限に収縮した場合に、可動部分ＬＫ２３ｃの一部が可動部分ＬＫ２２ｃの内部に格納されずに、可動部分ＬＫ２２ｃから露出していてもよい。また、例えば、可動部分ＬＫ２３ｃは、モータＭＯｔ２、ナットＴＥ２１及びボールねじＴＥ２２の構造を工夫することにより、可動部分ＬＫ２２ｃの外周を覆うように構成されてもよい。この構成では、リンクＬＫ２ｃが収縮した場合、可動部分ＬＫ２２ｃの少なくとも一部が、可動部分ＬＫ２３ｃに格納されてもよい。また、モータＭＯａ４は、支持部分ＬＫ２１ｃの外部に配置されてもよい。 Note that the configuration of link LK2c is not limited to the example shown in FIG. 11. For example, when the link LK2c is contracted to the maximum, a part of the movable portion LK23c may not be stored inside the movable portion LK22c, but may be exposed from the movable portion LK22c. Further, for example, the movable portion LK23c may be configured to cover the outer periphery of the movable portion LK22c by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22. In this configuration, when link LK2c contracts, at least a portion of movable portion LK22c may be stored in movable portion LK23c. Further, the motor MOa4 may be arranged outside the support portion LK21c.
　ここで、ロボット１０Ｂにおいても、リンクＬＫ１及びＬＫ２ｃが伸縮可能であるため、図４において説明した効果が得られる。 Here, also in the robot 10B, since the links LK1 and LK2c are extendable and retractable, the effect described in FIG. 4 can be obtained.
　また、本実施形態に係るロボットコントローラ３０のハードウェア構成は、図５の説明におけるロボット１０、関節機構ＡＲ４及び伸縮機構ＴＥ２を、ロボット１０Ｂ、関節機構ＡＲ４ｃ及び伸縮機構ＴＥ２ｃにそれぞれ読み替えることにより説明される。 Further, the hardware configuration of the robot controller 30 according to the present embodiment will be explained by replacing the robot 10, joint mechanism AR4, and telescoping mechanism TE2 in the description of FIG. 5 with the robot 10B, joint mechanism AR4c, and telescoping mechanism TE2c. Ru.
　以上、本実施形態では、ロボット１０Ｂは、ボディ部ＢＤＰと、リンクＬＫ３と、ボディ部ＢＤＰとリンクＬＫ３とを接続する複数のリンクＬＫ１及びＬＫ２ｃと、関節機構ＡＲ３と、関節機構ＡＲ５とを有する。関節機構ＡＲ３は、リンクＬＫ１とリンクＬＫ２ｃとを接続し、リンクＬＫ１が延在する方向Ｄｅ１とのなす角度が所定の角度より大きい軸Ａｘ３を第１回転軸としてリンクＬＫ２ｃをリンクＬＫ１に対して回転させる。関節機構ＡＲ５は、リンクＬＫ２ｃとリンクＬＫ３とを接続し、リンクＬＫ２ｃが延在する方向Ｄｅ２とのなす角度が所定の角度より大きい軸Ａｘ５を第２回転軸としてリンクＬＫ３をリンクＬＫ２ｃに対して回転させる。リンクＬＫ２ｃは、リンクＬＫ１に接続される支持部分ＬＫ２１ｃと、リンクＬＫ３に接続される可動部分ＬＫ２３ｃと、支持部分ＬＫ２１ｃと可動部分ＬＫ２３ｃとを接続する可動部分ＬＫ２２ｃと、関節機構ＡＲ４ｃと、伸縮機構ＴＥ２ｃとを有する。関節機構ＡＲ４ｃは、支持部分ＬＫ２１ｃが延在する方向Ｄｅ２１とのなす角度が所定の角度以下の軸Ａｘ４を第３回転軸として、可動部分ＬＫ２２ｃを支持部分ＬＫ２１ｃに対して回転させる。伸縮機構ＴＥ２ｃは、可動部分ＬＫ２２ｃに対して可動部分ＬＫ２３ｃを可動部分ＬＫ２２ｃの延在方向（方向Ｄｅ２２）に沿って移動させることにより、リンクＬＫ２ｃを伸縮させる。 As described above, in this embodiment, the robot 10B includes a body part BDP, a link LK3, a plurality of links LK1 and LK2c that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5. The joint mechanism AR3 connects the link LK1 and the link LK2c, and rotates the link LK2c with respect to the link LK1 using an axis Ax3, which makes an angle larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis. let The joint mechanism AR5 connects the link LK2c and the link LK3, and rotates the link LK3 with respect to the link LK2c using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2c extends, as a second rotation axis. let The link LK2c includes a supporting portion LK21c connected to the link LK1, a movable portion LK23c connected to the link LK3, a movable portion LK22c connecting the supporting portion LK21c and the movable portion LK23c, a joint mechanism AR4c, and a telescopic mechanism TE2c. and has. The joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21c extends, as a third rotation axis. The expansion/contraction mechanism TE2c expands/contracts the link LK2c by moving the movable part LK23c with respect to the movable part LK22c along the extending direction (direction De22) of the movable part LK22c.
　このように、本実施形態では、伸縮機構ＴＥ２ｃにより、リンクＬＫ２ｃが伸縮する。このため、本実施形態では、ロボット１０Ｂの全体が大きくなることを抑制しつつ、ロボット１０Ｂの先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。これにより、本実施形態では、大型のロボットを設置するためのスペースを確保できない狭い場所にも、ロボット１０Ｂを設置することができる。すなわち、本実施形態では、狭い場所で用いられるロボット１０Ｂにおいても、ロボット１０Ｂの先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。 In this way, in this embodiment, the link LK2c is expanded and contracted by the expansion and contraction mechanism TE2c. Therefore, in this embodiment, it is possible to widen the area that the tip of the robot 10B (for example, the link LK3) can reach while suppressing the overall size of the robot 10B. Thereby, in this embodiment, the robot 10B can be installed even in a narrow place where space for installing a large robot cannot be secured. That is, in this embodiment, even in the robot 10B used in a narrow place, the area that the tip (for example, the link LK3) of the robot 10B can reach can be widened.
　また、本実施形態では、リンクＬＫ２ｃの可動部分ＬＫ２２ｃの回転が関節機構ＡＲ４ｃにより行われ、リンクＬＫ２ｃの伸縮が伸縮機構ＴＥ２ｃにより行われる。このため、本実施形態では、リンクＬＫ２ｃの可動部分ＬＫ２２ｃの回転及びリンクＬＫ２ｃの伸縮の制御が煩雑になることを抑制することができる。 Furthermore, in this embodiment, the rotation of the movable portion LK22c of the link LK2c is performed by the joint mechanism AR4c, and the expansion and contraction of the link LK2c is performed by the expansion and contraction mechanism TE2c. Therefore, in this embodiment, it is possible to suppress the rotation of the movable portion LK22c of the link LK2c and the control of the expansion and contraction of the link LK2c from becoming complicated.
　また、本実施形態では、可動部分ＬＫ２２ｃは、中空である。リンクＬＫ２ｃが収縮した場合、可動部分ＬＫ２３ｃの少なくとも一部が、可動部分ＬＫ２２ｃの内部に格納される。これにより、本実施形態では、リンクＬＫ２ｃの伸縮を簡易な構成で実現することができる。 Furthermore, in this embodiment, the movable portion LK22c is hollow. When link LK2c contracts, at least a portion of movable portion LK23c is stored inside movable portion LK22c. Thereby, in this embodiment, expansion and contraction of the link LK2c can be realized with a simple configuration.
　また、本実施形態では、ロボット１０Ｂは、関節機構ＡＲ４ｃを駆動するモータＭＯａ４と、伸縮機構ＴＥ２ｃを駆動するモータＭＯｔ２とをさらに含む。モータＭＯａ４は、リンクＬＫ２ｃが伸縮した場合でもリンクＬＫ２ｃの伸縮方向（方向Ｄｍ２）に移動しないように、かつ、可動部分ＬＫ２２ｃが支持部分ＬＫ２１ｃに対して回転した場合でも可動部分ＬＫ２２ｃの回転方向Ｄｒ４に移動しないように、支持部分ＬＫ２１ｃの２つの端部のうちの可動部分ＬＫ２２ｃに近い端部に取り付けられる。モータＭＯｔ２は、リンクＬＫ２ｃが伸縮した場合でもリンクＬＫ２ｃの伸縮方向（方向Ｄｍ２）に移動しないように、可動部分ＬＫ２２ｃの２つの端部のうちの支持部分ＬＫ２１ｃに近い端部に取り付けられる。 Furthermore, in this embodiment, the robot 10B further includes a motor MOa4 that drives the joint mechanism AR4c, and a motor MOt2 that drives the telescoping mechanism TE2c. The motor MOa4 is configured not to move in the expansion/contraction direction (direction Dm2) of the link LK2c even when the link LK2c expands or contracts, and in the rotational direction Dr4 of the movable portion LK22c even when the movable portion LK22c rotates with respect to the support portion LK21c. It is attached to one of the two ends of the support part LK21c, which is closer to the movable part LK22c, so as not to move. Motor MOt2 is attached to one of the two ends of movable portion LK22c that is closer to support portion LK21c so that it does not move in the expansion and contraction direction (direction Dm2) of link LK2c even when link LK2c expands and contracts.
　これにより、本実施形態では、関節機構ＡＲ４ｃによる回転動作、又は、伸縮機構ＴＥ２ｃによる伸縮動作が行われた場合でも、可動部分ＬＫ２２ｃに対するモータＭＯａ４の相対的な位置は変化しない。このため、本実施形態では、関節機構ＡＲ４ｃによる回転動作に影響を与える外乱の発生を抑制することができ、関節機構ＡＲ４ｃによる回転動作を精度よく制御することができる。すなわち、本実施形態では、ロボット１０Ｂを精度よく制御することができる。また、本実施形態では、モータＭＯｔ２が可動部分ＬＫ２２ｃに取り付けられるため、可動部分ＬＫ２３ｃが方向Ｄｅ２２に沿って移動した場合でも、モータＭＯｔ２は方向Ｄｅ２２に沿って移動しない。このため、本実施形態では、伸縮機構ＴＥ２ｃにより伸縮動作が行われた場合においても、モータＭＯａ４に対するモータＭＯｔ２の相対的な位置は、変化しない。この結果、本実施形態では、可動部分ＬＫ２３ｃが軸Ａｘｔｅ２に沿って移動している最中であっても、軸Ａｘ４を回転軸として可動部分ＬＫ２２ｃを安定して回転させることができる。 As a result, in the present embodiment, even if the rotational movement by the joint mechanism AR4c or the telescopic movement by the telescopic mechanism TE2c is performed, the relative position of the motor MOa4 with respect to the movable part LK22c does not change. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances that affect the rotational movement of the joint mechanism AR4c, and it is possible to accurately control the rotational movement of the joint mechanism AR4c. That is, in this embodiment, the robot 10B can be controlled with high precision. Furthermore, in this embodiment, since the motor MOt2 is attached to the movable portion LK22c, even if the movable portion LK23c moves along the direction De22, the motor MOt2 does not move along the direction De22. Therefore, in the present embodiment, even when the telescoping mechanism TE2c performs a telescoping operation, the relative position of the motor MOt2 with respect to the motor MOa4 does not change. As a result, in this embodiment, even while the movable portion LK23c is moving along the axis Axte2, the movable portion LK22c can be stably rotated about the axis Ax4 as the rotation axis.
　また、本実施形態では、関節機構ＡＲ４ｃにより可動部分ＬＫ２２ｃが回転する場合の可動部分ＬＫ２２ｃの第３回転軸（軸Ａｘ４）は、可動部分ＬＫ２３ｃの中心軸と平行である。これにより、本実施形態では、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転している最中に、可動部分ＬＫ２３ｃを方向Ｄｅ２２に沿って移動させた場合でも、リンクＬＫ２ｃ全体のたわみ及び偏心等を抑制することができる。この結果、本実施形態では、ロボット１０Ｂを精度よく制御することができる。 Furthermore, in the present embodiment, the third rotation axis (axis Ax4) of the movable portion LK22c when the movable portion LK22c is rotated by the joint mechanism AR4c is parallel to the central axis of the movable portion LK23c. As a result, in this embodiment, even if the movable part LK23c is moved along the direction De22 while the movable part LK22c is rotating about the axis Ax4, the deflection and eccentricity of the entire link LK2c can be prevented. Can be suppressed. As a result, in this embodiment, the robot 10B can be controlled with high precision.
　また、本実施形態では、リンクＬＫ１は、支持部分ＬＫ１１と、リンクＬＫ２ｃに接続される可動部分ＬＫ１３と、支持部分ＬＫ１１と可動部分ＬＫ１３とを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１を伸縮させる。 Furthermore, in the present embodiment, the link LK1 includes a support portion LK11, a movable portion LK13 connected to the link LK2c, a movable portion LK12 that connects the support portion LK11 and the movable portion LK13, and a telescoping mechanism TE1. The expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
　このように、本実施形態では、伸縮機構ＴＥ１により、リンクＬＫ１が伸縮する。このため、本実施形態では、ロボット１０Ｂの全体が大きくなることを抑制しつつ、ロボット１０Ｂの先端部が到達可能な領域をリンクＬＫ１が伸縮しない形態に比べて広くすることができる。これにより、本実施形態では、例えば、ロボット１０Ｂは、リンクＬＫ１が伸縮しない形態では届かない高い位置に配置された物品ＧＤに対して作業する事が可能となる。また、本実施形態では、ロボット１０Ｂは、伸縮機構ＴＥ１により関節機構ＡＲ３を高い位置に移動させることにより、棚ＲＫの高い位置で、かつ棚ＲＫの奥に配置された物品ＧＤに対する作業を容易に行うことができる。 In this manner, in this embodiment, the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10B can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10B. As a result, in this embodiment, for example, the robot 10B can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10B moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
　また、本実施形態では、支持部分ＬＫ１１は、中空である。リンクＬＫ１が収縮した場合、可動部分ＬＫ１２の少なくとも一部が、支持部分ＬＫ１１の内部に格納される。これにより、本実施形態では、リンクＬＫ１の伸縮を簡易な構成で実現することができる。 Furthermore, in this embodiment, the support portion LK11 is hollow. When the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11. Thereby, in this embodiment, expansion and contraction of the link LK1 can be realized with a simple configuration.
　また、本実施形態では、ロボット１０Ｂは、関節機構ＡＲ１と関節機構ＡＲ２とをさらに有する。関節機構ＡＲ１は、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度以下の軸Ａｘ１を第４回転軸として、ボディ部ＢＤＰの少なくとも一部分を回転させる。関節機構ＡＲ２は、ボディ部ＢＤＰとリンクＬＫ１とを接続し、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度より大きい軸Ａｘ２を第５回転軸としてリンクＬＫ１をボディ部ＢＤＰに対して回転させる。リンクＬＫ３は、関節機構ＡＲ５によりリンクＬＫ３が回転する場合のリンクＬＫの第２回転軸（軸Ａｘ５）とのなす角度が所定の角度より大きい軸Ａｘ６を第６回転軸として、リンクＬＫ３の少なくとも一部分をリンクＬＫ２ｃに対して回転させる関節機構ＡＲ６を含む。このように、本実施形態に係る発明は、垂直６軸多関節ロボットに適用されてもよい。 Furthermore, in this embodiment, the robot 10B further includes a joint mechanism AR1 and a joint mechanism AR2. The joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis. The joint mechanism AR2 connects the body part BDP and the link LK1, and connects the link LK1 to the body part with an axis Ax2 that is larger than a predetermined angle at an angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP as a fifth rotation axis. Rotate against BDP. The link LK3 is configured to rotate at least a portion of the link LK3 by using an axis Ax6 as a sixth rotation axis, which makes an angle with the second rotation axis (axis Ax5) of the link LK that is larger than a predetermined angle when the link LK3 is rotated by the joint mechanism AR5. includes a joint mechanism AR6 that rotates the link LK2c relative to the link LK2c. In this way, the invention according to this embodiment may be applied to a vertical six-axis articulated robot.
　また、本実施形態では、リンクＬＫ１は、ボディ部ＢＤＰに接続される支持部分ＬＫ１１と、リンクＬＫ２ｃに接続される可動部分ＬＫ１３と、支持部分ＬＫ１１と可動部分ＬＫ１３とを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１を伸縮させる。このように、本実施形態では、垂直６軸多関節ロボットに２つの伸縮機構を追加することにより、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０Ｂを簡易に構成することができる。 In the present embodiment, the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2c, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1. The expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends. As described above, in this embodiment, by adding two expansion and contraction mechanisms to the vertical six-axis articulated robot, it is possible to easily configure the robot 10B in which the reachable area of the tip (for example, link LK3) is widened. I can do it.
　また、本実施形態では、ロボットコントローラ３０は、関節機構ＡＲ１を駆動するモータＭＯａ１、関節機構ＡＲ２を駆動するモータＭＯａ２、関節機構ＡＲ３を駆動するモータＭＯａ３、関節機構ＡＲ４ｃを駆動するモータＭＯａ４、関節機構ＡＲ５を駆動するモータＭＯａ５、関節機構ＡＲ６を駆動するモータＭＯａ６、伸縮機構ＴＥ１を駆動するモータＭＯｔ１、及び、伸縮機構ＴＥ２ｃを駆動するモータＭＯｔ２を制御することにより、ロボット１０Ｂの動作を制御する。このように、本実施形態では、ロボットコントローラ３０により、ロボット１０Ｂの動作を容易に制御することができる。 In the present embodiment, the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, The operation of the robot 10B is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2c. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10B.
　また、本実施形態では、ロボットシステム１は、ロボット１０Ｂと、リンクＬＫ３に取り付けられたエンドエフェクタ２０と、ロボット１０Ｂ及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。このように、本実施形態では、全体の大きさが大きくなることを抑制しつつ、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０Ｂがロボットシステム１に用いられる。このため、本実施形態では、狭い場所においても、ロボットシステム１は、ロボット１０Ｂに近い場所に配置された物品に対する作業、及び、ロボット１０Ｂから遠い場所に配置された物品に対する作業の両方を効率よく行うことができる。例えば、部品を組み付ける、又は、部品を取り除くことを含む物品の製造方法にロボットシステム１が用いられてもよい。この場合、部品を組み付ける、又は、部品を取り除く作業を効率よく実行することができる。 Furthermore, in this embodiment, the robot system 1 includes a robot 10B, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20. In this manner, in this embodiment, the robot 10B is used in the robot system 1, with the robot 10B having a wider area reachable by the tip (for example, the link LK3) while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10B and operations on objects placed far from the robot 10B. It can be carried out. For example, the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
［Ｂ－２．第３実施形態の変形例］
　本発明は、以上に例示した実施形態に限定されない。具体的な変形の態様を以下に例示する。以下の例示から任意に選択された２以上の態様を併合してもよい。 [B-2. Modification of third embodiment]
The present invention is not limited to the embodiments illustrated above. Specific modes of modification are illustrated below. Two or more aspects arbitrarily selected from the examples below may be combined.
［変形例Ｂ１］
　上述した第３実施形態では、モータＭＯａ４が支持部分ＬＫ２１ｃの内部に設けられる場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、モータＭＯａ４は、支持部分ＬＫ２１ｃの外部に設けられてもよい。 [Modification B1]
In the third embodiment described above, the case where the motor MOa4 is provided inside the support portion LK21c is illustrated, but the present invention is not limited to such an embodiment. For example, motor MOa4 may be provided outside of support portion LK21c.
　図１２は、変形例Ｂ１に係るリンクＬＫ２の一例を説明するための説明図である。図１０及び図１１において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。例えば、図１２に示す態様では、ロボット１０Ｂは、図１０に示したリンクＬＫ２ｃの代わりにリンクＬＫ２ｄを有する。図１２の上段は、収縮している状態のリンクＬＫ２ｄを示し、図１２の下段は、伸長している状態のリンクＬＫ２ｄを示している。リンクＬＫ２ｄは、「第２リンク」の他の例である。なお、以下では、リンクＬＫ２ｄをリンクＬＫ２と称する場合がある。 FIG. 12 is an explanatory diagram for explaining an example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted. For example, in the embodiment shown in FIG. 12, the robot 10B has a link LK2d instead of the link LK2c shown in FIG. The upper part of FIG. 12 shows the link LK2d in a contracted state, and the lower part of FIG. 12 shows the link LK2d in an extended state. Link LK2d is another example of a "second link." In addition, below, link LK2d may be called link LK2.
　リンクＬＫ２ｄは、図１１に示した支持部分ＬＫ２１ｃ及び関節機構ＡＲ４ｃ代わりに支持部分ＬＫ２１ｄ及び関節機構ＡＲ４ｄを有することを除いて、図１１に示したリンクＬＫ２ｃと同様である。支持部分ＬＫ２１ｄは、「第１部分」の他の例であり、関節機構ＡＲ４ｄは、「第７駆動機構」の他の例である。図１２では、支持部分ＬＫ２１ｄ及び関節機構ＡＲ４ｄを中心に説明する。 The link LK2d is the same as the link LK2c shown in FIG. 11, except that it has a support portion LK21d and a joint mechanism AR4d instead of the support portion LK21c and joint mechanism AR4c shown in FIG. The support part LK21d is another example of the "first part", and the joint mechanism AR4d is another example of the "seventh drive mechanism". In FIG. 12, the support portion LK21d and the joint mechanism AR4d will be mainly explained.
　リンクＬＫ２ｄは、支持部分ＬＫ２１ｄと、可動部分ＬＫ２２ｃ及びＬＫ２３ｃと、伸縮機構ＴＥ２ｃと、関節機構ＡＲ４ｄと、モータＭＯａ４と、モータＭＯｔ２とを含む。 The link LK2d includes a support portion LK21d, movable portions LK22c and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4d, a motor MOa4, and a motor MOt2.
　関節機構ＡＲ４ｄは、例えば、支持部分ＬＫ２１ｄの２つの端部のうちの可動部分ＬＫ２２ｃに近い端部（すなわち、支持部分ＬＫ２１ｄと可動部分ＬＫ２２ｃとの境界付近）に取り付けられる。例えば、関節機構ＡＲ４ｄは、ステーＡＲ４１と、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２と、プーリＡＲ４３及びＡＲ４４と、タイミングベルトＡＲ４５と、プーリＡＲ４４の回転が伝達される伝達軸ＡＲ４６と、ギアＡＲ４７とを有する。 The joint mechanism AR4d is attached to, for example, one of the two ends of the support portion LK21d that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21d and the movable portion LK22c). For example, the joint mechanism AR4d includes a stay AR41, a transmission shaft AR42 to which the rotation of the motor MOa4 is transmitted, pulleys AR43 and AR44, a timing belt AR45, a transmission shaft AR46 to which the rotation of the pulley AR44 is transmitted, and a gear AR47. and has.
　ステーＡＲ４１は、支持部分ＬＫ２１ｄの２つの端部のうちの可動部分ＬＫ２２ｃに近い端部に、支持部分ＬＫ２１ｄから張り出すように取り付けられている。ステーＡＲ４１のうち、支持部分ＬＫ２１ｄから張り出した部分には、モータＭＯａ４が取り付けられる。すなわち、モータＭＯａ４は、可動部分ＬＫ２３ｃが移動しても移動しない支持部分ＬＫ２１ｄに、ステーＡＲ４１を介して取り付けられる。 The stay AR41 is attached to the end closer to the movable part LK22c of the two ends of the support part LK21d so as to protrude from the support part LK21d. A motor MOa4 is attached to a portion of the stay AR41 that protrudes from the support portion LK21d. That is, the motor MOa4 is attached via the stay AR41 to the support portion LK21d that does not move even if the movable portion LK23c moves.
　また、ステーＡＲ４１には、プーリＡＲ４３及びＡＲ４４が並列に設けられている。例えば、プーリＡＲ４３は、伝達軸ＡＲ４２に取り付けられる。また、プーリＡＲ４４は、方向Ｄｅ２からの平面視において、全体が可動部分ＬＫ２２ｃと重なるように、配置される。タイミングベルトＡＲ４５は、プーリＡＲ４３の回転がプーリＡＲ４４に伝達されるように、プーリＡＲ４３とプーリＡＲ４４とを連結する。プーリＡＲ４４には、伝達軸ＡＲ４６が取り付けられている。例えば、伝達軸ＡＲ４６の中心軸は、軸Ａｘ４に対応する。伝達軸ＡＲ４６は、ギアＡＲ４７を介して可動部分ＬＫ２２ｃと連結している。 Furthermore, pulleys AR43 and AR44 are provided in parallel on the stay AR41. For example, pulley AR43 is attached to transmission shaft AR42. Further, the pulley AR44 is arranged so that the entire pulley AR44 overlaps the movable portion LK22c when viewed in plan from the direction De2. Timing belt AR45 connects pulley AR43 and pulley AR44 so that rotation of pulley AR43 is transmitted to pulley AR44. A transmission shaft AR46 is attached to the pulley AR44. For example, the central axis of the transmission shaft AR46 corresponds to the axis Ax4. The transmission shaft AR46 is connected to the movable portion LK22c via a gear AR47.
　これにより、例えば、モータＭＯａ４が回転した場合、伝達軸ＡＲ４２、プーリＡＲ４３、タイミングベルトＡＲ４５、プーリＡＲ４４、伝達軸ＡＲ４６、及び、ギアＡＲ４７を介して、可動部分ＬＫ２２ｃにモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２２ｃは、軸Ａｘ４を回転軸として回転する。なお、ステーＡＲ４１は、可動部分ＬＫ２２ｃに対して回転可能に、支持部分ＬＫ２１ｄに取り付けられている。このため、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４及びステーＡＲ４１が軸Ａｘ４を回転軸として回転することはない。従って、図１２に示す例においても、可動部分ＬＫ２２ｃが軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体は軸Ａｘ４の周りを回転（公転）しないため、回転（公転）に伴う外乱が発生することを抑制することができる。 Thus, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK22c via the transmission shaft AR42, pulley AR43, timing belt AR45, pulley AR44, transmission shaft AR46, and gear AR47. . As a result, the movable portion LK22c rotates about the axis Ax4. Note that the stay AR41 is rotatably attached to the support portion LK21d with respect to the movable portion LK22c. Therefore, even if the movable portion LK22c rotates about the axis Ax4, the motor MOa4 and stay AR41 do not rotate about the axis Ax4. Therefore, even in the example shown in FIG. 12, even if the movable part LK22c rotates about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4, so disturbances occur due to the rotation (revolution). can be restrained from doing so.
　図１２に示す例においても、リンクＬＫ２ｄは、可動部分ＬＫ２３ｃが移動する際の軸Ａｘｔｅ２が、可動部分ＬＫ２２ｃが回転する際の軸Ａｘ４と同じ軸又はほぼ同じ軸になるように、構成されている。 Also in the example shown in FIG. 12, the link LK2d is configured such that the axis Axte2 along which the movable portion LK23c moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22c rotates. .
　次に、図１３を参照しながら、変形例Ｂ１に係るリンクＬＫ２の別の例について説明する。 Next, another example of link LK2 according to modification B1 will be described with reference to FIG. 13.
　図１３は、変形例Ｂ１に係るリンクＬＫ２の別の例を説明するための説明図である。図１０から図１２において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。例えば、図１３に示す態様では、ロボット１０Ｂは、図１０に示したリンクＬＫ２ｃの代わりにリンクＬＫ２ｅを有する。図１３の上段は、収縮している状態のリンクＬＫ２ｅを示し、図１３の下段は、伸長している状態のリンクＬＫ２ｅを示している。リンクＬＫ２ｅは、「第２リンク」の他の例である。なお、以下では、リンクＬＫ２ｅをリンクＬＫ２と称する場合がある。 FIG. 13 is an explanatory diagram for explaining another example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 to 12 are denoted by the same reference numerals, and detailed description thereof will be omitted. For example, in the embodiment shown in FIG. 13, the robot 10B has a link LK2e instead of the link LK2c shown in FIG. The upper part of FIG. 13 shows the link LK2e in a contracted state, and the lower part in FIG. 13 shows the link LK2e in an extended state. Link LK2e is another example of a "second link." In addition, below, link LK2e may be called link LK2.
　リンクＬＫ２ｅは、図１１に示した支持部分ＬＫ２１ｃ、可動部分ＬＫ２２ｃ及び関節機構ＡＲ４ｃ代わりに支持部分ＬＫ２１ｅ、可動部分ＬＫ２２ｅ及び関節機構ＡＲ４ｅを有することを除いて、図１１に示したリンクＬＫ２ｃと同様である。支持部分ＬＫ２１ｅは、「第１部分」の他の例であり、可動部分ＬＫ２２ｅは、「第３部分」の他の例であり、関節機構ＡＲ４ｅは、「第７駆動機構」の他の例である。図１３では、支持部分ＬＫ２１ｅ、可動部分ＬＫ２２ｅ及び関節機構ＡＲ４ｅを中心に説明する。 The link LK2e is similar to the link LK2c shown in FIG. 11, except that it has a supporting portion LK21e, a movable portion LK22e, and a joint mechanism AR4e instead of the supporting portion LK21c, movable portion LK22c, and joint mechanism AR4c shown in FIG. be. The support part LK21e is another example of the "first part", the movable part LK22e is another example of the "third part", and the joint mechanism AR4e is another example of the "seventh drive mechanism". be. In FIG. 13, the supporting portion LK21e, the movable portion LK22e, and the joint mechanism AR4e will be mainly described.
　リンクＬＫ２ｅは、支持部分ＬＫ２１ｅと、可動部分ＬＫ２２ｅ及びＬＫ２３ｃと、伸縮機構ＴＥ２ｃと、関節機構ＡＲ４ｅと、モータＭＯａ４と、モータＭＯｔ２とを含む。可動部分ＬＫ２２ｅは、中空である。可動部分ＬＫ２２ｅの内部には、伸縮機構ＴＥ２ｃが設けられる。伸縮機構ＴＥ２ｃは、図１１に示した伸縮機構ＴＥ２ｃと同様である。 The link LK2e includes a support portion LK21e, movable portions LK22e and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4e, a motor MOa4, and a motor MOt2. Movable portion LK22e is hollow. A telescopic mechanism TE2c is provided inside the movable portion LK22e. The telescoping mechanism TE2c is similar to the telescoping mechanism TE2c shown in FIG. 11.
　関節機構ＡＲ４ｅは、例えば、支持部分ＬＫ２１ｅの２つの端部のうちの可動部分ＬＫ２２ｅに近い端部（すなわち、支持部分ＬＫ２１ｅと可動部分ＬＫ２２ｅとの境界付近）に取り付けられる。例えば、関節機構ＡＲ４ｅは、ステーＡＲ４１ｅと、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２ｅと、伝達軸ＡＲ４２ｅに取り付けられたギアＡＲ４７ｅとを有する。 The joint mechanism AR4e is attached to, for example, one of the two ends of the support portion LK21e that is closer to the movable portion LK22e (that is, near the boundary between the support portion LK21e and the movable portion LK22e). For example, the joint mechanism AR4e includes a stay AR41e, a transmission shaft AR42e to which rotation of the motor MOa4 is transmitted, and a gear AR47e attached to the transmission shaft AR42e.
　ステーＡＲ４１ｅは、支持部分ＬＫ２１ｅの２つの端部のうちの可動部分ＬＫ２２ｅに近い端部に、可動部分ＬＫ２２ｅから張り出すように取り付けられている。ステーＡＲ４１ｅのうち、可動部分ＬＫ２２ｅから張り出した部分には、モータＭＯａ４が取り付けられる。すなわち、モータＭＯａ４は、可動部分ＬＫ２３ｃが移動しても移動しない支持部分ＬＫ２１ｅに、ステーＡＲ４１ｅを介して取り付けられる。 The stay AR41e is attached to the end closer to the movable part LK22e of the two ends of the support part LK21e so as to protrude from the movable part LK22e. A motor MOa4 is attached to a portion of the stay AR41e that protrudes from the movable portion LK22e. That is, the motor MOa4 is attached via the stay AR41e to the support portion LK21e that does not move even if the movable portion LK23c moves.
　また、ステーＡＲ４１ｅには、伝達軸ＡＲ４２ｅ及びギアＡＲ４７ｅが設けられている。例えば、ギアＡＲ４７ｅは、方向Ｄｅ２からの平面視において、ギアＡＲ４７ｅの中心に伝達軸ＡＲ４２ｅが位置するように、伝達軸ＡＲ４２ｅに取り付けられる。また、可動部分ＬＫ２２ｅの外周には、可動部分ＬＫ２２ｅをギアＡＲ４７ｅと噛み合う歯車として動作させるための複数の溝が設けられている。 Furthermore, the stay AR41e is provided with a transmission shaft AR42e and a gear AR47e. For example, the gear AR47e is attached to the transmission shaft AR42e such that the transmission shaft AR42e is located at the center of the gear AR47e when viewed in plan from the direction De2. Furthermore, a plurality of grooves are provided on the outer periphery of the movable portion LK22e to operate the movable portion LK22e as a gear that meshes with the gear AR47e.
　これにより、例えば、モータＭＯａ４が回転した場合、モータＭＯａ４の回転が伝達される伝達軸ＡＲ４２ｅの回転に伴い、ギアＡＲ４７ｅが回転し、ギアＡＲ４７ｅの回転に伴い、ギアＡＲ４７ｅと噛み合う可動部分ＬＫ２２ｅが回転する。このように、モータＭＯａ４が回転した場合、伝達軸ＡＲ４２ｅ及びギアＡＲ４７ｅを介して、可動部分ＬＫ２２ｅにモータＭＯａ４の回転が伝達される。この結果、可動部分ＬＫ２２ｅは、軸Ａｘ４を回転軸として回転する。また、可動部分ＬＫ２３ｃは、可動部分ＬＫ２２ｅと一緒に回転するように可動部分ＬＫ２２ｅと連結されているため、可動部分ＬＫ２２ｅと一体的に回転する。 As a result, for example, when the motor MOa4 rotates, the gear AR47e rotates with the rotation of the transmission shaft AR42e to which the rotation of the motor MOa4 is transmitted, and the movable part LK22e that meshes with the gear AR47e rotates with the rotation of the gear AR47e. do. In this way, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK22e via the transmission shaft AR42e and the gear AR47e. As a result, the movable portion LK22e rotates about the axis Ax4. Furthermore, since the movable portion LK23c is connected to the movable portion LK22e so as to rotate together with the movable portion LK22e, the movable portion LK23c rotates integrally with the movable portion LK22e.
　また、モータＭＯａ４は、ステーＡＲ４１ｅを介して支持部分ＬＫ２１ｅに取り付けられているため、可動部分ＬＫ２２ｅ及びＬＫ２３ｃが回転した場合でも、軸Ａｘ４を回転軸として回転することはない。従って、図１３に示す例においても、可動部分ＬＫ２２ｅが軸Ａｘ４を回転軸として回転した場合でも、モータＭＯａ４自体の回転に伴う外乱が発生することを抑制することができる。 Further, since the motor MOa4 is attached to the support portion LK21e via the stay AR41e, even if the movable portions LK22e and LK23c rotate, the motor MOa4 does not rotate about the axis Ax4 as the rotation axis. Therefore, in the example shown in FIG. 13 as well, even when the movable portion LK22e rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
　なお、図１３に示す例においても、リンクＬＫ２ｅは、可動部分ＬＫ２３ｃが移動する際の軸Ａｘｔｅ２が、可動部分ＬＫ２２ｅが回転する際の軸Ａｘ４と同じ軸又はほぼ同じ軸になるように、構成されている。 In the example shown in FIG. 13 as well, the link LK2e is configured such that the axis Axte2 along which the movable portion LK23c moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22e rotates. ing.
　図１３に示すリンクＬＫ２ｅでは、モータＭＯａ４の回転を可動部分ＬＫ２２ｅに伝達するギアＡＲ４７ｅが可動部分ＬＫ２２ｅの外部に設けられるため、ボールねじＴＥ２２の方向Ｄｅ２２に沿う長さを図１１に示したリンクＬＫ２ｃよりも長くすることができる。従って、図１３に示すリンクＬＫ２ｅでは、リンクＬＫ２ｅの伸縮範囲を図１１に示したリンクＬＫ２ｃよりも大きくすることができる。なお、例えば、リンクＬＫ２ｅの伸縮範囲は、リンクＬＫ２ｅを最大限に収縮した場合のリンクＬＫ２ｅの方向Ｄｅ２に沿う長さと、リンクＬＫ２ｅを最大限に伸長した場合のリンクＬＫ２ｅの方向Ｄｅ２に沿う長さとの差に対応する範囲である。 In the link LK2e shown in FIG. 13, the gear AR47e that transmits the rotation of the motor MOa4 to the movable part LK22e is provided outside the movable part LK22e, so the length of the ball screw TE22 along the direction De22 is the link LK2c shown in FIG. It can be longer than . Therefore, in the link LK2e shown in FIG. 13, the expansion/contraction range of the link LK2e can be made larger than that of the link LK2c shown in FIG. 11. For example, the expansion/contraction range of the link LK2e is the length of the link LK2e along the direction De2 when the link LK2e is contracted to the maximum, and the length of the link LK2e along the direction De2 when the link LK2e is expanded to the maximum. This is the range corresponding to the difference between
　なお、本変形例に係るリンクＬＫ２の構成は、図１２及び図１３に示す例に限定されない。例えば、図１３に示す例において、モータＭＯｔ２は、可動部分ＬＫ２２ｅの外側で支持部分ＬＫ２１ｅの内部に配置されてもよい。この場合においても、ボールねじＴＥ２２は、ボールねじＴＥ２２の中心軸が可動部分ＬＫ２２ｅの中心軸と一致するように、モータＭＯｔ２に取り付けられる。また、ボールねじＴＥ２２の中心軸が可動部分ＬＫ２２ｅの中心軸と一致するようにボールねじＴＥ２２をモータＭＯｔ２に取り付けることができれば、モータＭＯｔ２は、可動部分ＬＫ２２ｅ及び支持部分ＬＫ２１ｅの外側に配置されてもよい。 Note that the configuration of the link LK2 according to this modification is not limited to the example shown in FIGS. 12 and 13. For example, in the example shown in FIG. 13, the motor MOt2 may be arranged outside the movable part LK22e and inside the support part LK21e. Also in this case, the ball screw TE22 is attached to the motor MOt2 so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22e. Furthermore, if the ball screw TE22 can be attached to the motor MOt2 so that the center axis of the ball screw TE22 coincides with the center axis of the movable part LK22e, the motor MOt2 can be placed outside the movable part LK22e and the support part LK21e. good.
　モータＭＯｔ２が可動部分ＬＫ２２ｅの外側に配置される構成では、例えば、ボールねじＴＥ２２は、関節機構ＡＲ４ｅにより可動部分ＬＫ２２ｅが回転した場合にナットＴＥ２１と一緒にモータＭＯｔ２に対して空転するように、モータＭＯｔ２に取り付けられる。これにより、可動部分ＬＫ２３ｃは、関節機構ＡＲ４ｅにより可動部分ＬＫ２２ｅ及びＬＫ２３ｃが回転した場合でも、軸Ａｘｔｅ２に沿って移動することはない。また、モータＭＯｔ２が可動部分ＬＫ２２ｅの外側に配置される構成では、ボールねじＴＥ２２の方向Ｄｅ２２に沿う長さを長くすることができるため、リンクＬＫ２ｅの伸縮範囲を大きくすることができる。また、モータＭＯｔ２が可動部分ＬＫ２２ｅの外側に配置される構成では、リンクＬＫ２ｅが収縮した場合、可動部分ＬＫ２３ｃの一部が支持部分ＬＫ２１ｅに格納され、可動部分ＬＫ２３ｃの他の一部が可動部分ＬＫ２２ｅに格納されてもよい。すなわち、モータＭＯｔ２が可動部分ＬＫ２２ｅの外側に配置される構成では、可動部分ＬＫ２３ｃの長さが可動部分ＬＫ２２ｅの長さよりも長くてもよい。 In a configuration in which the motor MOt2 is disposed outside the movable portion LK22e, for example, the ball screw TE22 is attached to the motor so that it idles with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22e is rotated by the joint mechanism AR4e. Attached to MOt2. Thereby, the movable portion LK23c does not move along the axis Axte2 even when the movable portions LK22e and LK23c are rotated by the joint mechanism AR4e. Furthermore, in the configuration in which the motor MOt2 is disposed outside the movable portion LK22e, the length of the ball screw TE22 along the direction De22 can be increased, so that the expansion/contraction range of the link LK2e can be increased. Furthermore, in a configuration in which the motor MOt2 is arranged outside the movable portion LK22e, when the link LK2e contracts, a part of the movable part LK23c is stored in the support part LK21e, and another part of the movable part LK23c is moved to the movable part LK22e. may be stored in That is, in a configuration in which the motor MOt2 is disposed outside the movable portion LK22e, the length of the movable portion LK23c may be longer than the length of the movable portion LK22e.
　以上、本変形例においても、上述した第３実施形態と同様の効果を得ることができる。なお、本変形例に係るロボット１０Ｂは、図１０に示したリンクＬＫ２ｃの代わりにリンクＬＫ２ｄ又はＬＫ２ｅを有することを除いて、図１０に示したロボット１０Ｂと同様である。 As described above, the same effects as the third embodiment described above can be obtained in this modification as well. Note that the robot 10B according to this modification is the same as the robot 10B shown in FIG. 10, except that it has a link LK2d or LK2e instead of the link LK2c shown in FIG.
［変形例Ｂ２］
　上述した第３実施形態及び変形例では、垂直６軸多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ２ｃを追加した６軸２伸多関節ロボットをロボット１０Ｂとして例示したが、本発明はこのような態様に限定されるものではない。例えば、ロボット１０Ｂは、垂直６軸多関節ロボットに１つの伸縮機構ＴＥ２ｃを追加した６軸１伸多関節ロボットであってもよい。 [Modification B2]
In the third embodiment and modification described above, a 6-axis 2-extensible articulated robot in which two extension mechanisms TE1 and TE2c were added to a vertical 6-axis articulated robot was exemplified as the robot 10B, but the present invention does not apply to such an aspect. It is not limited to. For example, the robot 10B may be a 6-axis, 1-extension, multi-joint robot obtained by adding one extension/contraction mechanism TE2c to a vertical 6-axis, multi-joint robot.
　また、例えば、ロボット１０Ｂは、７軸以上の多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ２ｃを追加した構成であってもよいし、７軸以上の多関節ロボットに１つの伸縮機構ＴＥ２ｃを追加した構成であってもよい。具体的には、ロボット１０Ｂは、ボディ部ＢＤＰとリンクＬＫ１とを接続する１以上のリンクを有してもよい。すなわち、ロボット１０Ｂは、ボディ部ＢＤＰとリンクＬＫ３とを接続する３以上のリンク（リンクＬＫ３を除いた３以上のリンク）を有してもよい。なお、ロボット１０Ｂが有する３以上のリンクには、リンクＬＫ１及びＬＫ２が含まれる。リンクＬＫ３を除いた３以上のリンクは、「複数のリンク」に該当する。 Further, for example, the robot 10B may have a configuration in which two telescopic mechanisms TE1 and TE2c are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2c is added to an articulated robot with seven or more axes. It may be a configuration. Specifically, the robot 10B may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10B may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10B has include links LK1 and LK2. Three or more links excluding link LK3 correspond to "multiple links".
　以上、本変形例においても、上述した第３実施形態及び変形例と同様の効果を得ることができる。 As described above, in this modification as well, the same effects as in the third embodiment and modification described above can be obtained.
［Ｂ－３．第３実施形態に係る付記］
　上述した第３実施形態、及び、第３実施形態の変形例の記載から、以下に記載する態様が把握される。 [B-3. Additional notes regarding third embodiment]
From the description of the third embodiment and the modification of the third embodiment described above, the aspects described below can be understood.
［付記１－１］
　多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記第２リンクと、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、を備え、前記第２リンクは、前記第１リンクに接続される第１部分と、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、前記第１部分と前記第２部分とを接続する第３部分と、前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記第３部分を前記第１部分に対して回転させる第７駆動機構と、前記第３部分に対して前記第２部分を前記第３部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第３伸縮機構と、を含む、ことを特徴とする。 [Appendix 1-1]
The articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link. A first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis. a drive mechanism, a second drive that connects the second link and links other than the first link and the second link among the plurality of links, or connects the second link and the tip portion; a second drive mechanism that rotates the tip with respect to the second link using an axis that makes an angle with the direction in which the second link extends larger than the predetermined angle as a second rotation axis; , wherein the second link is connected to a first portion connected to the first link and a link other than the first link and the second link among the plurality of links or to the tip portion. The third rotation axis is an axis where the angle between the second part, the third part connecting the first part and the second part, and the direction in which the first part extends is equal to or less than the predetermined angle. , a seventh drive mechanism that rotates the third portion relative to the first portion; and a seventh drive mechanism that moves the second portion relative to the third portion along the extending direction of the third portion. It is characterized by including a third expansion and contraction mechanism that expands and contracts the second link.
［付記１－２］
　付記１－１に記載の多関節ロボットにおいて、前記第３部分は、中空であり、前記第２リンクが収縮した場合、前記第２部分の少なくとも一部が、前記第３部分の内部に格納される、ことを特徴としてもよい。 [Appendix 1-2]
In the articulated robot according to Appendix 1-1, the third portion is hollow, and when the second link contracts, at least a portion of the second portion is stored inside the third portion. It may also be characterized by
［付記１－３］
　付記１－１又は付記１－２に記載の多関節ロボットにおいて、前記第７駆動機構を駆動する第１モータと、前記第３伸縮機構を駆動する第２モータと、をさらに含み、前記第１モータは、前記第２リンクが伸縮した場合でも前記第２リンクに対して前記第２リンクの伸縮方向に相対的に移動しないように、前記第１部分の２つの端部のうちの前記第３部分に近い端部に取り付けられ、前記第２モータは、前記第２リンクが伸縮した場合でも前記第２リンクに対して前記第２リンクの伸縮方向に相対的に移動しないように、前記第３部分の２つの端部のうちの前記第１部分に近い端部に取り付けられる、ことを特徴としてもよい。 [Appendix 1-3]
The articulated robot according to Appendix 1-1 or Appendix 1-2, further comprising a first motor that drives the seventh drive mechanism and a second motor that drives the third telescoping mechanism, The motor is configured to move the third end of the two ends of the first portion so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts. The second motor is attached to an end close to the third link so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts. It may be characterized in that it is attached to one of the two ends of the part that is closer to the first part.
［付記１－４］
　付記１－３に記載の多関節ロボットにおいて、前記第７駆動機構により前記第３部分が回転する場合の前記第３部分の第３回転軸は、前記第２部分の中心軸と平行である、ことを特徴としてもよい。 [Appendix 1-4]
In the articulated robot according to Appendix 1-3, a third rotation axis of the third portion when the third portion is rotated by the seventh drive mechanism is parallel to a central axis of the second portion. This may be a feature.
［付記１－５］
　付記１－１又は付記１－２に記載の多関節ロボットにおいて、前記第１リンクは、第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む、ことを特徴としてもよい。 [Appendix 1-5]
In the articulated robot according to Appendix 1-1 or Appendix 1-2, the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion and the fifth portion. a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
［付記１－６］
　付記１－５に記載の多関節ロボットにおいて、前記第４部分は、中空であり、前記第１リンクが収縮した場合、前記第６部分の少なくとも一部が、前記第４部分の内部に格納される、ことを特徴としてもよい。 [Appendix 1-6]
In the articulated robot according to appendix 1-5, the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
［付記１－７］
　付記１－１に記載の多関節ロボットにおいて、前記基部の底面に垂直な方向とのなす角度が前記所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、をさらに備え、前記先端部は、前記第２リンクに接続され、前記第２駆動機構により前記先端部が回転する場合の前記先端部の第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構を、含み、前記複数のリンクは、前記第１リンク及び前記第２リンクである、ことを特徴としてもよい。 [Appendix 1-7]
In the articulated robot according to Supplementary Note 1-1, a fourth drive for rotating at least a portion of the base about an axis having an angle less than or equal to the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that connects the base and the first link, the fifth rotation axis being an axis that is larger than the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that rotates the first link relative to the base; the distal end is connected to the second link, and the distal end is rotated by the second drive mechanism; a sixth drive mechanism that rotates at least a portion of the distal end with respect to the second link using an axis that makes an angle larger than the predetermined angle with the second rotation axis as a sixth rotation axis; The links may be the first link and the second link.
［付記１－８］
　付記１－７に記載の多関節ロボットにおいて、前記第１リンクは、前記基部に接続される第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む、ことを特徴としてもよい。 [Appendix 1-8]
In the articulated robot according to appendix 1-7, the first link includes a fourth portion connected to the base, a fifth portion connected to the second link, and the fourth portion and the fifth portion. a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
［付記１－９］
　付記１－８に記載の多関節ロボットの制御方法であって、前記多関節ロボットの動作を制御する制御装置は、前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第７駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第３伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、ことを特徴とする。 [Appendix 1-9]
The method for controlling an articulated robot according to appendix 1-8, wherein the control device that controls the operation of the articulated robot includes a motor that drives the first drive mechanism, a motor that drives the second drive mechanism, A motor that drives the seventh drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the third telescoping mechanism, The robot is characterized in that the motion of the multi-joint robot is controlled by controlling a motor that drives the second telescoping mechanism.
［付記１－１０］
　ロボットシステムは、付記１－８に記載の多関節ロボットと、前記先端部に取り付けられたエンドエフェクタと、前記多関節ロボット及び前記エンドエフェクタの動作を制御する制御装置と、を備え、前記制御装置は、前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第７駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第３伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、ことを特徴とする。 [Appendix 1-10]
The robot system includes the articulated robot described in Appendix 1-8, an end effector attached to the distal end, and a control device that controls operations of the articulated robot and the end effector, and the control device A motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the seventh drive mechanism, a motor that drives the fourth drive mechanism, and a motor that drives the fifth drive mechanism. controlling the operation of the articulated robot by controlling a motor, a motor that drives the sixth drive mechanism, a motor that drives the third telescoping mechanism, and a motor that drives the second telescoping mechanism; It is characterized by
［付記１－１１］
　物品の製造方法は、付記１－１０に記載のロボットシステムにより、部品を組み付ける、又は、部品を取り除く、ことを特徴とする。 [Appendix 1-11]
The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 1-10.
［Ｃ－１．第４実施形態］
　図１４を参照しながら、第４実施形態に係るロボットシステム１の概要の一例について説明する。 [C-1. Fourth embodiment]
An example of the outline of the robot system 1 according to the fourth embodiment will be described with reference to FIG. 14.
　図１４は、第４実施形態に係るロボットシステム１の概要を説明するための説明図である。 FIG. 14 is an explanatory diagram for explaining an overview of the robot system 1 according to the fourth embodiment.
　ロボットシステム１は、例えば、ロボット１０Ｃと、ロボット１０Ｃに着脱可能に取り付けられるエンドエフェクタ２０と、ロボット１０Ｃ及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。ロボット１０Ｃは、「多関節ロボット」の一例である。 The robot system 1 includes, for example, a robot 10C, an end effector 20 that is detachably attached to the robot 10C, and a robot controller 30 that controls the operations of the robot 10C and the end effector 20. The robot 10C is an example of an "articulated robot."
　ロボット１０Ｃは、図１に示したリンクＬＫ１、リンクＬＫ２及び関節機構ＡＲ３の代わりにリンクＬＫ１ａ、リンクＬＫ２ｆ及び関節機構ＡＲ３ｔを有することを除いて、図１に示したロボット１０と同様である。リンクＬＫ１ａは、図１に示した可動部分ＬＫ１３の代わりに可動部分ＬＫ１３ａを有することを除いて、図１に示したリンクＬＫ１と同様である。また、可動部分ＬＫ１３ａは、図１に示した関節機構ＡＲ３の代わりに関節機構ＡＲ３ｔが設けられることを除いて、図１に示した可動部分ＬＫ１３と同様である。 The robot 10C is the same as the robot 10 shown in FIG. 1, except that it has a link LK1a, a link LK2f, and a joint mechanism AR3t instead of the link LK1, link LK2, and joint mechanism AR3 shown in FIG. Link LK1a is similar to link LK1 shown in FIG. 1, except that it has a movable part LK13a instead of movable part LK13 shown in FIG. Furthermore, the movable portion LK13a is the same as the movable portion LK13 shown in FIG. 1, except that a joint mechanism AR3t is provided instead of the joint mechanism AR3 shown in FIG.
　リンクＬＫ１ａは、「第１リンク」の一例であり、リンクＬＫ２ｆは、「第２リンク」の一例である。従って、リンクＬＫ１ａ及びＬＫ２ｆは、「複数のリンク」に該当する。関節機構ＡＲ３ｔは、「第１駆動機構」及び「駆動機構」の一例であり、後述する関節機構ＡＲ４ｆは、「第８駆動機構」の一例である。また、可動部分ＬＫ１３ａは、「第５部分」の一例である。以下では、関節機構ＡＲ３ｔを中心に説明する。 The link LK1a is an example of a "first link," and the link LK2f is an example of a "second link." Therefore, links LK1a and LK2f correspond to "a plurality of links". The joint mechanism AR3t is an example of a "first drive mechanism" and a "drive mechanism," and the joint mechanism AR4f, which will be described later, is an example of an "eighth drive mechanism." Further, the movable portion LK13a is an example of a “fifth portion”. Below, the joint mechanism AR3t will be mainly explained.
　関節機構ＡＲ３ｔは、リンクＬＫ１ａとリンクＬＫ２ｆとを接続し、リンクＬＫ１ａが延在する方向Ｄｅ１に垂直な軸Ａｘ３を回転軸としてリンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる。例えば、関節機構ＡＲ３ｔは、後述する図１５に示すように、軸Ａｘ３を回転軸としてリンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる旋回機構ＲＥ１を含む。図１４の回転方向Ｄｒ３は、軸Ａｘ３を回転軸として回転する場合のリンクＬＫ２ｆの回転方向を示す。なお、軸Ａｘ３は、「第１回転軸」及び「回転軸」の一例である。 The joint mechanism AR3t connects the link LK1a and the link LK2f, and rotates the link LK2f with respect to the link LK1a using an axis Ax3 perpendicular to the direction De1 in which the link LK1a extends as a rotation axis. For example, the joint mechanism AR3t includes a turning mechanism RE1 that rotates the link LK2f with respect to the link LK1a using an axis Ax3 as a rotation axis, as shown in FIG. 15 described later. The rotation direction Dr3 in FIG. 14 indicates the rotation direction of the link LK2f when rotating around the axis Ax3. Note that the axis Ax3 is an example of a "first rotation axis" and a "rotation axis."
　また、関節機構ＡＲ３ｔは、伸縮機構ＴＥ３を含む。伸縮機構ＴＥ３は、軸Ａｘ３に沿って、リンクＬＫ２ｆをリンクＬＫ１ａに対して相対的に移動させる。図１４の方向Ｄｍ３は、軸Ａｘ３に沿う方向であり、リンクＬＫ２ｆのリンクＬＫ１ａに対する相対的な移動方向を示す。方向Ｄｍ３は、「第１方向」の一例である。また、伸縮機構ＴＥ３は、「第４伸縮機構」の一例である。なお、関節機構ＡＲ３ｔ（旋回機構ＲＥ１及び伸縮機構ＴＥ３）の詳細は、後述する図１５において説明される。 Additionally, the joint mechanism AR3t includes an expansion and contraction mechanism TE3. The telescoping mechanism TE3 moves the link LK2f relative to the link LK1a along the axis Ax3. A direction Dm3 in FIG. 14 is a direction along the axis Ax3, and indicates a direction in which the link LK2f moves relative to the link LK1a. Direction Dm3 is an example of a "first direction." Further, the telescopic mechanism TE3 is an example of a "fourth telescopic mechanism." Note that details of the joint mechanism AR3t (swivel mechanism RE1 and telescopic mechanism TE3) will be explained in FIG. 15, which will be described later.
　リンクＬＫ２ｆは、例えば、リンクＬＫ１ａに接続される支持部分ＬＫ２１ｆと、リンクＬＫ３に接続される可動部分ＬＫ２２ｆと、関節機構ＡＲ４ｆとを含む。本実施形態では、支持部分ＬＫ２１ｆ及び可動部分ＬＫ２２ｆの各々が方向Ｄｅ２に沿って延在する場合を想定する。すなわち、方向Ｄｅ２は、支持部分ＬＫ２１ｆ及び可動部分ＬＫ２２ｆの各々の長手方向に該当する。また、本実施形態では、支持部分ＬＫ２１ｆが延在する方向Ｄｅ２１が、リンクＬＫ２ｆが延在する方向Ｄｅ２である場合を想定する。 The link LK2f includes, for example, a support portion LK21f connected to the link LK1a, a movable portion LK22f connected to the link LK3, and a joint mechanism AR4f. In this embodiment, a case is assumed in which each of the support portion LK21f and the movable portion LK22f extends along the direction De2. That is, the direction De2 corresponds to the longitudinal direction of each of the support portion LK21f and the movable portion LK22f. Moreover, in this embodiment, it is assumed that the direction De21 in which the support portion LK21f extends is the direction De2 in which the link LK2f extends.
　関節機構ＡＲ４ｆは、支持部分ＬＫ２１ｆが延在する方向Ｄｅ２１と平行な軸Ａｘ４を回転軸として、可動部分ＬＫ２２ｆを支持部分ＬＫ２１ｆに対して回転させる。図１４の回転方向Ｄｒ４は、軸Ａｘ４を回転軸として回転する場合の可動部分ＬＫ２２ｆの回転方向を示す。なお、支持部分ＬＫ２１ｆは、「支持部分」の一例であり、可動部分ＬＫ２２ｆは、「可動部分」の一例である。 The joint mechanism AR4f rotates the movable portion LK22f with respect to the support portion LK21f using an axis Ax4 parallel to the direction De21 in which the support portion LK21f extends as a rotation axis. The rotation direction Dr4 in FIG. 14 indicates the rotation direction of the movable portion LK22f when rotating around the axis Ax4. Note that the supporting portion LK21f is an example of a “supporting portion” and the movable portion LK22f is an example of a “movable portion”.
　このように、本実施形態では、関節機構ＡＲ３ｔに設けられた伸縮機構ＴＥ３により、軸Ａｘ３に沿って、リンクＬＫ２ｆをリンクＬＫ１ａに対して相対的に移動させることができる。本実施形態では、伸縮機構ＴＥ１及びＴＥ３により、ロボット１０Ｃの先端部（例えば、リンクＬＫ３の端面ＬＫ３ｓｆ）が到達可能な領域を広くすることができ、ロボット１０Ｃに取り付けられるエンドエフェクタ２０が到達可能な領域を広くすることができる。また、本実施形態では、伸縮機構ＴＥ３により、ロボット１０Ｃの先端部を軸Ａｘ３に沿う方向Ｄｍ３に容易に移動させることができる。 In this manner, in this embodiment, the link LK2f can be moved relative to the link LK1a along the axis Ax3 by the expansion and contraction mechanism TE3 provided in the joint mechanism AR3t. In the present embodiment, the telescopic mechanisms TE1 and TE3 can widen the reachable area of the robot 10C's tip (for example, the end face LK3sf of the link LK3), and the end effector 20 attached to the robot 10C can reach. The area can be expanded. Furthermore, in this embodiment, the telescopic mechanism TE3 allows the tip of the robot 10C to be easily moved in the direction Dm3 along the axis Ax3.
　次に、図１５を参照しながら、伸縮機構ＴＥ３を含む関節機構ＡＲ３ｔの一例について説明する。 Next, an example of the joint mechanism AR3t including the telescopic mechanism TE3 will be described with reference to FIG. 15.
　図１５は、伸縮機構ＴＥ３を含む関節機構ＡＲ３ｔの一例を説明するための説明図である。図１５の上段は、収縮している状態の関節機構ＡＲ３ｔを示し、図１５の下段は、伸長している状態の関節機構ＡＲ３ｔを示している。また、図１５では、説明を分かり易くするために、リンクＬＫ２ｆのリンクＬＫ１ａに対する相対的な移動方向を示す方向Ｄｍ３を、符号の末尾に“ｐ”又は“ｍ”を付して、区別して図示している。方向Ｄｍ３ｍは、関節機構ＡＲ３ｔが収縮する方向を示し、方向Ｄｍ３ｐは、方向Ｄｍ３ｍの反対方向であり、関節機構ＡＲ３ｔが伸長する方向を示す。なお、図１５以降において、方向Ｄｍ３ｍ及びＤｍ３ｐを、特に区別することなく、方向Ｄｍ３と称する場合がある。 FIG. 15 is an explanatory diagram for explaining an example of the joint mechanism AR3t including the telescopic mechanism TE3. The upper part of FIG. 15 shows the joint mechanism AR3t in a contracted state, and the lower part of FIG. 15 shows the joint mechanism AR3t in an extended state. In addition, in FIG. 15, in order to make the explanation easier to understand, the direction Dm3 indicating the relative moving direction of the link LK2f with respect to the link LK1a is distinguished by adding "p" or "m" to the end of the symbol. It shows. The direction Dm3m indicates the direction in which the joint mechanism AR3t contracts, and the direction Dm3p is the opposite direction to the direction Dm3m and indicates the direction in which the joint mechanism AR3t extends. Note that from FIG. 15 onward, directions Dm3m and Dm3p may be referred to as direction Dm3 without particular distinction.
　関節機構ＡＲ３ｔは、図１４において説明したように、旋回機構ＲＥ１と、伸縮機構ＴＥ３と、旋回機構ＲＥ１を駆動するモータＭＯａ３と、伸縮機構ＴＥ３を駆動するモータＭＯｔ３とを含む。 As explained in FIG. 14, the joint mechanism AR3t includes a swing mechanism RE1, a telescoping mechanism TE3, a motor MOa3 that drives the swing mechanism RE1, and a motor MOt3 that drives the telescoping mechanism TE3.
　伸縮機構ＴＥ３は、例えば、ナットＴＥ３１と、方向Ｄｍ３に沿って延在するボールねじＴＥ３２と、方向Ｄｍ３に沿って延在し、リンクＬＫ１ａの可動部分ＬＫ１３ａとリンクＬＫ２ｆの支持部分ＬＫ２１ｆとを接続する接続部分ＴＥ３３とを含む。接続部分ＴＥ３３は、中空である。本実施形態では、接続部分ＴＥ３３の内部には、ナットＴＥ３１及びモータＭＯａ３が取り付けられている。また、モータＭＯｔ３は、方向Ｄｍ３において可動部分ＬＫ１３ａがモータＭＯｔ３と支持部分ＬＫ２１ｆとの間に位置するように、可動部分ＬＫ１３ａの外側に取り付けられている。また、可動部分ＬＫ１３ａは、図１５の上段に示すように、接続部分ＴＥ３３の一部を格納可能に構成される。 The telescopic mechanism TE3 connects, for example, a nut TE31, a ball screw TE32 extending along the direction Dm3, a movable portion LK13a of the link LK1a and a supporting portion LK21f of the link LK2f. and a connecting portion TE33. The connecting portion TE33 is hollow. In this embodiment, a nut TE31 and a motor MOa3 are attached inside the connecting portion TE33. Further, the motor MOt3 is attached to the outside of the movable portion LK13a such that the movable portion LK13a is located between the motor MOt3 and the support portion LK21f in the direction Dm3. Moreover, the movable part LK13a is configured to be able to store a part of the connecting part TE33, as shown in the upper part of FIG.
　ナットＴＥ３１は、例えば、接続部分ＴＥ３３の２つの端部のうちのリンクＬＫ２ｆから遠い端部に固定されている。また、ボールねじＴＥ３２は、例えば、ボールねじＴＥ３２の中心軸が接続部分ＴＥ３３の中心軸と一致するようにモータＭＯｔ３に取り付けられ、ナットＴＥ３１に挿通される。そして、ボールねじＴＥ３２は、モータＭＯｔ３の回転に伴い、軸Ａｘｔｅ３を回転軸として回転する。軸Ａｘｔｅ３は、例えば、ボールねじＴＥ３２の中心軸、すなわち、接続部分ＴＥ３３の中心軸である。 For example, the nut TE31 is fixed to one of the two ends of the connecting portion TE33, which is farthest from the link LK2f. Further, the ball screw TE32 is attached to the motor MOt3, for example, so that the center axis of the ball screw TE32 coincides with the center axis of the connecting portion TE33, and is inserted through the nut TE31. The ball screw TE32 rotates about the axis Axte3 as the motor MOt3 rotates. The axis Axte3 is, for example, the central axis of the ball screw TE32, that is, the central axis of the connecting portion TE33.
　ナットＴＥ３１は、ボールねじＴＥ３２の回転に伴い、軸Ａｘｔｅ３に沿って移動する。ナットＴＥ３１が接続部分ＴＥ３３に固定されているため、接続部分ＴＥ３３は、ナットＴＥ３１の移動に伴い、軸Ａｘｔｅ３（すなわち、方向Ｄｍ３）に沿って移動する。このように、ボールねじＴＥ３２は、接続部分ＴＥ３３を移動可能に支持する。 The nut TE31 moves along the axis Axte3 as the ball screw TE32 rotates. Since the nut TE31 is fixed to the connecting portion TE33, the connecting portion TE33 moves along the axis Axte3 (ie, the direction Dm3) as the nut TE31 moves. In this way, the ball screw TE32 movably supports the connecting portion TE33.
　なお、接続部分ＴＥ３３は、ボールねじＴＥ３２を格納可能に構成される。また、接続部分ＴＥ３３は、ボールねじＴＥ３２が回転した場合でも、軸Ａｘｔｅ３を回転軸として回転しないように、可動部分ＬＫ１３ａ及び支持部分ＬＫ２１ｆに接続される。これにより、接続部分ＴＥ３３に固定されたナットＴＥ３１が、上述したように、ボールねじＴＥ３２の回転に伴い、軸Ａｘｔｅ３に沿って移動する。 Note that the connecting portion TE33 is configured to be able to store the ball screw TE32. Further, the connecting portion TE33 is connected to the movable portion LK13a and the supporting portion LK21f so as not to rotate about the axis Axte3 even when the ball screw TE32 rotates. As a result, the nut TE31 fixed to the connecting portion TE33 moves along the axis Axte3 as the ball screw TE32 rotates, as described above.
　モータＭＯｔ３の回転方向を切り替えることにより、ナットＴＥ３１の移動方向、すなわち、接続部分ＴＥ３３の移動方向が、方向Ｄｍ３ｐと方向Ｄｍ３ｍとの間で切り替わる。例えば、モータＭＯｔ３の回転が第１の回転方向の回転である場合、ナットＴＥ３１は、方向Ｄｍ３ｐに移動し、モータＭＯｔ３の回転が第１の回転方向の回転に対して逆回転となる第２の回転方向の回転である場合、ナットＴＥ３１は、方向Ｄｍ３ｍに移動する。 By switching the rotational direction of the motor MOt3, the moving direction of the nut TE31, that is, the moving direction of the connecting portion TE33, is switched between the direction Dm3p and the direction Dm3m. For example, when the motor MOt3 rotates in the first rotational direction, the nut TE31 moves in the direction Dm3p, and the motor MOt3 rotates in the second rotational direction in the opposite direction to the first rotational direction. In the case of rotation in the rotational direction, the nut TE31 moves in the direction Dm3m.
　例えば、接続部分ＴＥ３３の一部が可動部分ＬＫ１３ａの内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ３を第１の回転方向に回転させた場合、ナットＴＥ３１の移動に伴い、接続部分ＴＥ３３は、可動部分ＬＫ１３ａから徐々に露出する。これにより、関節機構ＡＲ３ｔは、方向Ｄｍ３ｐに伸長する。図１５に示す例では、関節機構ＡＲ３ｔは、最大で、方向Ｄｍ３における可動部分ＬＫ１３ａの長さとほぼ同じ長さだけ伸長する。 For example, when the robot controller 30 rotates the motor MOt3 in the first rotation direction in a state where a part of the connecting portion TE33 is stored inside the movable portion LK13a, the connecting portion TE33 moves as the nut TE31 moves. , are gradually exposed from the movable portion LK13a. Thereby, the joint mechanism AR3t extends in the direction Dm3p. In the example shown in FIG. 15, the joint mechanism AR3t extends at most by approximately the same length as the length of the movable portion LK13a in the direction Dm3.
　なお、リンクＬＫ２ｆの支持部分ＬＫ２１ｆは、接続部分ＴＥ３３に対する方向Ｄｍ３の相対的な位置が変化しないように、かつ、軸Ａｘ３を回転軸として接続部分ＴＥ３３に対して回転可能に、接続部分ＴＥ３３に取り付けられている。従って、関節機構ＡＲ３ｔが方向Ｄｍ３ｐに伸長することにより、リンクＬＫ２ｆは、リンクＬＫ１ａから遠ざかるように、方向Ｄｍ３ｐに移動する。 Note that the supporting portion LK21f of the link LK2f is attached to the connecting portion TE33 so that its relative position in the direction Dm3 to the connecting portion TE33 does not change and is rotatable relative to the connecting portion TE33 with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3t in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
　また、接続部分ＴＥ３３の一部が可動部分ＬＫ１３ａから露出している状態において、ロボットコントローラ３０がモータＭＯｔ３を第２の回転方向に回転させた場合、ナットＴＥ３１の移動に伴い、接続部分ＴＥ３３は、可動部分ＬＫ１３ａの内部に徐々に格納される。これにより、関節機構ＡＲ３ｔは、方向Ｄｍ３ｍに収縮する。関節機構ＡＲ３ｔが方向Ｄｍ３ｍに収縮することにより、リンクＬＫ２ｆがリンクＬＫ１ａに近づくように、方向Ｄｍ３ｍに移動する。 Further, when the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33 is exposed from the movable portion LK13a, as the nut TE31 moves, the connecting portion TE33 It is gradually stored inside the movable part LK13a. As a result, the joint mechanism AR3t contracts in the direction Dm3m. By contracting the joint mechanism AR3t in the direction Dm3m, the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
　このように、接続部分ＴＥ３３の少なくとも一部（例えば、図１５の破線で囲んだ部分）は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ１ａの内部に格納される。そして、接続部分ＴＥ３３の少なくとも一部（例えば、図１５の破線で囲んだ部分）は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最大になる場合、リンクＬＫ１ａから露出する。 In this way, at least a portion of the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is exposed from the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
　なお、モータＭＯｔ３は、リンクＬＫ１ａの可動部分ＬＫ１３ａに取り付けられているため、接続部分ＴＥ３３を方向Ｄｍ３ｐ又はＤｍ３ｍに移動させる伸縮動作が伸縮機構ＴＥ３により行われた場合でも方向Ｄｍ３に移動しない。 Note that since the motor MOt3 is attached to the movable part LK13a of the link LK1a, it does not move in the direction Dm3 even if the telescoping mechanism TE3 performs a telescoping operation to move the connecting part TE33 in the direction Dm3p or Dm3m.
　旋回機構ＲＥ１を駆動するモータＭＯａ３は、接続部分ＴＥ３３の内部に取り付けられ、接続部分ＴＥ３３の２つの端部のうちの支持部分ＬＫ２１ｆに近い端部に固定される。従って、モータＭＯａ３は、伸縮機構ＴＥ３により伸縮動作が行われた場合、接続部分ＴＥ３３と一緒に方向Ｄｍ３ｐ又はＤｍ３ｍに移動する。 The motor MOa3 that drives the turning mechanism RE1 is attached inside the connecting portion TE33, and is fixed to one of the two ends of the connecting portion TE33, which is closer to the support portion LK21f. Therefore, when the expansion and contraction mechanism TE3 performs an expansion and contraction operation, the motor MOa3 moves in the direction Dm3p or Dm3m together with the connecting portion TE33.
　旋回機構ＲＥ１は、例えば、リンクＬＫ２ｆの支持部分ＬＫ２１ｆの２つの端部のうちの接続部分ＴＥ３３に近い端部に取り付けられる。例えば、旋回機構ＲＥ１は、伝達軸ＲＥ１１及び連結部ＲＥ１２を有する。連結部ＲＥ１２は、例えば、支持部分ＬＫ２１ｆと一体に構成される。なお、支持部分ＬＫ２１ｆ及び連結部ＲＥ１２は、１つの部材により一体に構成されてもよいし、互いに異なる部材により一体に構成されてもよい。 The turning mechanism RE1 is attached, for example, to the end closer to the connecting portion TE33 of the two ends of the support portion LK21f of the link LK2f. For example, the turning mechanism RE1 includes a transmission shaft RE11 and a connecting portion RE12. The connecting portion RE12 is, for example, configured integrally with the supporting portion LK21f. Note that the support portion LK21f and the connecting portion RE12 may be integrally formed by one member, or may be integrally formed by mutually different members.
　伝達軸ＲＥ１１は、モータＭＯａ３の回転が伝達されるように、モータＭＯａ３に取り付けられる。さらに、伝達軸ＲＥ１１は、連結部ＲＥ１２を介して支持部分ＬＫ２１ｆと連結している。これにより、例えば、モータＭＯａ３が回転した場合、伝達軸ＲＥ１１及び連結部ＲＥ１２を介して、支持部分ＬＫ２１ｆにモータＭＯａ３の回転が伝達される。この結果、支持部分ＬＫ２１ｆは、軸Ａｘ３を回転軸として回転する。 The transmission shaft RE11 is attached to the motor MOa3 so that the rotation of the motor MOa3 is transmitted. Further, the transmission shaft RE11 is connected to the support portion LK21f via a connecting portion RE12. Thereby, for example, when the motor MOa3 rotates, the rotation of the motor MOa3 is transmitted to the support portion LK21f via the transmission shaft RE11 and the connecting portion RE12. As a result, the support portion LK21f rotates about the axis Ax3.
　このように、本実施形態では、関節機構ＡＲ３ｔ（より詳細には、旋回機構ＲＥ１）は、リンクＬＫ２ｆをリンクＬＫ１ａ及び接続部分ＴＥ３３に対して回転させることにより、リンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる。 As described above, in the present embodiment, the joint mechanism AR3t (more specifically, the turning mechanism RE1) rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33. let
　なお、本実施形態では、上述したように、支持部分ＬＫ２１ｆは、モータＭＯａ３が取り付けられた接続部分ＴＥ３３に対して回転可能である。このため、モータＭＯａ３は、軸Ａｘ３を回転軸として支持部分ＬＫ２１ｆを回転させる回転動作が関節機構ＡＲ３ｔにより行われた場合でも、軸Ａｘ３を回転軸として回転することはない。従って、本実施形態では、支持部分ＬＫ２１ｆが軸Ａｘ３を回転軸として回転した場合でも、モータＭＯａ３自体の回転に伴う外乱が発生することを抑制することができる。 Note that in this embodiment, as described above, the support portion LK21f is rotatable with respect to the connection portion TE33 to which the motor MOa3 is attached. Therefore, the motor MOa3 does not rotate about the axis Ax3 as the rotation axis even when the joint mechanism AR3t performs a rotation operation of rotating the support portion LK21f about the axis Ax3. Therefore, in the present embodiment, even when the support portion LK21f rotates about the axis Ax3, it is possible to suppress the disturbance caused by the rotation of the motor MOa3 itself.
　また、本実施形態では、上述したように、モータＭＯａ３は、伸縮機構ＴＥ３により伸縮動作が行われた場合に接続部分ＴＥ３３と一緒に方向Ｄｍ３に沿って移動するように、接続部分ＴＥ３３の２つの端部のうちの支持部分ＬＫ２１ｆに近い端部に固定される。例えば、モータＭＯａ３の出力位置とモータＭＯａ３の回転に応じて回転する支持部分ＬＫ２１ｆとの軸Ａｘ３に沿う距離が長い場合、モータＭＯａ３の出力位置と支持部分ＬＫ２１ｆとの軸Ａｘ３に沿う距離が短い場合に比べて、回転に伴う外乱が大きくなる。本実施形態では、接続部分ＴＥ３３の２つの端部のうちの支持部分ＬＫ２１ｆに近い端部にモータＭＯａ３が固定されるため、回転に伴う外乱の発生を抑制することができ、関節機構ＡＲ３ｔによる回転動作及び伸縮動作を精度よく制御することができる。 Furthermore, in the present embodiment, as described above, the motor MOa3 moves between the two connecting portions TE33 so as to move along the direction Dm3 together with the connecting portion TE33 when the expanding/contracting mechanism TE3 performs an expanding/contracting operation. It is fixed to one of the ends near the support portion LK21f. For example, if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f that rotates according to the rotation of the motor MOa3 is long, or if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f is short The disturbance associated with rotation is larger than that of . In this embodiment, since the motor MOa3 is fixed to the end closer to the support part LK21f of the two ends of the connection part TE33, it is possible to suppress the occurrence of disturbances due to rotation, and the rotation by the joint mechanism AR3t. Movement and expansion/contraction movement can be controlled with high precision.
　また、本実施形態では、リンクＬＫ１ａに対するリンクＬＫ２ｆの移動は、リンクＬＫ１ａに対して接続部分ＴＥ３３が軸Ａｘｔｅ３に沿って移動することにより実現され、リンクＬＫ２ｆの回転は、支持部分ＬＫ２１ｆが軸Ａｘ３を回転軸として回転することにより実現される。このように、本実施形態では、リンクＬＫ２ｆの移動及び回転を行う際の制御対象が接続部分ＴＥ３３と支持部分ＬＫ２１ｆとに分離されているため、リンクＬＫ２ｆを動かすためのモータＭＯｔ３及びＭＯａ３の制御が複雑になることを抑制することができる。 Furthermore, in the present embodiment, the movement of the link LK2f with respect to the link LK1a is realized by the connection portion TE33 moving with respect to the link LK1a along the axis Axte3, and the rotation of the link LK2f is realized by the support portion LK21f moving along the axis Axte3 with respect to the link LK1a. This is achieved by rotating as a rotation axis. As described above, in this embodiment, since the objects to be controlled when moving and rotating the link LK2f are separated into the connecting portion TE33 and the supporting portion LK21f, the control of the motors MOt3 and MOa3 for moving the link LK2f is controlled. It is possible to suppress complexity.
　なお、関節機構ＡＲ３ｔの構成は、図１５に示す例に限定されない。例えば、関節機構ＡＲ３ｔが最大限に収縮した場合に、接続部分ＴＥ３３の一部が可動部分ＬＫ１３ａの内部に格納されずに、可動部分ＬＫ１３ａから露出していてもよい。また、伸縮機構ＴＥ３は、関節機構ＡＲ３ｔを伸縮できれば、図１５に示す構成に限定されない。 Note that the configuration of the joint mechanism AR3t is not limited to the example shown in FIG. 15. For example, when the joint mechanism AR3t is contracted to the maximum, a part of the connecting portion TE33 may be exposed from the movable portion LK13a without being stored inside the movable portion LK13a. Moreover, the expansion/contraction mechanism TE3 is not limited to the configuration shown in FIG. 15 as long as the joint mechanism AR3t can be expanded/contracted.
　また、リンクＬＫ１ａは、図３に示したリンクＬＫ１及び可動部分ＬＫ１３をリンクＬＫ１ａ及び可動部分ＬＫ１３ａにそれぞれ読み替えることにより、図３で説明される。 Further, the link LK1a will be explained in FIG. 3 by replacing the link LK1 and the movable portion LK13 shown in FIG. 3 with the link LK1a and the movable portion LK13a, respectively.
　次に、図１６を参照しながら、ロボット１０Ｃの利点について説明する。 Next, the advantages of the robot 10C will be explained with reference to FIG. 16.
　図１６は、図１４に示したロボット１０Ｃの利点を説明するための説明図である。 FIG. 16 is an explanatory diagram for explaining the advantages of the robot 10C shown in FIG. 14.
　なお、図１６では、説明の便宜上、互いに直交するＸ軸、Ｙ軸及びＺ軸を有する３軸の直交座標系を導入する。以下では、Ｘ軸の矢印の指す方向は＋Ｘ方向と称され、＋Ｘ方向の反対方向は－Ｘ方向と称される。Ｙ軸の矢印の指す方向は＋Ｙ方向と称され、＋Ｙ方向の反対方向は－Ｙ方向と称される。また、Ｚ軸の矢印の指す方向は＋Ｚ方向と称され、＋Ｚ方向の反対方向は－Ｚ方向と称される。以下では、＋Ｙ方向及び－Ｙ方向を特に区別することなく、Ｙ方向と称し、＋Ｘ方向及び－Ｘ方向を、特に区別することなく、Ｘ方向と称する場合がある。また、＋Ｚ方向及び－Ｚ方向を、特に区別することなく、Ｚ方向と称する場合がある。 Note that in FIG. 16, for convenience of explanation, a three-axis orthogonal coordinate system having an X axis, a Y axis, and a Z axis that are orthogonal to each other is introduced. Hereinafter, the direction pointed by the X-axis arrow will be referred to as the +X direction, and the direction opposite to the +X direction will be referred to as the -X direction. The direction pointed by the Y-axis arrow is called the +Y direction, and the opposite direction to the +Y direction is called the -Y direction. Further, the direction pointed by the Z-axis arrow is called the +Z direction, and the opposite direction to the +Z direction is called the -Z direction. Hereinafter, the +Y direction and the -Y direction may be referred to as the Y direction without any particular distinction, and the +X direction and the -X direction may be referred to as the X direction without any particular distinction. Further, the +Z direction and the -Z direction may be referred to as the Z direction without any particular distinction.
　図１６では、作業台ＷＢにＸ方向に沿って配置されたパレットＰＬ１及びＰＬ２のうちのパレットＰＬ１に配置された物品ＧＤをパレットＰＬ２に移動する作業を例にして、ロボット１０Ｃの利点を説明する。先ず、ロボット１０Ｃと対比される垂直６軸多関節ロボット（以下、対比例の垂直６軸多関節ロボットとも称する）について説明する。対比例の垂直６軸多関節ロボットは、ロボット１０Ｃから伸縮機構ＴＥ１及びＴＥ３が省かれたロボットである。 In FIG. 16, the advantages of the robot 10C will be explained using an example of a task of moving an article GD placed on pallet PL1 of pallets PL1 and PL2 placed on the workbench WB along the X direction to pallet PL2. . First, a vertical six-axis articulated robot (hereinafter also referred to as a vertical six-axis articulated robot as a comparison example) that is compared with the robot 10C will be described. The vertical six-axis multi-joint robot in contrast is a robot in which the telescoping mechanisms TE1 and TE3 are omitted from the robot 10C.
　対比例の垂直６軸多関節ロボットでは、パレットＰＬ１に配置されている物品ＧＤを、物品ＧＤの姿勢を維持した状態でＸ方向に水平移動させ、パレットＰＬ２に再配置する作業を行う場合、６軸の全てを駆動させる必要がある。同様に、軸Ａｘ２及びＡｘ３に垂直な面（図１６では、Ｙ－Ｚ平面）に平行な方向以外の方向に物品ＧＤを移動させる場合においても、対比例の垂直６軸多関節ロボットでは、６軸の全てを駆動させる必要がある。但し、対比例の垂直６軸多関節ロボットにおいても、物品ＧＤをＺ方向から把持している場合等では、例外的に、４軸又は５軸の駆動により、物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向等に移動可能な場合もある。 In a comparative vertical 6-axis articulated robot, when performing a task of horizontally moving an article GD placed on pallet PL1 in the X direction while maintaining the posture of the article GD and re-arranging it on pallet PL2, 6 All axes must be driven. Similarly, even when moving the article GD in a direction other than parallel to the plane perpendicular to the axes Ax2 and Ax3 (YZ plane in FIG. 16), the vertical six-axis articulated robot of the comparative example All axes must be driven. However, even with the vertical 6-axis articulated robot in the comparison example, when gripping the article GD from the Z direction, there are exceptional cases in which the posture of the article GD is maintained by driving the 4 or 5 axes. In some cases, the article GD can be moved in the X direction or the like.
　垂直６軸多関節ロボットに所定の作業を行わせる際に駆動させる軸の数が多い場合、駆動させる軸の数が少ない場合に比べて、複数の関節機構ＡＲの制御が複雑になる。また、垂直６軸多関節ロボットに所定の作業を行わせる際に駆動させる軸の数が多い場合、駆動させる軸の数が少ない場合に比べて、ロボットを制御できなくなる姿勢である特異点に近づくリスクが増加するため、ロボットの動作（例えば、動作範囲）が制約される。また、特異点に近づくリスクが高い場合、特異点に近づくリスクが低い場合に比べて、ロボットに動作を教示するティーチングの作業負荷が増加する。特に、Ｘ－Ｙ平面に対する軸Ａｘ４及びＡｘ６の傾きが小さい状態で物品ＧＤを把持した場合、Ｘ－Ｙ平面に対する軸Ａｘ４及びＡｘ６の傾きが大きい状態で物品ＧＤを把持した場合に比べて、特異点による動作の制約が大きくなる。 If a large number of axes are driven when a vertical 6-axis articulated robot performs a predetermined task, control of the multiple joint mechanisms AR becomes more complex than when the number of axes to be driven is small. Also, when a vertical 6-axis articulated robot performs a given task, when the number of axes driven is large, the robot approaches a singularity point, which is a posture in which it becomes uncontrollable, compared to when the number of axes driven is small. The robot's motion (eg, range of motion) is constrained due to the increased risk. Furthermore, when the risk of approaching a singular point is high, the workload of teaching the robot to operate increases compared to when the risk of approaching a singular point is low. In particular, when the article GD is gripped with a small inclination of the axes Ax4 and Ax6 with respect to the X-Y plane, there is a peculiar The restrictions on movement due to points become greater.
　このように、対比例の垂直６軸多関節ロボットでは、物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向に水平移動させる単純な作業を行う場合でも、６軸の全てを駆動させる必要があるため、複数の関節機構ＡＲの制御が複雑になる。 In this way, with the vertical six-axis articulated robot in the comparison example, even when performing a simple task of horizontally moving the article GD in the X direction while maintaining the posture of the article, it is necessary to drive all six axes. Therefore, control of the plurality of joint mechanisms AR becomes complicated.
　なお、直交座標型ロボットでは、Ｘ方向、Ｙ方向及びＺ方向の各々の方向への移動は、Ｘ方向、Ｙ方向及びＺ方向に対応して設けられた３つのモータのうちの１つを駆動することにより、実現される。このため、直交座標型ロボットでは、対比例の垂直６軸多関節ロボットに比べて、物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向に水平移動させる単純な動作の制御を簡易にすることができる。但し、直交座標型ロボットでは、垂直６軸多関節ロボットに比べて、ロボットの設置面積が大きくなる傾向がある。また、直交座標型ロボットでは、垂直６軸多関節ロボットに比べて、複雑な作業を行うことが困難である。 Note that in a Cartesian coordinate robot, movement in each of the X, Y, and Z directions is achieved by driving one of the three motors provided corresponding to the X, Y, and Z directions. This is achieved by doing this. For this reason, in the Cartesian coordinate robot, compared to the vertical 6-axis articulated robot in the comparison example, it is easier to control a simple movement of horizontally moving the article GD in the X direction while maintaining the posture of the article GD. I can do it. However, orthogonal coordinate robots tend to require a larger footprint than vertical six-axis articulated robots. Furthermore, it is difficult for Cartesian coordinate robots to perform complex tasks compared to vertical six-axis articulated robots.
　本実施形態では、垂直６軸多関節ロボットに伸縮機構ＴＥ３が設けられているため、垂直６軸多関節ロボットの利点（複雑な作業を実行可能、及び、小型化等）を残しつつ、単純な作業を行う場合のロボット１０Ｃの制御が複雑になることを抑制することができる。 In this embodiment, the vertical 6-axis articulated robot is provided with the telescoping mechanism TE3, so while retaining the advantages of the vertical 6-axis articulated robot (ability to perform complex tasks, miniaturization, etc.), simple It is possible to prevent the control of the robot 10C from becoming complicated when performing work.
　例えば、本実施形態では、物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向に水平移動させる動作をロボット１０Ｃに行わせる場合、ロボットコントローラ３０は、複数のモータのうち、伸縮機構ＴＥ３を駆動するモータＭＯｔ３のみを制御すればよい。このため、本実施形態では、ロボット１０Ｃを精度よく高速に制御することができる。具体的には、ロボット１０Ｃは、軸Ａｘ３に沿う方向Ｄｍ３（関節機構ＡＲ３ｔが伸縮する方向Ｄｍ３）がＸ方向と平行となる状態で、パレットＰＬ１に配置されている物品ＧＤを把持する。そして、ロボット１０Ｃは、伸縮機構ＴＥ３により、関節機構ＡＲ３ｔを方向Ｄｍ３ｐに伸長する。この結果、図１６の破線で示すように、ロボット１０ＣのリンクＬＫ２ｆからエンドエフェクタ２０までの部分が方向Ｄｍ３ｐ（すなわち、Ｘ方向）に水平移動する。これにより、エンドエフェクタ２０に把持された物品ＧＤは、物品ＧＤの姿勢を維持した状態でパレットＰＬ１からパレットＰＬ２まで移動する。 For example, in the present embodiment, when causing the robot 10C to horizontally move the article GD in the X direction while maintaining the posture of the article GD, the robot controller 30 drives the telescopic mechanism TE3 among the plurality of motors. It is sufficient to control only the motor MOt3. Therefore, in this embodiment, the robot 10C can be controlled accurately and at high speed. Specifically, the robot 10C grips the article GD placed on the pallet PL1 in a state where the direction Dm3 along the axis Ax3 (the direction Dm3 in which the joint mechanism AR3t expands and contracts) is parallel to the X direction. Then, the robot 10C extends the joint mechanism AR3t in the direction Dm3p using the extension mechanism TE3. As a result, as shown by the broken line in FIG. 16, the portion of the robot 10C from the link LK2f to the end effector 20 moves horizontally in the direction Dm3p (ie, the X direction). Thereby, the article GD gripped by the end effector 20 moves from the pallet PL1 to the pallet PL2 while maintaining the attitude of the article GD.
　このように、ロボット１０Ｃは、伸縮機構ＴＥ３により、物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向に水平移動させる動作を精度よく高速に実行することができる。また、本実施形態では、軸Ａｘ２及びＡｘ３に垂直な面に平行な方向以外の方向に物品ＧＤを移動させる場合においても、対比例の垂直６軸多関節ロボットに比べて、少ない軸Ａｘの駆動により、物品ＧＤの姿勢を維持した状態で物品ＧＤを移動させることができる。この結果、本実施形態では、関節機構ＡＲの制御が複雑になることを抑制することができる。 In this way, the robot 10C can accurately and rapidly move the article GD horizontally in the X direction while maintaining the posture of the article GD using the telescoping mechanism TE3. In addition, in this embodiment, even when moving the article GD in a direction other than the direction parallel to the plane perpendicular to the axes Ax2 and Ax3, the axis Ax is driven less than the vertical six-axis articulated robot of the comparative example. Accordingly, the article GD can be moved while maintaining the attitude of the article GD. As a result, in this embodiment, control of the joint mechanism AR can be prevented from becoming complicated.
　また、伸縮機構ＴＥ３により、ロボット１０ＣのリンクＬＫ２ｆからエンドエフェクタ２０までの部分が方向Ｄｍ３に移動する場合、複数の関節機構ＡＲによる回転動作が行われないため、エンドエフェクタ２０は、Ｘ－Ｙ平面上でのみ移動し、Ｚ方向に移動しない。従って、本実施形態では、エンドエフェクタ２０の動作を制御するために、複数の関節機構ＡＲの各々の回転動作の回転量等をエンドエフェクタ２０の位置から計算する逆軌道計算等を行う場合、Ｘ方向の移動量を算出するだけでよい。このため、本実施形態では、エンドエフェクタ２０をＸ方向に水平移動させるための逆軌道計算等を行う場合の演算の負荷を低減することができ、演算を高速に実行することができる。 Furthermore, when the telescopic mechanism TE3 moves the portion of the robot 10C from the link LK2f to the end effector 20 in the direction Dm3, the end effector 20 moves in the XY plane because the rotational movement by the plurality of joint mechanisms AR is not performed. It only moves up, not in the Z direction. Therefore, in this embodiment, in order to control the operation of the end effector 20, when performing reverse trajectory calculation etc. in which the rotation amount of each rotation operation of the plurality of joint mechanisms AR is calculated from the position of the end effector 20, It is only necessary to calculate the amount of movement in the direction. Therefore, in this embodiment, it is possible to reduce the calculation load when performing reverse trajectory calculations for horizontally moving the end effector 20 in the X direction, and to perform the calculations at high speed.
　また、本実施形態では、関節機構ＡＲ３ｔを伸縮させることにより、関節機構ＡＲ３ｔを伸縮させる前ではロボット１０Ｃの特異点に対応する領域でも作業をすることができる。また、本実施形態では、関節機構ＡＲ３ｔを伸長させることにより、ロボット１０Ｃの特異点を回避しつつ、ロボット１０Ｃの先端部が到達可能な領域を広くすることができる。例えば、ロボット１０Ｃを人と協働して動作させる場合、ロボット１０Ｃを設置するスペースの制約が多いことが想定される。この場合、特異点等による動作範囲の制約は、極力少ないことが求められる。本実施形態では、ロボット１０Ｃの特異点を回避しつつ、ロボット１０Ｃの先端部が到達可能な領域を広くすることができるため、ロボット１０Ｃを設置するスペースの制約が多い場合でも、ロボット１０Ｃを安全に動作させることができる。 Furthermore, in this embodiment, by expanding and contracting the joint mechanism AR3t, it is possible to work even in the area corresponding to the singular point of the robot 10C before the joint mechanism AR3t is expanded and contracted. Furthermore, in this embodiment, by extending the joint mechanism AR3t, it is possible to widen the area that the tip of the robot 10C can reach, while avoiding the singularity of the robot 10C. For example, when the robot 10C is operated in cooperation with a person, it is assumed that there are many restrictions on the space in which the robot 10C is installed. In this case, restrictions on the operating range due to singular points or the like are required to be as small as possible. In this embodiment, the area that the tip of the robot 10C can reach can be widened while avoiding the singularity of the robot 10C, so even if there are many restrictions on the space in which the robot 10C is installed, the robot 10C can be safely installed. can be operated.
　また、本実施形態では、関節機構ＡＲ３ｔよりも、－Ｚ方向に障害物ＢＬが存在する場合でも、ロボット１０Ｃは、伸縮機構ＴＥ３により、ロボット１０ＣのリンクＬＫ２ｆからエンドエフェクタ２０までの部分を方向Ｄｍ３（すなわち、Ｘ方向）に移動させることができる。このように、本実施形態では、関節機構ＡＲ３ｔよりも－Ｚ方向に障害物ＢＬが存在するような場所でも、ロボット１０Ｃを設置し、物品ＧＤのＸ方向への移動等の単純な作業をロボット１０Ｃに行わせることができる。 Furthermore, in the present embodiment, even if there is an obstacle BL in the -Z direction relative to the joint mechanism AR3t, the robot 10C moves the portion from the link LK2f of the robot 10C to the end effector 20 in the direction Dm3 using the telescoping mechanism TE3. (that is, in the X direction). In this way, in this embodiment, the robot 10C is installed even in a place where an obstacle BL exists in the -Z direction relative to the joint mechanism AR3t, and the robot 10C can perform simple tasks such as moving the article GD in the X direction. 10C can be performed.
　さらに、本実施形態では、伸縮機構ＴＥ１により、リンクＬＫ１ａが長手方向（方向Ｄｍ１）に伸縮するため、リンクＬＫ１ａが伸縮しない形態に比べて、ロボット１０Ｃの先端部（例えば、リンクＬＫ３）が到達可能な領域を広くすることができる。なお、リンクＬＫ１ａを伸縮可能とせずに、リンクＬＫ１ａを単純に長くした態様では、ロボット自体が大型化する。本実施形態では、リンクＬＫ１ａが伸縮するため、ロボット１０Ｃの全体が大きくなることを抑制することができる。すなわち、本実施形態では、ロボット１０Ｃの全体が大きくなることを抑制しつつ、ロボット１０Ｃの先端部が到達可能な領域をリンクＬＫ１ａが伸縮しない形態に比べて広くすることができる。これにより、本実施形態では、ロボット１０Ｃは、リンクＬＫ１ａが伸縮しない形態では届かない高い位置に配置された物品ＧＤに対して作業することが可能となる。例えば、本実施形態では、ロボット１０Ｃは、伸縮機構ＴＥ１により関節機構ＡＲ３ｔを高い位置に移動させることにより、作業台ＷＢの高い位置で、かつ作業台ＷＢの奥に配置された物品ＧＤに対する作業を容易に行うことができる。 Furthermore, in this embodiment, the link LK1a expands and contracts in the longitudinal direction (direction Dm1) by the expansion mechanism TE1, so the tip of the robot 10C (for example, the link LK3) can reach the link LK1a, compared to a configuration in which the link LK1a does not expand and contract. The area can be expanded. Note that if the link LK1a is simply made longer without being made extendable, the robot itself becomes larger. In this embodiment, since the link LK1a expands and contracts, it is possible to suppress the entire robot 10C from increasing in size. That is, in this embodiment, while suppressing the overall size of the robot 10C, the area reachable by the tip of the robot 10C can be made wider than in the case where the link LK1a does not extend or contract. As a result, in this embodiment, the robot 10C can work on the article GD placed at a high position that cannot be reached when the link LK1a does not extend or contract. For example, in the present embodiment, the robot 10C moves the joint mechanism AR3t to a higher position using the telescoping mechanism TE1, thereby performing work on the article GD located at a higher position on the workbench WB and at the back of the workbench WB. It can be done easily.
　なお、伸縮機構ＴＥ１による伸縮動作（リンクＬＫ１ａを長手方向に伸縮する伸縮動作）では、ロボット１０Ｃの特異点を回避することはできない。同様に、リンクＬＫ２ｆを長手方向に伸縮する伸縮機構が設けられた態様においても、リンクＬＫ２ｆを長手方向に伸縮することにより、ロボット１０Ｃの先端部が到達可能な領域を広くすることはできるが、ロボット１０Ｃの特異点を回避することはできない。本実施形態では、上述したように、関節機構ＡＲ３ｔを軸Ａｘ３に沿う方向Ｄｍ３に伸縮させることにより、ロボット１０Ｃの特異点を回避することができる。 Note that the singularity of the robot 10C cannot be avoided by the telescoping action by the telescoping mechanism TE1 (the telescoping action that extends and contracts the link LK1a in the longitudinal direction). Similarly, in an embodiment in which a telescoping mechanism is provided to extend and retract the link LK2f in the longitudinal direction, by extending and contracting the link LK2f in the longitudinal direction, it is possible to widen the area that the tip of the robot 10C can reach. The singularity of robot 10C cannot be avoided. In this embodiment, as described above, the singularity of the robot 10C can be avoided by expanding and contracting the joint mechanism AR3t in the direction Dm3 along the axis Ax3.
　ここで、本実施形態に係るロボットコントローラ３０のハードウェア構成は、図５に示したモータＭＯｔ２をモータＭＯｔ３に読み替えることにより、図５で説明される。なお、この場合、さらに、図５の説明におけるロボット１０、関節機構ＡＲ３、関節機構ＡＲ４及び伸縮機構ＴＥ２が、ロボット１０Ｃ、関節機構ＡＲ３ｔ、関節機構ＡＲ４ｆ及び伸縮機構ＴＥ３にそれぞれ読み替えられる。 Here, the hardware configuration of the robot controller 30 according to the present embodiment will be explained with reference to FIG. 5 by replacing the motor MOt2 shown in FIG. 5 with the motor MOt3. In this case, the robot 10, joint mechanism AR3, joint mechanism AR4, and telescoping mechanism TE2 in the description of FIG. 5 can be read as robot 10C, joint mechanism AR3t, joint mechanism AR4f, and telescoping mechanism TE3, respectively.
　以上、本実施形態では、ロボット１０Ｃは、ボディ部ＢＤＰと、リンクＬＫ３と、ボディ部ＢＤＰとリンクＬＫ３とを接続する複数のリンクＬＫ１ａ及びＬＫ２ｆと、関節機構ＡＲ３ｔとを有する。関節機構ＡＲ３ｔは、リンクＬＫ１ａとリンクＬＫ２ｆとを接続し、リンクＬＫ１ａが延在する方向Ｄｅ１とのなす角度が所定の角度より大きい軸Ａｘ３を回転軸としてリンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる。また、関節機構ＡＲ３ｔは、軸Ａｘ３（回転軸）に沿って、リンクＬＫ２ｆをリンクＬＫ１ａに対して相対的に移動させる伸縮機構ＴＥ３を含む。 As described above, in this embodiment, the robot 10C includes a body part BDP, a link LK3, a plurality of links LK1a and LK2f that connect the body part BDP and link LK3, and a joint mechanism AR3t. The joint mechanism AR3t connects the link LK1a and the link LK2f, and rotates the link LK2f with respect to the link LK1a using an axis Ax3, which forms an angle larger than a predetermined angle with the direction De1 in which the link LK1a extends, as a rotation axis. Further, the joint mechanism AR3t includes a telescoping mechanism TE3 that moves the link LK2f relative to the link LK1a along the axis Ax3 (rotation axis).
　このように、本実施形態では、伸縮機構ＴＥ３により、関節機構ＡＲ３ｔが軸Ａｘ３に沿って伸縮する。このため、本実施形態では、ロボット１０ＣのリンクＬＫ２ｆからロボット１０Ｃの先端部（例えば、リンクＬＫ３）までの部分を軸Ａｘ３に沿う方向Ｄｍ３に簡易に移動させることができる。これにより、本実施形態では、例えば、ロボット１０ＣのリンクＬＫ３に取り付けられたエンドエフェクタ２０に把持された物品ＧＤの姿勢を維持した状態で物品ＧＤをＸ方向に水平移動させる動作を、伸縮機構ＴＥ３により、精度よく高速に実行することができる。このように、本実施形態では、ロボット１０Ｃが単純な動作を行う場合の関節機構ＡＲの制御が複雑になることを抑制することができる。すなわち、本実施形態では、単純な動作を行う場合のロボット１０Ｃの制御を簡易にすることできる。 In this way, in this embodiment, the joint mechanism AR3t expands and contracts along the axis Ax3 by the expansion and contraction mechanism TE3. Therefore, in this embodiment, the portion from the link LK2f of the robot 10C to the tip (for example, the link LK3) of the robot 10C can be easily moved in the direction Dm3 along the axis Ax3. As a result, in this embodiment, for example, the operation of horizontally moving the article GD in the X direction while maintaining the posture of the article GD gripped by the end effector 20 attached to the link LK3 of the robot 10C is This allows for accurate and high-speed execution. In this way, in the present embodiment, it is possible to prevent the control of the joint mechanism AR from becoming complicated when the robot 10C performs a simple motion. That is, in this embodiment, the robot 10C can be easily controlled when performing simple movements.
　また、本実施形態では、伸縮機構ＴＥ３は、リンクＬＫ１ａとリンクＬＫ２ｆとを接続する接続部分ＴＥ３３を含む。接続部分ＴＥ３３の少なくとも一部は、軸Ａｘ３（回転軸）に沿う方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ１ａの内部に格納される。また、接続部分ＴＥ３３の少なくとも一部は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最大になる場合、リンクＬＫ１ａ及びＬＫ２ｆから露出する。これにより、本実施形態では、ロボット１０Ｃの全体が大きくなることを抑制しつつ、関節機構ＡＲ３ｔを伸縮させることができる。 Furthermore, in this embodiment, the telescoping mechanism TE3 includes a connecting portion TE33 that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Thereby, in this embodiment, the joint mechanism AR3t can be expanded and contracted while suppressing the overall size of the robot 10C.
　また、本実施形態では、関節機構ＡＲ３ｔは、リンクＬＫ２ｆをリンクＬＫ１ａ及び接続部分ＴＥ３３に対して回転させることにより、リンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる。これにより、本実施形態では、例えば、リンクＬＫ２ｆを回転させるためのモータＭＯａ３（関節機構ＡＲ３ｔを駆動するモータＭＯａ３）の出力位置とリンクＬＫ２ｆとの軸Ａｘ３に沿う距離が短くなるように、モータＭＯａ３を配置することができる。この場合、モータＭＯａ３の出力位置とリンクＬＫ２ｆとの軸Ａｘ３に沿う距離が長い場合に比べて、リンクＬＫ２ｆの回転に伴う外乱の発生を抑制することができ、関節機構ＡＲ３ｔによる回転動作及び伸縮動作を精度よく制御することができる。 Furthermore, in the present embodiment, the joint mechanism AR3t rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33. As a result, in this embodiment, for example, the motor MOa3 is configured such that the distance along the axis Ax3 between the output position of the motor MOa3 for rotating the link LK2f (motor MOa3 that drives the joint mechanism AR3t) and the link LK2f is shortened. can be placed. In this case, compared to the case where the distance between the output position of the motor MOa3 and the link LK2f along the axis Ax3 is long, it is possible to suppress the occurrence of disturbance due to the rotation of the link LK2f, and the rotational movement and expansion/contraction movement by the joint mechanism AR3t. can be controlled with high precision.
　また、本実施形態では、リンクＬＫ１ａは、支持部分ＬＫ１１と、リンクＬＫ２ｆに接続される可動部分ＬＫ１３ａと、支持部分ＬＫ１１と可動部分ＬＫ１３ａとを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１ａを伸縮させる。 Furthermore, in this embodiment, the link LK1a includes a support portion LK11, a movable portion LK13a connected to the link LK2f, a movable portion LK12 that connects the support portion LK11 and the movable portion LK13a, and a telescopic mechanism TE1. The expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
　このように、本実施形態では、伸縮機構ＴＥ１により、リンクＬＫ１ａが伸縮する。このため、本実施形態では、ロボット１０Ｃの全体が大きくなることを抑制しつつ、ロボット１０Ｃの先端部が到達可能な領域をリンクＬＫ１ａが伸縮しない形態に比べて広くすることができる。これにより、本実施形態では、例えば、ロボット１０Ｃは、リンクＬＫ１ａが伸縮しない形態では届かない高い位置に配置された物品ＧＤに対して作業する事が可能となる。また、本実施形態では、ロボット１０Ｃは、伸縮機構ＴＥ１により関節機構ＡＲ３ｔを高い位置に移動させることにより、作業台ＷＢの高い位置で、かつ作業台ＷＢの奥に配置された物品ＧＤに対する作業を容易に行うことができる。 In this way, in this embodiment, the link LK1a is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10C can reach can be made wider than in the case where the link LK1a does not extend or contract, while suppressing the overall size of the robot 10C. As a result, in this embodiment, for example, the robot 10C can work on the article GD placed at a high position that cannot be reached when the link LK1a does not extend or contract. In addition, in the present embodiment, the robot 10C moves the joint mechanism AR3t to a high position using the telescoping mechanism TE1, thereby performing work on the article GD located at a high position on the workbench WB and at the back of the workbench WB. It can be done easily.
　また、本実施形態では、支持部分ＬＫ１１は、中空である。リンクＬＫ１ａが収縮した場合、可動部分ＬＫ１２の少なくとも一部が、支持部分ＬＫ１１の内部に格納される。これにより、本実施形態では、リンクＬＫ１ａの伸縮を簡易な構成で実現することができる。 Furthermore, in this embodiment, the support portion LK11 is hollow. When the link LK1a contracts, at least a portion of the movable part LK12 is stored inside the support part LK11. Thereby, in this embodiment, expansion and contraction of the link LK1a can be realized with a simple configuration.
　また、本実施形態では、ロボット１０Ｃは、関節機構ＡＲ１、ＡＲ２、ＡＲ４ｆ、ＡＲ５及びＡＲ５をさらに有する。また、リンクＬＫ２ｆは、支持部分ＬＫ２１ｆ及び可動部分ＬＫ２２ｆを含む。関節機構ＡＲ１は、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度以下の軸Ａｘ１を第４回転軸として、ボディ部ＢＤＰの少なくとも一部分を回転させる。関節機構ＡＲ２は、ボディ部ＢＤＰとリンクＬＫ１ａとを接続し、ボディ部ＢＤＰの底面ＢＤＰｂｔに垂直な方向Ｄｖ１とのなす角度が所定の角度より大きい軸Ａｘ２を第５回転軸としてリンクＬＫ１ａをボディ部ＢＤＰに対して回転させる。関節機構ＡＲ４ｆは、支持部分ＬＫ２１ｆが延在する方向Ｄｅ２１とのなす角度が所定の角度以下の軸Ａｘ４を第３回転軸として、可動部分ＬＫ２２ｆを支持部分ＬＫ２１ｆに対して回転させる。関節機構ＡＲ５は、可動部分ＬＫ２２ｆとリンクＬＫ３とを接続し、リンクＬＫ２が延在する方向Ｄｅ２とのなす角度が所定の角度より大きい軸Ａｘ５を第２回転軸としてリンクＬＫ３をリンクＬＫ２ｆに対して回転させる。関節機構ＡＲ６は、第２回転軸（軸Ａｘ５）とのなす角度が所定の角度より大きい軸Ａｘ６を第６回転軸として、リンクＬＫ３の少なくとも一部分をリンクＬＫ２ｆに対して回転させる。このように、本実施形態に係る発明は、垂直６軸多関節ロボットに適用されてもよい。 Furthermore, in this embodiment, the robot 10C further includes joint mechanisms AR1, AR2, AR4f, AR5, and AR5. Further, the link LK2f includes a support portion LK21f and a movable portion LK22f. The joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis. The joint mechanism AR2 connects the body part BDP and the link LK1a, and connects the link LK1a to the body part by using an axis Ax2, which has a larger angle than a predetermined angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fifth rotation axis. Rotate against BDP. The joint mechanism AR4f rotates the movable portion LK22f with respect to the support portion LK21f using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21f extends, as a third rotation axis. The joint mechanism AR5 connects the movable part LK22f and the link LK3, and rotates the link LK3 with respect to the link LK2f using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2 extends, as a second rotation axis. Rotate. The joint mechanism AR6 rotates at least a portion of the link LK3 with respect to the link LK2f using an axis Ax6, which forms an angle larger than a predetermined angle with the second rotation axis (axis Ax5), as a sixth rotation axis. In this way, the invention according to this embodiment may be applied to a vertical six-axis articulated robot.
　また、本実施形態では、リンクＬＫ１ａは、ボディ部ＢＤＰに接続される支持部分ＬＫ１１と、リンクＬＫ２ｆに接続される可動部分ＬＫ１３ａと、支持部分ＬＫ１１と可動部分ＬＫ１３ａとを接続する可動部分ＬＫ１２と、伸縮機構ＴＥ１とを含む。伸縮機構ＴＥ１は、支持部分ＬＫ１１に対して可動部分ＬＫ１２を支持部分ＬＫ１１が延在する方向Ｄｅ１１に沿って移動させることにより、リンクＬＫ１ａを伸縮させる。このように、本実施形態では、垂直６軸多関節ロボットに伸縮機構ＴＥ１を追加することにより、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０Ｃを簡易に構成することができる。 In the present embodiment, the link LK1a includes a support portion LK11 connected to the body portion BDP, a movable portion LK13a connected to the link LK2f, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13a. It includes an expansion and contraction mechanism TE1. The expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends. As described above, in this embodiment, by adding the telescopic mechanism TE1 to the vertical six-axis multi-joint robot, it is possible to easily configure the robot 10C in which the reachable area of the tip (for example, the link LK3) is widened. can.
　また、本実施形態では、ロボットコントローラ３０は、関節機構ＡＲ１を駆動するモータＭＯａ１、関節機構ＡＲ２を駆動するモータＭＯａ２、関節機構ＡＲ３ｔを駆動するモータＭＯａ３、関節機構ＡＲ４ｆを駆動するモータＭＯａ４、関節機構ＡＲ５を駆動するモータＭＯａ５、関節機構ＡＲ６を駆動するモータＭＯａ６、伸縮機構ＴＥ１を駆動するモータＭＯｔ１、及び、伸縮機構ＴＥ３を駆動するモータＭＯｔ３を制御することにより、ロボット１０Ｃの動作を制御する。このように、本実施形態では、ロボットコントローラ３０により、ロボット１０Ｃの動作を容易に制御することができる。 In the present embodiment, the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3t, a motor MOa4 that drives the joint mechanism AR4f, and a motor MOa4 that drives the joint mechanism AR4f. The operation of the robot 10C is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt3 that drives the telescoping mechanism TE3. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10C.
　また、本実施形態では、ロボットシステム１は、ロボット１０Ｃと、リンクＬＫ３に取り付けられたエンドエフェクタ２０と、ロボット１０Ｃ及びエンドエフェクタ２０の動作を制御するロボットコントローラ３０とを有する。このように、本実施形態では、単純な動作を行う場合のロボット１０Ｃの制御が簡易であり、全体の大きさが大きくなることを抑制しつつ、先端部（例えば、リンクＬＫ３）が到達可能な領域を広くしたロボット１０Ｃがロボットシステム１に用いられる。このため、本実施形態では、狭い場所においても、複雑な作業及び単純な作業を効率よく行うことができる。例えば、部品を組み付ける、又は、部品を取り除くことを含む物品の製造方法にロボットシステム１が用いられてもよい。この場合、部品を組み付ける、又は、部品を取り除く作業を効率よく実行することができる。 Furthermore, in this embodiment, the robot system 1 includes a robot 10C, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10C and the end effector 20. In this way, in this embodiment, the control of the robot 10C is simple when performing simple movements, and the tip part (for example, link LK3) can be reached while suppressing the overall size from increasing. A robot 10C with a wider area is used in the robot system 1. Therefore, in this embodiment, complex work and simple work can be performed efficiently even in a narrow space. For example, the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
［Ｃ－２．第４実施形態の変形例］
　本発明は、以上に例示した実施形態に限定されない。具体的な変形の態様を以下に例示する。以下の例示から任意に選択された２以上の態様を併合してもよい。 [C-2. Modification of fourth embodiment]
The present invention is not limited to the embodiments illustrated above. Specific modes of modification are illustrated below. Two or more aspects arbitrarily selected from the examples below may be combined.
［変形例Ｃ１］
　上述した第４実施形態では、モータＭＯａ３が接続部分ＴＥ３３の内部に設けられる場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、モータＭＯａ３は、接続部分ＴＥ３３の外部に設けられてもよい。 [Modification C1]
In the fourth embodiment described above, a case is illustrated in which the motor MOa3 is provided inside the connecting portion TE33, but the present invention is not limited to such an embodiment. For example, the motor MOa3 may be provided outside the connection portion TE33.
　図１７は、変形例Ｃ１に係る関節機構ＡＲ３ｔの一例を説明するための説明図である。図１４から図１６において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。例えば、図１７に示す態様では、ロボット１０Ｃは、図１４に示した関節機構ＡＲ３ｔの代わりに関節機構ＡＲ３ｔａを有する。図１７の上段は、収縮している状態の関節機構ＡＲ３ｔａを示し、図１７の下段は、伸長している状態の関節機構ＡＲ３ｔａを示している。関節機構ＡＲ３ｔａは、「第１駆動機構」及び「駆動機構」の他の例であり、伸縮機構ＴＥ３ａは、「第４伸縮機構」の他の例である。なお、以下では、関節機構ＡＲ３ｔａ等は、符号の末尾のアルファベット“ａ”を付さずに称される（例えば、関節機構ＡＲ３ｔ）場合がある。 FIG. 17 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C1. Elements similar to those described in FIGS. 14 to 16 are denoted by the same reference numerals, and detailed description thereof will be omitted. For example, in the embodiment shown in FIG. 17, the robot 10C has a joint mechanism AR3ta instead of the joint mechanism AR3t shown in FIG. The upper part of FIG. 17 shows the joint mechanism AR3ta in a contracted state, and the lower part of FIG. 17 shows the joint mechanism AR3ta in an extended state. The joint mechanism AR3ta is another example of the "first drive mechanism" and the "drive mechanism", and the telescoping mechanism TE3a is another example of the "fourth telescoping mechanism". Note that hereinafter, the joint mechanism AR3ta and the like may be referred to without adding the alphabet "a" at the end of the reference numeral (for example, joint mechanism AR3t).
　関節機構ＡＲ３ｔａは、モータＭＯａ３が接続部分ＴＥ３３ａの外部に設けられ、支持部分ＬＫ２１ｇが接続部分ＴＥ３３ａと一体的に回転することを除いて、図１５に示した関節機構ＡＲ３ｔと同様である。例えば、関節機構ＡＲ３ｔａは、図１５に示した旋回機構ＲＥ１及び伸縮機構ＴＥ３の代わりに、旋回機構ＲＥ１ａ及び伸縮機構ＴＥ３ａを有する。 The joint mechanism AR3ta is similar to the joint mechanism AR3t shown in FIG. 15, except that the motor MOa3 is provided outside the connecting portion TE33a, and the supporting portion LK21g rotates integrally with the connecting portion TE33a. For example, the joint mechanism AR3ta includes a rotating mechanism RE1a and a telescopic mechanism TE3a instead of the rotating mechanism RE1 and the telescopic mechanism TE3 shown in FIG.
　伸縮機構ＴＥ３ａは、図１５に示した接続部分ＴＥ３３の代わりに接続部分ＴＥ３３ａを有することを除いて、図１５に示した伸縮機構ＴＥ３と同様である。接続部分ＴＥ３３ａは、内部にモータＭＯａ３が配置されないこと、及び、外周に複数の溝が設けられていることを除いて、図１５に示した接続部分ＴＥ３３と同様である。例えば、接続部分ＴＥ３３ａの外周には、接続部分ＴＥ３３ａを後述する旋回機構ＲＥ１ａのギアＲＥ１３と噛み合う歯車として動作させるための複数の溝が設けられている。また、接続部分ＴＥ３３ａは、軸Ａｘｔｅ３（すなわち、方向Ｄｍ３）に沿って移動可能に可動部分ＬＫ１３ｂに接続され、支持部分ＬＫ２１ｇと一緒に回転するように支持部分ＬＫ２１ｇに接続される。 The telescoping mechanism TE3a is the same as the telescoping mechanism TE3 shown in FIG. 15, except that it has a connecting portion TE33a instead of the connecting portion TE33 shown in FIG. The connecting portion TE33a is similar to the connecting portion TE33 shown in FIG. 15, except that the motor MOa3 is not disposed inside and a plurality of grooves are provided on the outer periphery. For example, the outer periphery of the connecting portion TE33a is provided with a plurality of grooves for operating the connecting portion TE33a as a gear that meshes with a gear RE13 of a turning mechanism RE1a, which will be described later. Further, the connecting portion TE33a is connected to the movable portion LK13b so as to be movable along the axis Axte3 (ie, the direction Dm3), and is connected to the supporting portion LK21g so as to rotate together with the supporting portion LK21g.
　旋回機構ＲＥ１ａを駆動するモータＭＯａ３は、可動部分ＬＫ１３ｂの内部で、接続部分ＴＥ３３ａの外部に配置され、可動部分ＬＫ１３ｂに固定される。すなわち、モータＭＯａ３は、接続部分ＴＥ３３ａが移動しても移動しない可動部分ＬＫ１３ｂに取り付けられる。 The motor MOa3 that drives the turning mechanism RE1a is arranged inside the movable part LK13b and outside the connecting part TE33a, and is fixed to the movable part LK13b. That is, the motor MOa3 is attached to the movable part LK13b which does not move even if the connecting part TE33a moves.
　旋回機構ＲＥ１ａは、図１５に示した連結部ＲＥ１２の代わりにギアＲＥ１３を有することを除いて、図１５に示した旋回機構ＲＥ１と同様である。例えば、旋回機構ＲＥ１ａは、モータＭＯａ３の回転が伝達されるようにモータＭＯａ３に取り付けられた伝達軸ＲＥ１１と、伝達軸ＲＥ１１と一緒に回転するように伝達軸ＲＥ１１に取り付けられたギアＲＥ１３とを有する。例えば、ギアＲＥ１３は、方向Ｄｍ３からの平面視において、ギアＲＥ１３の中心に伝達軸ＲＥ１１が位置するように、伝達軸ＲＥ１１に取り付けられる。 The turning mechanism RE1a is the same as the turning mechanism RE1 shown in FIG. 15, except that it has a gear RE13 instead of the connecting part RE12 shown in FIG. For example, the turning mechanism RE1a includes a transmission shaft RE11 attached to the motor MOa3 so that the rotation of the motor MOa3 is transmitted, and a gear RE13 attached to the transmission shaft RE11 so as to rotate together with the transmission shaft RE11. . For example, the gear RE13 is attached to the transmission shaft RE11 so that the transmission shaft RE11 is located at the center of the gear RE13 when viewed in plan from the direction Dm3.
　また、上述した接続部分ＴＥ３３ａの外周に設けられた複数の溝の各々は、接続部分ＴＥ３３ａの長手方向（方向Ｄｍ３）に延在している。これにより、例えば、接続部分ＴＥ３３ａが可動部分ＬＫ１３ｂに対して移動し、接続部分ＴＥ３３ａに対するギアＲＥ１３の相対的な位置が変化した場合においても、接続部分ＴＥ３３ａは、ギアＲＥ１３と噛み合う。すなわち、関節機構ＡＲ３ｔａが方向Ｄｍ３に沿って伸縮する場合に、接続部分ＴＥ３３ａがどの位置で停止しても、ギアＲＥ１３は、接続部分ＴＥ３３ａと噛み合った状態を維持することができる。 Furthermore, each of the plurality of grooves provided on the outer periphery of the connection portion TE33a described above extends in the longitudinal direction (direction Dm3) of the connection portion TE33a. Thereby, for example, even if the connecting portion TE33a moves relative to the movable portion LK13b and the relative position of the gear RE13 with respect to the connecting portion TE33a changes, the connecting portion TE33a meshes with the gear RE13. That is, when the joint mechanism AR3ta expands and contracts along the direction Dm3, the gear RE13 can maintain a state of meshing with the connecting portion TE33a, no matter where the connecting portion TE33a stops.
　これにより、例えば、モータＭＯａ３が回転した場合、モータＭＯａ３の回転が伝達される伝達軸ＲＥ１１の回転に伴い、ギアＲＥ１３が回転し、ギアＲＥ１３の回転に伴い、ギアＲＥ１３と噛み合う接続部分ＴＥ３３ａが回転する。このように、モータＭＯａ３が回転した場合、伝達軸ＲＥ１１及びギアＲＥ１３を介して、接続部分ＴＥ３３ａにモータＭＯａ３の回転が伝達される。この結果、接続部分ＴＥ３３ａは、軸Ａｘ３を回転軸として回転する。なお、本変形例では、接続部分ＴＥ３３ａの中心軸が軸Ａｘ３に該当する。また、支持部分ＬＫ２１ｇは、接続部分ＴＥ３３ａと一緒に回転するように接続部分ＴＥ３３ａと連結されているため、接続部分ＴＥ３３ａと一体的に回転する。本変形例では、接続部分ＴＥ３３ａと支持部分ＬＫ２１ｇとは、常に一体的に駆動するため、一つの部材であってもよい。 As a result, for example, when the motor MOa3 rotates, the gear RE13 rotates as the transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted rotates, and as the gear RE13 rotates, the connecting portion TE33a that meshes with the gear RE13 rotates. do. In this manner, when the motor MOa3 rotates, the rotation of the motor MOa3 is transmitted to the connection portion TE33a via the transmission shaft RE11 and the gear RE13. As a result, the connecting portion TE33a rotates about the axis Ax3. In addition, in this modification, the central axis of the connection portion TE33a corresponds to the axis Ax3. Moreover, since the supporting portion LK21g is connected to the connecting portion TE33a so as to rotate together with the connecting portion TE33a, it rotates integrally with the connecting portion TE33a. In this modification, the connecting portion TE33a and the supporting portion LK21g may be a single member because they are always driven integrally.
　なお、本変形例では、例えば、ボールねじＴＥ３２は、旋回機構ＲＥ１ａにより接続部分ＴＥ３３ａが回転した場合にナットＴＥ３１と一緒にモータＭＯｔ３に対して空転するように、モータＭＯｔ３に取り付けられる。 Note that in this modification, for example, the ball screw TE32 is attached to the motor MOt3 so that it idles with respect to the motor MOt3 together with the nut TE31 when the connecting portion TE33a is rotated by the turning mechanism RE1a.
　また、本変形例では、モータＭＯａ３は、可動部分ＬＫ１３ｂに取り付けられているため、接続部分ＴＥ３３ａ及び支持部分ＬＫ２１ｇが回転した場合でも、軸Ａｘ３を回転軸として回転することはない。従って、本変形例においても、支持部分ＬＫ２１ｇが軸Ａｘ３を回転軸として回転した場合でも、モータＭＯａ３自体の回転に伴う外乱が発生することを抑制することができる。 Furthermore, in this modification, the motor MOa3 is attached to the movable part LK13b, so even if the connecting part TE33a and the supporting part LK21g rotate, it does not rotate about the axis Ax3. Therefore, in this modification as well, even when the support portion LK21g rotates about the axis Ax3, it is possible to suppress the disturbance caused by the rotation of the motor MOa3 itself.
　また、本変形例では、接続部分ＴＥ３３ａの２つの端部のうちの支持部分ＬＫ２１ｇに近い端部が伸縮機構ＴＥ３ａにより可動部分ＬＫ１３ｂから遠ざかるように移動しても、モータＭＯａ３は、可動部分ＬＫ１３ｂに固定されているため、移動しない。これにより、本変形例では、伸縮機構ＴＥ３ａにより移動する部材の重量をモータＭＯａ３及びモータＭＯａ３の連結機構の分だけ軽くすることができる。この結果、本変形例では、関節機構ＡＲ３ｔａによる回転動作及び伸縮動作を精度よく制御することができる。 Furthermore, in this modification, even if the end of the two ends of the connection portion TE33a that is closer to the support portion LK21g is moved away from the movable portion LK13b by the telescoping mechanism TE3a, the motor MOa3 will not move toward the movable portion LK13b. It is fixed and does not move. Thereby, in this modification, the weight of the member moved by the telescoping mechanism TE3a can be reduced by the weight of the motor MOa3 and the coupling mechanism of the motor MOa3. As a result, in this modification, it is possible to accurately control the rotational movement and expansion/contraction movement of the joint mechanism AR3ta.
　以上、本変形例では、関節機構ＡＲ３ｔａは、リンクＬＫ２ｆ及び接続部分ＴＥ３３ａをリンクＬＫ１ａに対して一体的に回転させることにより、リンクＬＫ２ｆをリンクＬＫ１ａに対して回転させる。本変形例においても、上述した第４実施形態と同様の効果を得ることができる。 As described above, in this modification, the joint mechanism AR3ta rotates the link LK2f with respect to the link LK1a by rotating the link LK2f and the connecting portion TE33a integrally with respect to the link LK1a. Also in this modification, the same effects as in the fourth embodiment described above can be obtained.
［変形例Ｃ２］
　上述した第４実施形態及び変形例では、接続部分ＴＥ３３の一部がリンクＬＫ１ａの内部に格納される場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、接続部分ＴＥ３３の少なくとも一部は、軸Ａｘ３（回転軸）に沿う方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ２ｆの内部に格納されてもよい。すなわち、接続部分ＴＥ３３の少なくとも一部は、軸Ａｘ３（回転軸）に沿う方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ１ａ及びＬＫ２ｆの少なくとも一方の内部に格納されてもよい。 [Modification C2]
In the fourth embodiment and the modified example described above, a case where a part of the connecting portion TE33 is stored inside the link LK1a is illustrated, but the present invention is not limited to such an embodiment. For example, at least a portion of the connecting portion TE33 may be stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is minimized. That is, at least a portion of the connecting portion TE33 may be stored inside at least one of the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. good.
　図１８は、変形例Ｃ２に係る関節機構ＡＲ３ｔの一例を説明するための説明図である。図１４から図１７において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。図１８の上段は、収縮している状態の関節機構ＡＲ３ｔａを示し、図１８の下段は、伸長している状態の関節機構ＡＲ３ｔａを示している。 FIG. 18 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 17 are denoted by the same reference numerals, and detailed description thereof will be omitted. The upper part of FIG. 18 shows the joint mechanism AR3ta in a contracted state, and the lower part of FIG. 18 shows the joint mechanism AR3ta in an extended state.
　図１８に示す関節機構ＡＲ３ｔａは、モータＭＯｔ３が支持部分ＬＫ２１ｇに取り付けられていること、及び、接続部分ＴＥ３３ａが軸Ａｘｔｅ３に沿って移動可能に支持部分ＬＫ２１ｇに接続されていることを除いて、図１７に示した関節機構ＡＲ３ｔａと同様である。例えば、本変形例では、接続部分ＴＥ３３ａは、支持部分ＬＫ２１ｇに対して軸Ａｘｔｅ３（すなわち、方向Ｄｍ３）に沿って移動可能で、かつ、支持部分ＬＫ２１ｇと一緒に回転するように、支持部分ＬＫ２１ｇに接続される。また、ナットＴＥ３１は、接続部分ＴＥ３３ａの２つの端部のうちの支持部分ＬＫ２１ｇに近い端部に固定される。 The joint mechanism AR3ta shown in FIG. 18 is different from the figure except that the motor MOt3 is attached to the support part LK21g and the connection part TE33a is movably connected to the support part LK21g along the axis Axte3. This is similar to the joint mechanism AR3ta shown in FIG. For example, in this modification, the connecting portion TE33a is attached to the supporting portion LK21g so as to be movable along the axis Axte3 (that is, the direction Dm3) with respect to the supporting portion LK21g, and to rotate together with the supporting portion LK21g. Connected. Further, the nut TE31 is fixed to one of the two ends of the connecting portion TE33a, which is closer to the supporting portion LK21g.
　ボールねじＴＥ３２が回転した場合、ボールねじＴＥ３２に対するナットＴＥ３１の相対的な位置が変化する。ボールねじＴＥ３２に対するナットＴＥ３１の相対的な位置が変化することにより、ナットＴＥ３１の支持部分ＬＫ２１ｇに対する方向Ｄｍ３の相対的な位置が変化する。ナットＴＥ３１が接続部分ＴＥ３３ａに固定されているため、ナットＴＥ３１の支持部分ＬＫ２１ｇに対する方向Ｄｍ３の相対的な位置が変化した場合、リンクＬＫ２ｆの接続部分ＴＥ３３ａに対する相対的な位置が変化する。 When the ball screw TE32 rotates, the relative position of the nut TE31 with respect to the ball screw TE32 changes. By changing the relative position of the nut TE31 with respect to the ball screw TE32, the relative position of the nut TE31 in the direction Dm3 with respect to the support portion LK21g changes. Since the nut TE31 is fixed to the connecting portion TE33a, when the relative position of the nut TE31 in the direction Dm3 to the supporting portion LK21g changes, the relative position of the link LK2f to the connecting portion TE33a changes.
　例えば、接続部分ＴＥ３３ａの一部が支持部分ＬＫ２１ｇの内部に格納された状態において、ロボットコントローラ３０がモータＭＯｔ３を第１の回転方向に回転させた場合、ボールねじＴＥ３２の回転に伴い、接続部分ＴＥ３３ａは、支持部分ＬＫ２１ｇから徐々に露出する。これにより、関節機構ＡＲ３ｔａは、方向Ｄｍ３ｐに伸長する。図１８に示す例では、関節機構ＡＲ３ｔａは、最大で、方向Ｄｍ３における支持部分ＬＫ２１ｇの長さとほぼ同じ長さだけ伸長する。 For example, when the robot controller 30 rotates the motor MOt3 in the first rotation direction in a state where a part of the connecting portion TE33a is stored inside the supporting portion LK21g, the connecting portion TE33a rotates as the ball screw TE32 rotates. is gradually exposed from the support portion LK21g. Thereby, the joint mechanism AR3ta extends in the direction Dm3p. In the example shown in FIG. 18, the joint mechanism AR3ta extends at most by approximately the same length as the length of the support portion LK21g in the direction Dm3.
　なお、接続部分ＴＥ３３ａは、リンクＬＫ１ａの可動部分ＬＫ１３ｂに対する方向Ｄｍ３の相対的な位置が変化しないように、かつ、軸Ａｘ３を回転軸として可動部分ＬＫ１３ｂに対して回転可能に、可動部分ＬＫ１３ｂに取り付けられている。従って、関節機構ＡＲ３ｔａが方向Ｄｍ３ｐに伸長することにより、リンクＬＫ２ｆは、リンクＬＫ１ａから遠ざかるように、方向Ｄｍ３ｐに移動する。 The connecting portion TE33a is attached to the movable portion LK13b so that the relative position of the link LK1a in the direction Dm3 with respect to the movable portion LK13b does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3ta in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
　また、接続部分ＴＥ３３ａの一部が支持部分ＬＫ２１ｇから露出している状態において、ロボットコントローラ３０がモータＭＯｔ３を第２の回転方向に回転させた場合、ナットＴＥ３１の移動に伴い、接続部分ＴＥ３３ａは、支持部分ＬＫ２１ｇの内部に徐々に格納される。これにより、関節機構ＡＲ３ｔａは、方向Ｄｍ３ｍに収縮する。関節機構ＡＲ３ｔａが方向Ｄｍ３ｍに収縮することにより、リンクＬＫ２ｆがリンクＬＫ１ａに近づくように、方向Ｄｍ３ｍに移動する。 Further, when the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33a is exposed from the supporting portion LK21g, as the nut TE31 moves, the connecting portion TE33a It is gradually stored inside the support portion LK21g. As a result, the joint mechanism AR3ta contracts in the direction Dm3m. By contracting the joint mechanism AR3ta in the direction Dm3m, the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
　このように、接続部分ＴＥ３３ａの少なくとも一部（例えば、図１８の破線で囲んだ部分）は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ２ｆの内部に格納される。そして、接続部分ＴＥ３３ａの少なくとも一部（例えば、図１８の破線で囲んだ部分）は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最大になる場合、リンクＬＫ２ｆから露出する。 In this way, at least a portion of the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is exposed from the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
　次に、図１９を参照しながら、変形例Ｃ２に係る関節機構ＡＲ３ｔの別の例について説明する。 Next, with reference to FIG. 19, another example of the joint mechanism AR3t according to modification C2 will be described.
　図１９は、変形例Ｃ２に係る関節機構ＡＲ３ｔの別の例を説明するための説明図である。図１４から図１８において説明した要素と同様の要素については、同様の符号を付し、詳細な説明を省略する。例えば、図１９に示す態様では、ロボット１０Ｃは、図１４に示した関節機構ＡＲ３ｔの代わりに関節機構ＡＲ３ｔｂを有する。図１９の上段は、収縮している状態の関節機構ＡＲ３ｔｂを示し、図１８の下段は、伸長している状態の関節機構ＡＲ３ｔｂを示している。関節機構ＡＲ３ｔｂは、「第１駆動機構」及び「駆動機構」の他の例であり、伸縮機構ＴＥ３ｂは、「第４伸縮機構」の他の例である。なお、以下では、関節機構ＡＲ３ｔｂ等は、符号の末尾のアルファベット“ｂ”を付さずに称される（例えば、関節機構ＡＲ３ｔ）場合がある。 FIG. 19 is an explanatory diagram for explaining another example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 18 are designated by the same reference numerals, and detailed description thereof will be omitted. For example, in the embodiment shown in FIG. 19, the robot 10C has a joint mechanism AR3tb instead of the joint mechanism AR3t shown in FIG. The upper part of FIG. 19 shows the joint mechanism AR3tb in a contracted state, and the lower part of FIG. 18 shows the joint mechanism AR3tb in an extended state. The joint mechanism AR3tb is another example of the "first drive mechanism" and the "drive mechanism", and the telescoping mechanism TE3b is another example of the "fourth telescoping mechanism". Note that hereinafter, the joint mechanism AR3tb and the like may be referred to without adding the alphabet "b" at the end of the reference numeral (for example, joint mechanism AR3t).
　関節機構ＡＲ３ｔｂは、伝達軸ＲＥ１１の中心軸がボールねじＴＥ３２の中心軸（すなわち、軸Ａｘｔｅ３）と一致するように、モータＭＯａ３が可動部分ＬＫ１３ｂに取り付けられていることを除いて、図１８に示した関節機構ＡＲ３ｔａと同様である。例えば、旋回機構ＲＥ１ｂを駆動するモータＭＯａ３は、軸Ａｘ３に沿う方向からの平面視において、モータＭＯａ３に取り付けられる伝達軸ＲＥ１１の中心軸が軸Ａｘ３となるように接続部分ＴＥ３３ｂの外部に配置され、可動部分ＬＫ１３ｂの内部に固定される。従って、関節機構ＡＲ３ｔｂにおいても、図１７等に示した関節機構ＡＲ３ｔａと同様に、モータＭＯａ３は、接続部分ＴＥ３３ｂが移動しても移動しない。 The joint mechanism AR3tb is shown in FIG. 18, except that the motor MOa3 is attached to the movable part LK13b such that the central axis of the transmission shaft RE11 coincides with the central axis of the ball screw TE32 (i.e., axis Axte3). This is the same as the joint mechanism AR3ta. For example, the motor MOa3 that drives the turning mechanism RE1b is arranged outside the connecting portion TE33b so that the central axis of the transmission shaft RE11 attached to the motor MOa3 is the axis Ax3 when viewed in plan from the direction along the axis Ax3, It is fixed inside the movable part LK13b. Therefore, in the joint mechanism AR3tb as well, the motor MOa3 does not move even if the connecting portion TE33b moves, similar to the joint mechanism AR3ta shown in FIG. 17 and the like.
　また、関節機構ＡＲ３ｔｂにおいても、接続部分ＴＥ３３ｂは、図１８に示した接続部分ＴＥ３３ａと同様に、支持部分ＬＫ２１ｇ及び可動部分ＬＫ１３ｂに接続される。例えば、接続部分ＴＥ３３ｂは、支持部分ＬＫ２１ｇに対して軸Ａｘｔｅ３（すなわち、方向Ｄｍ３）に沿って移動可能で、かつ、支持部分ＬＫ２１ｇと一緒に回転するように、支持部分ＬＫ２１ｇに接続される。また、接続部分ＴＥ３３ｂは、リンクＬＫ１ａの可動部分ＬＫ１３ｂに対する方向Ｄｍ３の相対的な位置が変化しないように、かつ、軸Ａｘ３を回転軸として可動部分ＬＫ１３ｂに対して回転可能に、可動部分ＬＫ１３ｂに接続される。 Furthermore, in the joint mechanism AR3tb, the connecting portion TE33b is connected to the supporting portion LK21g and the movable portion LK13b, similar to the connecting portion TE33a shown in FIG. 18. For example, the connecting portion TE33b is connected to the supporting portion LK21g in such a way that it is movable relative to the supporting portion LK21g along the axis Axte3 (ie, the direction Dm3) and rotates together with the supporting portion LK21g. Further, the connecting portion TE33b is connected to the movable portion LK13b so that the relative position of the link LK1a with respect to the movable portion LK13b in the direction Dm3 does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. be done.
　旋回機構ＲＥ１ｂは、モータＭＯａ３の回転が伝達される伝達軸ＲＥ１１と、伝達軸ＲＥ１１に取り付けられたギアＲＥ１３ｂとを有する。伝達軸ＲＥ１１は、モータＭＯａ３に取り付けられている。ギアＲＥ１３ｂは、接続部分ＴＥ３３ｂの内部に配置され、接続部分ＴＥ３３ｂの２つの端部のうちの可動部分ＬＫ１３ｂに近い端部に取り付けられている。従って、関節機構ＡＲ３ｔｂでは、伝達軸ＲＥ１１は、ギアＲＥ１３ｂを介して接続部分ＴＥ３３ｂと連結している。 The turning mechanism RE1b includes a transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted, and a gear RE13b attached to the transmission shaft RE11. The transmission shaft RE11 is attached to the motor MOa3. The gear RE13b is disposed inside the connecting portion TE33b, and is attached to one of the two ends of the connecting portion TE33b, which is closer to the movable portion LK13b. Therefore, in the joint mechanism AR3tb, the transmission shaft RE11 is connected to the connecting portion TE33b via the gear RE13b.
　これにより、例えば、モータＭＯａ３が回転した場合、伝達軸ＲＥ１１及びギアＲＥ１３ｂを介して、接続部分ＴＥ３３ｂにモータＭＯａ３の回転が伝達される。この結果、接続部分ＴＥ３３ｂは、軸Ａｘ３を回転軸として回転する。そして、リンクＬＫ２ｆは、接続部分ＴＥ３３ｂの回転に伴い、接続部分ＴＥ３３ｂと一緒に回転する。 Thereby, for example, when the motor MOa3 rotates, the rotation of the motor MOa3 is transmitted to the connection portion TE33b via the transmission shaft RE11 and the gear RE13b. As a result, the connecting portion TE33b rotates about the axis Ax3. The link LK2f rotates together with the connection portion TE33b as the connection portion TE33b rotates.
　以上、本変形例では、伸縮機構ＴＥ３（ＴＥ３ａ又はＴＥ３ｂ）は、リンクＬＫ１ａとリンクＬＫ２ｆとを接続する接続部分ＴＥ３３（ＴＥ３３ａ又はＴＥ３３ｂ）を含む。接続部分ＴＥ３３の少なくとも一部は、軸Ａｘ３（回転軸）に沿う方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最小になる場合、リンクＬＫ２ｆの内部に格納される。また、接続部分ＴＥ３３の少なくとも一部は、方向Ｄｍ３におけるリンクＬＫ１ａとリンクＬＫ２ｆとの距離が最大になる場合、リンクＬＫ１ａ及びＬＫ２ｆから露出する。本変形例においても、上述した第４実施形態及び変形例と同様の効果を得ることができる。 As described above, in this modification, the telescopic mechanism TE3 (TE3a or TE3b) includes the connecting portion TE33 (TE33a or TE33b) that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Also in this modified example, the same effects as in the fourth embodiment and modified example described above can be obtained.
［変形例Ｃ３］
　上述した第４実施形態及び変形例では、関節機構ＡＲ３ｔが伸縮機構ＴＥ３を含む場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、伸縮機構ＴＥ３は、関節機構ＡＲ２に設けられてもよいし、関節機構ＡＲ５に設けられてもよい。すなわち、関節機構ＡＲ２が、第５回転軸（軸Ａｘ２）に沿って、リンクＬＫ１ａをボディ部ＢＤＰに対して相対的に移動させる伸縮機構（第４伸縮機構の一例）を含んでもよい。あるいは、関節機構ＡＲ５が、第２回転軸（軸Ａｘ５）に沿って、リンクＬＫ３をリンクＬＫ２ｆに対して相対的に移動させる伸縮機構（第４伸縮機構の一例）を含んでもよい。 [Modification C3]
In the fourth embodiment and the modified example described above, the case where the joint mechanism AR3t includes the expansion and contraction mechanism TE3 is illustrated, but the present invention is not limited to such an aspect. For example, the telescopic mechanism TE3 may be provided in the joint mechanism AR2 or may be provided in the joint mechanism AR5. That is, the joint mechanism AR2 may include a telescoping mechanism (an example of a fourth telescoping mechanism) that moves the link LK1a relative to the body portion BDP along the fifth rotation axis (axis Ax2). Alternatively, the joint mechanism AR5 may include a telescoping mechanism (an example of a fourth telescoping mechanism) that moves the link LK3 relative to the link LK2f along the second rotation axis (axis Ax5).
　関節機構ＡＲ２が伸縮機構を含む場合、当該伸縮機構は、例えば、主に、図１５のリンクＬＫ１ａをボディ部ＢＤＰと読み替え、図１５のリンクＬＫ２ｆをリンクＬＫ１ａと読み替え、図１５の軸Ａｘ３を軸Ａｘ２と読み替えることにより、図１５で説明される。また、関節機構ＡＲ５が伸縮機構を含む場合、当該伸縮機構は、例えば、主に、図１５のリンクＬＫ１ａをリンクＬＫ２ｆと読み替え、図１５のリンクＬＫ２ｆをリンクＬＫ３と読み替え、図１５の軸Ａｘ３を軸Ａｘ５と読み替えることにより、図１５で説明される。 When the joint mechanism AR2 includes a telescoping mechanism, the telescoping mechanism mainly includes, for example, the link LK1a in FIG. 15 is replaced with the body part BDP, the link LK2f in FIG. 15 is replaced with the link LK1a, and the axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading it as Ax2. In addition, when the joint mechanism AR5 includes a telescoping mechanism, the telescoping mechanism mainly includes, for example, link LK1a in FIG. 15 replaced with link LK2f, link LK2f in FIG. 15 replaced with link LK3, and axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading the axis Ax5.
　以上、本変形例においても、上述した第４実施形態及び変形例と同様の効果を得ることができる。但し、関節機構ＡＲ２が伸縮機構を含む態様では、当該伸縮機構により、リンクＬＫ１ａからリンクＬＫ３までの部材が全て移動するため、上述した第４実施形態及び変形例に比べて、移動する部材の重量及び体積が増加する。このため、関節機構ＡＲ２が伸縮機構を含む態様では、上述した第４実施形態及び変形例に比べて、伸縮機構による伸縮動作等の制御の精度及び高速化に関しての課題、及び、ロボット１０Ｃを設置するスペースの問題等が生じる懸念が大きくなる。換言すれば、上述した第４実施形態及び変形例（関節機構ＡＲ３ｔが伸縮機構ＴＥ３を含む態様）では、伸縮機構ＴＥ３による伸縮動作等の制御の精度及び高速化に関しての課題、及び、ロボット１０Ｃを設置するスペースの問題等が生じる懸念が小さい。 As described above, the same effects as the fourth embodiment and the modification described above can be obtained in this modification as well. However, in the case where the joint mechanism AR2 includes a telescoping mechanism, all the members from the link LK1a to the link LK3 move due to the telescoping mechanism. and volume increases. Therefore, in an embodiment in which the joint mechanism AR2 includes a telescoping mechanism, compared to the fourth embodiment and the modified example described above, there are problems regarding accuracy and speed-up of control of the telescoping operation, etc. by the telescoping mechanism, and the installation of the robot 10C. There is a growing concern that issues such as space issues will arise. In other words, in the fourth embodiment and the modified example (a mode in which the joint mechanism AR3t includes the telescoping mechanism TE3), there are problems regarding accuracy and speed-up of the control of the telescoping operation, etc. by the telescoping mechanism TE3, and the problem of increasing the speed of the control of the telescoping mechanism TE3, and the robot 10C. There is little concern that problems such as installation space will arise.
　また、関節機構ＡＲ５が伸縮機構を含む態様では、伸縮機構によりロボット１０Ｃの先端部周辺（例えば、リンクＬＫ３周辺）の構造が複雑になる。また、関節機構ＡＲ５が伸縮機構を含む態様では、上述した第４実施形態及び変形例に比べて、ロボット１０Ｃの先端部周辺（例えば、リンクＬＫ３周辺）の重量が増加する。このため、関節機構ＡＲ５が伸縮機構を含む態様では、上述した第４実施形態及び変形例に比べて、伸縮機構による伸縮動作等の制御の精度及び高速化に関しての課題等が生じる懸念が大きくなる。また、関節機構ＡＲ５の回転軸（軸Ａｘ５）は、関節機構ＡＲ４ｆの回転により、ロボット１０Ｃの底面ＢＤＰｂｔに平行な面（例えば、図１６のＸ－Ｙ平面）上から逸脱する。このため、関節機構ＡＲ５が伸縮機構を含む態様では、逆軌道計算において、単純な水平方向（図１６の例では、Ｘ方向）の移動量で演算できない場合がある。この場合、逆軌道計算等を行う場合の演算の負荷が大きくなる等の懸念が生じる。換言すれば、上述した第４実施形態及び変形例（関節機構ＡＲ３ｔが伸縮機構ＴＥ３を含む態様）では、上述の懸念を小さくすることができる。 Furthermore, in an embodiment in which the joint mechanism AR5 includes a telescoping mechanism, the structure around the distal end of the robot 10C (for example, around the link LK3) becomes complicated due to the telescoping mechanism. In addition, in an embodiment in which the joint mechanism AR5 includes a telescoping mechanism, the weight around the tip of the robot 10C (for example, around the link LK3) increases compared to the fourth embodiment and the modified example described above. For this reason, in an embodiment in which the joint mechanism AR5 includes a telescoping mechanism, there is a greater concern that problems will arise regarding accuracy and speed-up of control of the telescoping motion, etc. by the telescoping mechanism, compared to the fourth embodiment and the modified example described above. . Further, the rotation axis (axis Ax5) of the joint mechanism AR5 deviates from a plane parallel to the bottom surface BDPbt of the robot 10C (for example, the XY plane in FIG. 16) due to the rotation of the joint mechanism AR4f. For this reason, in a mode in which the joint mechanism AR5 includes a telescoping mechanism, it may not be possible to calculate a simple movement amount in the horizontal direction (in the example of FIG. 16, the X direction) in the reverse trajectory calculation. In this case, there is a concern that the calculation load when performing reverse orbit calculation etc. will increase. In other words, in the fourth embodiment and the modification described above (a mode in which the joint mechanism AR3t includes the expansion and contraction mechanism TE3), the above-mentioned concerns can be reduced.
［変形例Ｃ４］
　上述した第４実施形態及び変形例では、垂直６軸多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ３を追加した６軸２伸多関節ロボットをロボット１０Ｃとして例示したが、本発明はこのような態様に限定されるものではない。例えば、ロボット１０Ｃは、垂直６軸多関節ロボットに１つの伸縮機構ＴＥ３を追加した６軸１伸多関節ロボットであってもよい。 [Modification C4]
In the fourth embodiment and modification described above, a 6-axis, 2-extensible, articulated robot in which two extension mechanisms TE1 and TE3 are added to a vertical 6-axis, articulated robot is illustrated as the robot 10C, but the present invention does not apply to such an aspect. It is not limited to. For example, the robot 10C may be a 6-axis, 1-extension, multi-joint robot obtained by adding one extension/contraction mechanism TE3 to a vertical 6-axis, multi-joint robot.
　また、例えば、ロボット１０Ｃは、７軸以上の多関節ロボットに２つの伸縮機構ＴＥ１及びＴＥ３を追加した構成であってもよいし、７軸以上の多関節ロボットに１つの伸縮機構ＴＥ３を追加した構成であってもよい。具体的には、ロボット１０Ｃは、ボディ部ＢＤＰとリンクＬＫ１ａとを接続する１以上のリンクを有してもよい。すなわち、ロボット１０Ｃは、ボディ部ＢＤＰとリンクＬＫ３とを接続する３以上のリンク（リンクＬＫ３を除いた３以上のリンク）を有してもよい。なお、ロボット１０Ｃが有する３以上のリンクには、リンクＬＫ１ａ及びＬＫ２ｆが含まれる。リンクＬＫ３を除いた３以上のリンクは、「複数のリンク」に該当する。 Further, for example, the robot 10C may have a configuration in which two telescoping mechanisms TE1 and TE3 are added to an articulated robot with seven or more axes, or a configuration in which one telescoping mechanism TE3 is added to an articulated robot with seven or more axes. It may be a configuration. Specifically, the robot 10C may have one or more links connecting the body part BDP and the link LK1a. That is, the robot 10C may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10C has include links LK1a and LK2f. Three or more links excluding link LK3 correspond to "multiple links".
　また、例えば、伸縮機構ＴＥ１は、リンクＬＫ２ｆに設けられてもよい。また、例えば、ロボット１０Ｃは、リンクＬＫ１ａを伸縮する伸縮機構ＴＥ１と、リンクＬＫ２ｆを長手方向（方向Ｄｅ２）に伸縮する伸縮機構と、関節機構ＡＲ３ｔを伸縮する伸縮機構ＴＥ３とを有してもよい。 Furthermore, for example, the telescoping mechanism TE1 may be provided on the link LK2f. Further, for example, the robot 10C may include a telescoping mechanism TE1 that extends and contracts the link LK1a, a telescoping mechanism that extends and contracts the link LK2f in the longitudinal direction (direction De2), and a telescoping mechanism TE3 that extends and contracts the joint mechanism AR3t. .
　以上、本変形例においても、上述した第４実施形態及び変形例と同様の効果を得ることができる。 As described above, the same effects as the fourth embodiment and the modification described above can be obtained in this modification as well.
［変形例Ｃ５］
　上述した第４実施形態及び変形例では、ロボット１０ＣがモータＭＯｔ３とモータＭＯａ３とを有する場合を例示したが、本発明はこのような態様に限定されるものではない。例えば、モータＭＯｔ３とモータＭＯａ３とを１つの共通のモータとしてロボット１０Ｃに設け、当該共通のモータとボールねじＴＥ３２及び伝達軸ＲＥ１１との連結をクラッチ等で切り替えてもよい。以上、本変形例においても、上述した第４実施形態及び変形例と同様の効果を得ることができる。 [Modification C5]
In the fourth embodiment and the modification described above, the robot 10C includes the motor MOt3 and the motor MOa3, but the present invention is not limited to such an embodiment. For example, the motor MOt3 and the motor MOa3 may be provided in the robot 10C as one common motor, and the connection between the common motor, the ball screw TE32, and the transmission shaft RE11 may be switched using a clutch or the like. As mentioned above, the same effects as the fourth embodiment and the modification example described above can be obtained also in this modification example.
［Ｃ－３．第４実施形態に係る付記］
　上述した第４実施形態、及び、第４実施形態の変形例の記載から、以下に記載する態様が把握される。 [C-3. Additional notes regarding the fourth embodiment]
From the description of the fourth embodiment and the modification of the fourth embodiment described above, the aspects described below can be understood.
［付記２－１］
　多関節ロボットは、基部と、先端部と、第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、前記第１リンクと前記第２リンクとを接続する駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を回転軸として前記第２リンクを前記第１リンクに対して回転させる駆動機構と、を備え、前記駆動機構は、前記回転軸に沿って、前記第２リンクを前記第１リンクに対して相対的に移動させる第４伸縮機構を含む、ことを特徴とする。 [Appendix 2-1]
The articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link. A drive mechanism that rotates the second link with respect to the first link using an axis that makes an angle with the direction in which the first link extends is larger than a predetermined angle as a rotation axis. , the drive mechanism includes a fourth telescoping mechanism that moves the second link relative to the first link along the rotation axis.
［付記２－２］
　付記２－１に記載の多関節ロボットにおいて、前記第４伸縮機構は、前記第１リンクと前記第２リンクとを接続する接続部分を含み、前記接続部分の少なくとも一部は、前記回転軸に沿う第１方向における前記第１リンクと前記第２リンクとの距離が最小になる場合、前記第１リンク及び前記第２リンクの少なくとも一方の内部に格納され、前記第１方向における前記第１リンクと前記第２リンクとの距離が最大になる場合、前記第１リンク及び前記第２リンクから露出する、ことを特徴としてもよい。 [Appendix 2-2]
In the articulated robot according to Appendix 2-1, the fourth telescoping mechanism includes a connecting portion connecting the first link and the second link, and at least a portion of the connecting portion is connected to the rotation axis. When the distance between the first link and the second link in the first direction is the minimum, the first link in the first direction is stored inside at least one of the first link and the second link. When the distance between the first link and the second link is maximum, the second link may be exposed from the first link and the second link.
［付記２－３］
　付記２－２に記載の多関節ロボットにおいて、前記駆動機構は、前記第２リンクを前記第１リンク及び前記接続部分に対して回転させることにより、前記第２リンクを前記第１リンクに対して回転させる、ことを特徴としてもよい。 [Appendix 2-3]
In the articulated robot according to Appendix 2-2, the drive mechanism rotates the second link with respect to the first link and the connecting portion, thereby rotating the second link with respect to the first link. It may also be characterized by rotating.
［付記２－４］
　付記２－２に記載の多関節ロボットにおいて、前記駆動機構は、前記第２リンク及び前記接続部分を前記第１リンクに対して一体的に回転させることにより、前記第２リンクを前記第１リンクに対して回転させる、ことを特徴としてもよい。 [Appendix 2-4]
In the articulated robot according to Appendix 2-2, the drive mechanism rotates the second link and the connecting portion integrally with respect to the first link, thereby causing the second link to connect to the first link. The feature may be that the image is rotated relative to the object.
［付記２－５］
　付記２－１から付記２－４のいずれか１項に記載の多関節ロボットにおいて、前記第１リンクは、第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む、ことを特徴としてもよい。 [Appendix 2-5]
In the articulated robot according to any one of Supplementary notes 2-1 to 2-4, the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion. and a sixth part that connects the fifth part, and the first link is expanded and contracted by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends. A second expansion/contraction mechanism may be included.
［付記２－６］
　付記２－５に記載の多関節ロボットにおいて、前記第４部分は、中空であり、前記第１リンクが収縮した場合、前記第６部分の少なくとも一部が、前記第４部分の内部に格納される、ことを特徴としてもよい。 [Appendix 2-6]
In the articulated robot according to appendix 2-5, the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
［付記２－７］
　多関節ロボットは、基部と、第１リンクと、支持部分及び可動部分を含む第２リンクと、先端部と、前記基部の底面に垂直な方向とのなす角度が所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、前記第１リンクと前記支持部分とを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記支持部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記可動部分を前記支持部分に対して回転させる第８駆動機構と、前記可動部分と前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構と、を備え、前記第１駆動機構は、前記第１回転軸に沿って、前記第２リンクを前記第１リンクに対して相対的に移動させる第４伸縮機構を含む、ことを特徴とする。 [Appendix 2-7]
The articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less. a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion. a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis; an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle; and an eighth drive mechanism that rotates the movable portion with respect to the support portion; a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis; 6 drive mechanism, and the first drive mechanism includes a fourth telescoping mechanism that moves the second link relative to the first link along the first rotation axis. Features.
［付記２－８］
　多関節ロボットは、基部と、第１リンクと、支持部分及び可動部分を含む第２リンクと、先端部と、前記基部の底面に垂直な方向とのなす角度が所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、前記第１リンクと前記支持部分とを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記支持部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記可動部分を前記支持部分に対して回転させる第８駆動機構と、前記可動部分と前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構と、を備え、前記第５駆動機構は、前記第５回転軸に沿って、前記第１リンクを前記基部に対して相対的に移動させる第４伸縮機構を含む、ことを特徴としてもよい。 [Appendix 2-8]
The articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less. a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion. a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis; an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle; and an eighth drive mechanism that rotates the movable portion with respect to the support portion; a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis; 6 drive mechanism, and the fifth drive mechanism includes a fourth telescoping mechanism that moves the first link relative to the base along the fifth rotation axis. Good too.
［付記２－９］
　多関節ロボットは、基部と、第１リンクと、支持部分及び可動部分を含む第２リンクと、先端部と、前記基部の底面に垂直な方向とのなす角度が所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、前記第１リンクと前記支持部分とを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、前記支持部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記可動部分を前記支持部分に対して回転させる第８駆動機構と、前記可動部分と前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構と、を備え、前記第２駆動機構は、前記第２回転軸に沿って、前記先端部を前記第２リンクに対して相対的に移動させる第４伸縮機構を含む、ことを特徴としてもよい。 [Appendix 2-9]
The articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less. a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion. a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis; an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle; and an eighth drive mechanism that rotates the movable portion with respect to the support portion; a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis; 6 drive mechanism, and the second drive mechanism includes a fourth telescoping mechanism that moves the tip portion relatively to the second link along the second rotation axis. You can also use it as
［付記２－１０］
　付記２－７から付記２－９のいずれか１項に記載の多関節ロボットにおいて、前記第１リンクは、前記基部に接続される第４部分と、前記第２リンクに接続される第５部分と、前記第４部分と前記第５部分とを接続する第６部分と、前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、を含む、ことを特徴としてもよい。 [Appendix 2-10]
In the articulated robot according to any one of Supplementary notes 2-7 to 2-9, the first link includes a fourth portion connected to the base and a fifth portion connected to the second link. and a sixth part connecting the fourth part and the fifth part, and moving the sixth part with respect to the fourth part along the direction in which the fourth part extends, A second expansion and contraction mechanism that expands and contracts the first link may be included.
［付記２－１１］
　付記２－１０に記載の多関節ロボットの制御方法であって、前記多関節ロボットの動作を制御する制御装置は、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第１駆動機構を駆動するモータ、前記第８駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第４伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、ことを特徴とする。 [Appendix 2-11]
The method for controlling an articulated robot according to Appendix 2-10, wherein the control device that controls the operation of the articulated robot includes a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, A motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, a motor that drives the second drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism, The robot is characterized in that the motion of the multi-joint robot is controlled by controlling a motor that drives the second telescoping mechanism.
［付記２－１２］
　ロボットシステムは、付記２－１０に記載の多関節ロボットと、前記先端部に取り付けられたエンドエフェクタと、前記多関節ロボット及び前記エンドエフェクタの動作を制御する制御装置と、を備え、前記制御装置は、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第１駆動機構を駆動するモータ、前記第８駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第４伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、ことを特徴とする。 [Appendix 2-12]
The robot system includes the articulated robot described in Appendix 2-10, an end effector attached to the distal end, and a control device that controls operations of the articulated robot and the end effector, and the control device A motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, and a motor that drives the second drive mechanism. controlling the operation of the articulated robot by controlling a motor, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism, and a motor that drives the second telescoping mechanism; It is characterized by
［付記２－１３］
　物品の製造方法は、付記２－１２に記載のロボットシステムにより、部品を組み付ける、又は、部品を取り除く、ことを特徴とする。 [Appendix 2-13]
The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 2-12.
［Ｄ．応用例］
　上述した実施形態及び変形例において説明したロボット１０、１０Ａ、１０Ｂ又は１０Ｃを含むロボットシステム１は、部品を組み付ける、又は、部品を取り除くことを含む物品の製造方法に用いられてもよい。 [D. Application example]
The robot system 1 including the robots 10, 10A, 10B, or 10C described in the embodiments and modifications described above may be used in an article manufacturing method that includes assembling or removing parts.
［Ｅ．その他］
　上述した第１実施形態において簡単に説明した「旋回」と他の回転との区別について、いくつかの例を挙げて説明する。 [E. others]
The distinction between "swivel" briefly explained in the first embodiment and other rotations will be explained using some examples.
　図２０は、旋回の一例を説明するための説明図である。図２０では、長手方向を把握可能な２つのリンクＬＫｉ及びＬＫｊの接続を例にして、旋回と他の回転との区別について説明する。図２０の延在方向Ｄｅｉは、リンクＬＫｉが延在する方向を示し、延在方向Ｄｅｊは、リンクＬＫｊが延在する方向を示す。また、図２０の関節機構ＡＲｉは、リンクＬＫｉとリンクＬＫｊとを接続し、軸Ａｘｉを回転軸として、リンクＬＫｊをリンクＬＫｉに対して回転させる。 FIG. 20 is an explanatory diagram for explaining an example of turning. In FIG. 20, the distinction between turning and other rotations will be explained using as an example the connection of two links LKi and LKj whose longitudinal direction can be grasped. The extending direction Dei in FIG. 20 indicates the direction in which the link LKi extends, and the extending direction Dej indicates the direction in which the link LKj extends. Further, the joint mechanism ARi in FIG. 20 connects the link LKi and the link LKj, and rotates the link LKj with respect to the link LKi using the axis Axi as a rotation axis.
　図２０に示す例では、リンクＬＫｉの延在方向Ｄｅｉ（特定の方向）と軸Ａｘｉとのなす角度θが所定の角度より大きい場合、当該軸Ａｘｉを回転軸とした回転は、「旋回」に該当する。すなわち、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θが所定の角度以下の場合、当該軸Ａｘｉを回転軸とした回転は、旋回以外の回転（旋回と区別される他の回転）に該当する。図２０に示す「回転」は、旋回以外の回転を示す。また、所定の角度は特に限定されないが、図２０では、所定の角度が４５°である場合を想定する。延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、延在方向Ｄｅｉに対する軸Ａｘｉの角度として把握される複数の角度（例えば、互いに交差する２つの直線では４つの角度、又は、平行な２つの直線では０°及び１８０°）のうち、０°以上９０°以下の角度である。 In the example shown in FIG. 20, if the angle θ between the extending direction Dei (specific direction) of the link LKi and the axis Axi is larger than a predetermined angle, the rotation with the axis Axi as the rotation axis becomes a "turning". Applicable. That is, when the angle θ between the extending direction Dei of the link LKi and the axis Axi is less than or equal to a predetermined angle, the rotation about the axis Axi is a rotation other than turning (a rotation different from turning). Applies to. "Rotation" shown in FIG. 20 indicates rotation other than turning. Furthermore, although the predetermined angle is not particularly limited, it is assumed in FIG. 20 that the predetermined angle is 45°. The angle θ between the extending direction Dei and the axis Axi can be understood as the angle of the axis Axi with respect to the extending direction Dei (for example, 4 angles for two straight lines that intersect with each other, or 4 angles for two parallel lines) (0° and 180° in a straight line), the angle is 0° or more and 90° or less.
　第１パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、９０°であり、所定の角度（４５°）よりも大きい。従って、第１パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回である。また、第１パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、軸Ａｘｉに垂直である。なお、第１パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転（旋回）した場合、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、変化する。 In the first pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 90°, which is larger than the predetermined angle (45°). Therefore, in the first pattern, the rotation of the link LKj about the axis Axi is a turn. Further, in the first pattern, the extending direction Dej of the link LKj is perpendicular to the axis Axi. In the first pattern, when the link LKj rotates (swivels) about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes.
　第２パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、０°であり、所定の角度（４５°）以下である。従って、第２パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回以外の回転である。また、第２パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、リンクＬＫｉの延在方向Ｄｅｉ及び軸Ａｘｉに平行である。すなわち、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、０°である。なお、第２パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転しても、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、０°に維持され、常に一定である。 In the second pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the second pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the second pattern, the extending direction Dej of the link LKj is parallel to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 0°. In the second pattern, even if the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 0° and is always constant. .
　第３パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、０°であり、所定の角度（４５°）以下である。従って、第３パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回以外の回転である。また、第３パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、リンクＬＫｉの延在方向Ｄｅｉ及び軸Ａｘｉに垂直である。すなわち、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、９０°である。なお、第３パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転しても、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、９０°に維持され、常に一定である。 In the third pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the third pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the third pattern, the extending direction Dej of the link LKj is perpendicular to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 90°. Note that in the third pattern, even if the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 90° and is always constant. .
　第４パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、１０°であり、所定の角度（４５°）以下である。従って、第４パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回以外の回転である。また、第４パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、軸Ａｘｉに平行であり、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、１０°である。なお、第４パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転しても、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、１０°に維持され、常に一定である。 In the fourth pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 10°, which is less than or equal to a predetermined angle (45°). Therefore, in the fourth pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the fourth pattern, the extending direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 10°. In addition, in the fourth pattern, even if the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 10 degrees and is always constant. .
　第５パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、７０°であり、所定の角度（４５°）よりも大きい。従って、第５パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回である。また、第５パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、軸Ａｘｉに垂直である。なお、第５パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転（旋回）した場合、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、変化する。 In the fifth pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 70°, which is larger than the predetermined angle (45°). Therefore, in the fifth pattern, the rotation of the link LKj with the axis Axi as the rotation axis is a turn. Furthermore, in the fifth pattern, the extending direction Dej of the link LKj is perpendicular to the axis Axi. In the fifth pattern, when the link LKj rotates (turns) about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes.
　第６パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、１０°であり、所定の角度（４５°）以下である。従って、第６パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回以外の回転である。また、第６パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、軸Ａｘｉに垂直である。なお、第６パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転した場合、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、変化する。 In the sixth pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 10°, which is less than or equal to a predetermined angle (45°). Therefore, in the sixth pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Furthermore, in the sixth pattern, the extending direction Dej of the link LKj is perpendicular to the axis Axi. In the sixth pattern, when the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes.
　第７パターンでは、リンクＬＫｉの延在方向Ｄｅｉと軸Ａｘｉとのなす角度θは、７０°であり、所定の角度（４５°）よりも大きい。従って、第７パターンでは、軸Ａｘｉを回転軸としたリンクＬＫｊの回転は、旋回である。また、第７パターンでは、リンクＬＫｊの延在方向Ｄｅｊは、軸Ａｘｉに平行であり、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、７０°である。なお、第７パターンでは、リンクＬＫｊが軸Ａｘｉを回転軸として回転しても、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度は、７０°に維持され、常に一定である。 In the seventh pattern, the angle θ between the extending direction Dei of the link LKi and the axis Axi is 70°, which is larger than the predetermined angle (45°). Therefore, in the seventh pattern, the rotation of the link LKj with the axis Axi as the rotation axis is a turn. Further, in the seventh pattern, the extending direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 70°. Note that in the seventh pattern, even if the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 70° and is always constant. .
　このように、上述した実施形態及び変形例では、リンクＬＫｉに対するリンクＬＫｊの回転のうち、リンクＬＫｉの延在方向Ｄｅｉとのなす角度が所定の角度より大きい軸Ａｘｉを回転軸とした回転が、旋回とも称される。但し、「旋回」の定義は、上述の例に限定されない。例えば、リンクＬＫｉの延在方向Ｄｅｉとのなす角度が所定の角度より大きい軸Ａｘｉを回転軸とした回転を旋回とする上述の定義を第１定義とした場合、第１定義の代わりに、下記の第２定義又は第３定義が採用されてもよい。 In this way, in the above-described embodiments and modifications, among the rotations of the link LKj with respect to the link LKi, the rotation about the axis Axi that is larger than the predetermined angle with the extending direction Dei of the link LKi is Also called turning. However, the definition of "turning" is not limited to the above example. For example, if the above-mentioned definition in which rotation is defined as rotation around axis Axi whose angle with the extending direction Dei of link LKi is larger than a predetermined angle is used as the first definition, then instead of the first definition, the following The second or third definition of may be adopted.
　第２定義では、リンクＬＫｉに対するリンクＬＫｊの回転により、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度が変化する場合、当該回転が旋回に該当する。従って、第２定義では、リンクＬＫｉの延在方向Ｄｅｉに対するリンクＬＫｊの延在方向Ｄｅｊの角度が、回転しても常に一定の場合、当該回転は、旋回以外の回転に該当する。例えば、第２定義では、図２０に示した第１パターン、第５パターン及び第６パターンは、旋回に該当し、第２パターン、第３パターン、第４パターン及び第７パターンは、旋回以外の回転に該当する。 According to the second definition, when the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes due to the rotation of the link LKj with respect to the link LKi, the rotation corresponds to turning. Therefore, in the second definition, if the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is always constant even when rotated, the rotation corresponds to a rotation other than turning. For example, in the second definition, the first pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning, and the second pattern, third pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
　第３定義では、回転するリンクＬＫｊの延在方向ＤｅｊとリンクＬＫｊの回転軸（軸Ａｘｉ）とのなす角度が所定の角度より大きい場合、当該回転が旋回に該当する。従って、第３定義では、リンクＬＫｊの延在方向ＤｅｊとリンクＬＫｊの回転軸（軸Ａｘｉ）とのなす角度が所定の角度以下の場合、当該回転は、旋回以外の回転に該当する。例えば、第３定義では、図２０に示した第１パターン、第３パターン、第５パターン及び第６パターンは、旋回に該当し、第２パターン、第４パターン及び第７パターンは、旋回以外の回転に該当する。 According to the third definition, if the angle between the extending direction Dej of the rotating link LKj and the rotation axis (axis Axi) of the link LKj is larger than a predetermined angle, the rotation corresponds to turning. Therefore, in the third definition, if the angle between the extending direction Dej of the link LKj and the rotation axis (axis Axi) of the link LKj is less than or equal to a predetermined angle, the rotation corresponds to a rotation other than turning. For example, in the third definition, the first pattern, third pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning, and the second pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
　また、上述の第１定義、第２定義及び第３定義とは別に、互いに隣接する２つの関節機構ＡＲのそれぞれの回転軸の関係に着目して、２つの関節機構ＡＲによる２つの回転の相対関係を定義してもよい。具体的には、２つの回転軸のなす角度が所定の角度以下である場合（典型的には、平行の場合）、２つの回転を同種の回転とし、２つの回転軸のなす角度が所定の角度よりも大きい場合（典型的には、直交する場合）、２つの回転を異種の回転としてもよい。なお、同種の回転とは、２つの回転とも旋回、又は、２つの回転とも旋回以外の回転であり、異種の回転とは、２つの回転の一方が旋回で他方が旋回以外の回転である。２つの回転の相対関係の定義が用いられる場合、相対関係の起点となる回転は、例えば、上述の第１定義、第２定義及び第３定義のいずれかに基づいて決められてもよい。図２０に示した第１パターンは、第１定義、第２定義及び第３定義のいずれにおいても、旋回に該当し、第２パターンは、第１定義、第２定義及び第３定義のいずれにおいても、旋回以外の回転に該当する。従って、第１パターン又は第２パターンを、相対関係の起点となる回転とすることが好ましい。 In addition, apart from the above-mentioned first, second, and third definitions, focusing on the relationship between the respective rotation axes of two joint mechanisms AR that are adjacent to each other, the relative rotation of the two joint mechanisms AR You may also define relationships. Specifically, if the angle between the two rotation axes is less than or equal to a predetermined angle (typically, when they are parallel), the two rotations are considered to be the same type of rotation, and the angle between the two rotation axes is equal to or smaller than the predetermined angle. If the angle is greater than the angle (typically orthogonal), the two rotations may be dissimilar rotations. Incidentally, the same type of rotation means that both of the two rotations are turning, or both of the two rotations are rotations other than turning, and the different types of rotation are rotations where one of the two rotations is turning and the other is rotation other than turning. When a definition of a relative relationship between two rotations is used, the rotation that is the starting point of the relative relationship may be determined based on, for example, any one of the above-mentioned first definition, second definition, and third definition. The first pattern shown in FIG. 20 corresponds to turning in any of the first, second, and third definitions, and the second pattern corresponds to turning in any of the first, second, and third definitions. This also applies to rotations other than turning. Therefore, it is preferable that the first pattern or the second pattern be the rotation that becomes the starting point of the relative relationship.
　また、上述の第１定義、第２定義及び第３定義の２以上の定義を組み合わせた定義が用いられてもよい。この場合、例えば、組み合わせる２以上の定義の全てで旋回に該当する回転のみを旋回としてもよいし、組み合わせる２以上の定義の少なくとも１つで旋回に該当する回転を旋回としてもよい。 Furthermore, a definition that is a combination of two or more of the above-mentioned first definition, second definition, and third definition may be used. In this case, for example, only the rotation that corresponds to turning in all of the two or more definitions that are combined may be regarded as turning, or the rotation that corresponds to turning in at least one of the two or more definitions that are combined may be regarded as turning.
　１…ロボットシステム、１０、１０Ａ、１０Ｂ、１０Ｃ、１０Ｚ…ロボット、２０…エンドエフェクタ、３０…ロボットコントローラ、３２…処理装置、３３…メモリ、３４…通信装置、３５…操作装置、３６…表示装置、３７…ドライバ回路、ＡＲ、ＡＲ１、ＡＲ２、ＡＲ３、ＡＲ３ｔ、ＡＲ３ｔａ、ＡＲ４、ＡＲ４ａ、ＡＲ４ｂ、ＡＲ４ｃ、ＡＲ４ｄ、ＡＲ４ｅ、ＡＲ４ｆ、ＡＲ５、ＡＲ６、ＡＲｉ…関節機構、ＡＲ４１、ＡＲ４１ａ、ＡＲ４１ｅ…ステー、ＡＲ４１ｂ…モータ固定部分、ＡＲ４２、ＡＲ４２ａ、ＡＲ４２ｅ…伝達軸、ＡＲ４３、ＡＲ４４…プーリ、ＡＲ４５…タイミングベルト、ＡＲ４６…伝達軸、ＡＲ４７、ＡＲ４７ｅ…ギア、ＡＲ４７ａ…回転ギア、Ａｘ１、Ａｘ２、Ａｘ３、Ａｘ４、Ａｘ５、Ａｘ６、Ａｘｉ、Ａｘｔｅ１、Ａｘｔｅ２、Ａｘｔｅ３…軸、ＢＤＰ…ボディ部、ＢＤＰｂｔ…底面、ＢＳＰ…土台部、ＧＤ…物品、ＬＫ、ＬＫ１、ＬＫ１ａ、ＬＫ１ｚ、ＬＫ２、ＬＫ２ａ、ＬＫ２ｂ、ＬＫ２ｃ、ＬＫ２ｆ、ＬＫ２ｚ、ＬＫ３、ＬＫｉ、ＬＫｊ…リンク、ＬＫ１１…支持部分、ＬＫ１２、ＬＫ１３、ＬＫ１３ａ、ＬＫ１３ｂ…可動部分、ＬＫ２１、ＬＫ２１ａ、ＬＫ２１ｃ、ＬＫ２１ｄ、ＬＫ２１ｅ、ＬＫ２１ｆ…支持部分、ＬＫ２２、ＬＫ２２ａ、ＬＫ２２ｂ、ＬＫ２２ｃ、ＬＫ２２ｅ、ＬＫ２２ｆ、ＬＫ２３、ＬＫ２３ａ、ＬＫ２３ｃ…可動部分、ＬＫ３ｓｆ…端面、ＭＯａ１、ＭＯａ２、ＭＯａ３、ＭＯａ４、ＭＯａ５、ＭＯａ６、ＭＯｔ１、ＭＯｔ２…モータ、ＲＫ…棚、ＴＥ、ＴＥ１、ＴＥ２、ＴＥ３、ＴＥ３ａ、ＴＥ３ｂ…伸縮機構、ＴＥ１１、ＴＥ２１、ＴＥ３１…ナット、ＴＥ１２、ＴＥ２２、ＴＥ３２…ボールねじ、ＴＥ３３、ＴＥ３３ａ、ＴＥ３３ｂ…接続部分。 DESCRIPTION OF SYMBOLS 1... Robot system, 10, 10A, 10B, 10C, 10Z... Robot, 20... End effector, 30... Robot controller, 32... Processing device, 33... Memory, 34... Communication device, 35... Operating device, 36... Display device , 37... Driver circuit, AR, AR1, AR2, AR3, AR3t, AR3ta, AR4, AR4a, AR4b, AR4c, AR4d, AR4e, AR4f, AR5, AR6, ARi... Joint mechanism, AR41, AR41a, AR41e... Stay, AR41b ...Motor fixed part, AR42, AR42a, AR42e...Transmission shaft, AR43, AR44...Pulley, AR45...Timing belt, AR46...Transmission shaft, AR47, AR47e...Gear, AR47a...Rotating gear, Ax1, Ax2, Ax3, Ax4, Ax5 , Ax6, Axi, Axte1, Axte2, Axte3...axis, BDP...body part, BDPbt...bottom surface, BSP...base part, GD...article, LK, LK1, LK1a, LK1z, LK2, LK2a, LK2b, LK2c, LK2f, LK2z , LK3, LKi, LKj...link, LK11...supporting part, LK12, LK13, LK13a, LK13b...movable part, LK21, LK21a, LK21c, LK21d, LK21e, LK21f...supporting part, LK22, LK22a, LK22b, LK22c, LK22e, LK22f, LK23, LK23a, LK23c...Movable part, LK3sf...End face, MOa1, MOa2, MOa3, MOa4, MOa5, MOa6, MOt1, MOt2...Motor, RK...Shelf, TE, TE1, TE2, TE3, TE3a, TE3b...Expansion/contraction Mechanism, TE11, TE21, TE31...Nut, TE12, TE22, TE32...Ball screw, TE33, TE33a, TE33b...Connection part.

Claims (16)

  1. 　基部と、
    　先端部と、
    　第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、
    　前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、
    　前記第２リンクと、前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、
    　を備え、
    　前記第２リンクは、
    　前記第１リンクに接続される第１部分と、
    　前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、
    　前記第１部分と前記第２部分とを接続する第３部分と、
    　前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記第２部分を前記第１部分に対して回転させる第３駆動機構と、
    　前記第１部分に対して前記第３部分を前記第１部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第１伸縮機構と、
    　を含む、
    　ことを特徴とする多関節ロボット。     The base and
    The tip and
    a plurality of links including a first link and a second link and connecting the base and the tip;
    A first drive mechanism that connects the first link and the second link, wherein the second rotation axis is an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends. a first drive mechanism that rotates a link relative to the first link;
    A second drive mechanism that connects the second link to a link other than the first link and the second link among the plurality of links, or connects the second link and the tip end. , a second drive mechanism that rotates the tip with respect to the second link using an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis;
    Equipped with
    The second link is
    a first portion connected to the first link;
    a link other than the first link and the second link among the plurality of links or a second portion connected to the tip;
    a third portion connecting the first portion and the second portion;
    a third drive mechanism that rotates the second portion with respect to the first portion using an axis that makes an angle with the direction in which the first portion extends less than or equal to the predetermined angle as a third rotation axis;
    a first expansion and contraction mechanism that expands and contracts the second link by moving the third portion with respect to the first portion along the extending direction of the first portion;
    including,
    An articulated robot characterized by:
  2. 　前記第１部分は、中空であり、
    　前記第２リンクが収縮した場合、前記第３部分の少なくとも一部が、前記第１部分の内部に格納される、
    　ことを特徴とする請求項１に記載の多関節ロボット。     the first portion is hollow;
    When the second link is retracted, at least a portion of the third portion is stored within the first portion.
    The articulated robot according to claim 1, characterized in that:
  3. 　前記第３駆動機構により前記第２部分が回転する場合の前記第２部分の前記第３回転軸は、前記第３部分の中心軸と実質的に平行である、
    　ことを特徴とする請求項１又は２に記載の多関節ロボット。     The third rotation axis of the second portion when the second portion is rotated by the third drive mechanism is substantially parallel to the central axis of the third portion.
    The articulated robot according to claim 1 or 2, characterized in that:
  4. 　前記第３駆動機構は、前記第３部分に対して前記第２部分を回転させることにより、前記第１部分に対して前記第２部分を回転させる、
    　ことを特徴とする請求項１又は２に記載の多関節ロボット。     The third drive mechanism rotates the second part with respect to the first part by rotating the second part with respect to the third part.
    The articulated robot according to claim 1 or 2, characterized in that:
  5. 　前記第３駆動機構に取り付けられ、前記第３駆動機構を駆動するモータを、
    　さらに含み、
    　前記第３駆動機構及び前記モータは、
    　前記第３部分が前記第１部分の延在方向に沿って移動した場合、前記第３部分と一体的に移動するように、前記第３部分に取り付けられており、
    　前記第３駆動機構は、前記モータの駆動により前記第３部分に対して前記第２部分を回転させる、
    　ことを特徴とする請求項４に記載の多関節ロボット。     a motor attached to the third drive mechanism and driving the third drive mechanism;
    In addition, it includes
    The third drive mechanism and the motor are
    attached to the third portion so as to move integrally with the third portion when the third portion moves along the extending direction of the first portion;
    The third drive mechanism rotates the second part with respect to the third part by driving the motor.
    The articulated robot according to claim 4, characterized in that:
  6. 　前記第１リンクは、
    　第４部分と、
    　前記第２リンクに接続される第５部分と、
    　前記第４部分と前記第５部分とを接続する第６部分と、
    　前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、
    　を含む、
    　ことを特徴とする請求項１又は２に記載の多関節ロボット。     The first link is
    The fourth part,
    a fifth portion connected to the second link;
    a sixth part connecting the fourth part and the fifth part;
    a second expansion and contraction mechanism that expands and contracts the first link by moving the sixth portion with respect to the fourth portion along the direction in which the fourth portion extends;
    including,
    The articulated robot according to claim 1 or 2, characterized in that:
  7. 　前記第４部分は、中空であり、
    　前記第１リンクが収縮した場合、前記第６部分の少なくとも一部が、前記第４部分の内部に格納される、
    　ことを特徴とする請求項６に記載の多関節ロボット。     the fourth portion is hollow;
    When the first link is retracted, at least a portion of the sixth portion is stored inside the fourth portion.
    The articulated robot according to claim 6, characterized in that:
  8. 　前記基部の底面に垂直な方向とのなす角度が前記所定の角度以下の軸を第４回転軸として、前記基部の少なくとも一部分を回転させる第４駆動機構と、
    　前記基部と前記第１リンクとを接続する第５駆動機構であって、前記基部の底面に垂直な方向とのなす角度が前記所定の角度より大きい軸を第５回転軸として前記第１リンクを前記基部に対して回転させる第５駆動機構と、
    　をさらに備え、
    　前記先端部は、
    　前記第２リンクに接続されており、
    　前記第２駆動機構により前記先端部が回転する場合の前記先端部の前記第２回転軸とのなす角度が前記所定の角度より大きい軸を第６回転軸として、前記先端部の少なくとも一部分を前記第２リンクに対して回転させる第６駆動機構を含み、
    　前記複数のリンクは、
    　前記第１リンク及び前記第２リンクである、
    　ことを特徴とする請求項１に記載の多関節ロボット。     a fourth drive mechanism that rotates at least a portion of the base using an axis that makes an angle less than or equal to the predetermined angle with a direction perpendicular to the bottom surface of the base as a fourth rotation axis;
    a fifth drive mechanism that connects the base and the first link, the first link having an axis that makes an angle larger than the predetermined angle with a direction perpendicular to the bottom surface of the base as a fifth rotation axis; a fifth drive mechanism that rotates with respect to the base;
    Furthermore,
    The tip portion is
    connected to the second link;
    When the tip part is rotated by the second drive mechanism, an angle between the tip part and the second rotation axis that is larger than the predetermined angle is set as a sixth rotation axis, and at least a portion of the tip part is rotated by the sixth rotation axis. a sixth drive mechanism for rotating relative to the second link;
    The plurality of links are
    The first link and the second link,
    The articulated robot according to claim 1, characterized in that:
  9. 　前記第１リンクは、
    　前記基部に接続される第４部分と、
    　前記第２リンクに接続される第５部分と、
    　前記第４部分と前記第５部分とを接続する第６部分と、
    　前記第４部分に対して前記第６部分を前記第４部分が延在する方向に沿って移動させることにより、前記第１リンクを伸縮させる第２伸縮機構と、
    　を含む、
    　ことを特徴とする請求項８に記載の多関節ロボット。     The first link is
    a fourth portion connected to the base;
    a fifth portion connected to the second link;
    a sixth part connecting the fourth part and the fifth part;
    a second expansion and contraction mechanism that expands and contracts the first link by moving the sixth portion with respect to the fourth portion along the direction in which the fourth portion extends;
    including,
    The articulated robot according to claim 8, characterized in that:
  10. 　請求項９に記載の多関節ロボットの制御方法であって、
    　前記多関節ロボットの動作を制御する制御装置は、
    　前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第３駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第１伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、
    　ことを特徴とする多関節ロボットの制御方法。     A method for controlling an articulated robot according to claim 9,
    The control device that controls the operation of the articulated robot includes:
    A motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, controlling the operation of the articulated robot by controlling a motor that drives the sixth drive mechanism, a motor that drives the first telescoping mechanism, and a motor that drives the second telescoping mechanism;
    A method for controlling an articulated robot characterized by the following.
  11. 　請求項９に記載の多関節ロボットと、
    　前記先端部に取り付けられたエンドエフェクタと、
    　前記多関節ロボット及び前記エンドエフェクタの動作を制御する制御装置と、
    　を備え、
    　前記制御装置は、
    　前記第１駆動機構を駆動するモータ、前記第２駆動機構を駆動するモータ、前記第３駆動機構を駆動するモータ、前記第４駆動機構を駆動するモータ、前記第５駆動機構を駆動するモータ、前記第６駆動機構を駆動するモータ、前記第１伸縮機構を駆動するモータ、及び、前記第２伸縮機構を駆動するモータを制御することにより、前記多関節ロボットの動作を制御する、
    　ことを特徴とするロボットシステム。     The articulated robot according to claim 9;
    an end effector attached to the tip;
    a control device that controls operations of the articulated robot and the end effector;
    Equipped with
    The control device includes:
    A motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, controlling the operation of the articulated robot by controlling a motor that drives the sixth drive mechanism, a motor that drives the first telescoping mechanism, and a motor that drives the second telescoping mechanism;
    A robot system characterized by:
  12. 　請求項１１に記載のロボットシステムにより、部品を組み付ける、又は、部品を取り除く、
    　ことを特徴とする物品の製造方法。     Assembling parts or removing parts by the robot system according to claim 11,
    A method of manufacturing an article characterized by:
  13. 　前記第３駆動機構は、前記第１部分に対して前記第３部分を回転させることにより、前記第１部分に対して前記第２部分を回転させる、
    　ことを特徴とする請求項１又は２に記載の多関節ロボット。     The third drive mechanism rotates the second part with respect to the first part by rotating the third part with respect to the first part.
    The articulated robot according to claim 1 or 2, characterized in that:
  14. 　前記第３駆動機構に取り付けられ、前記第３駆動機構を駆動するモータを、
    　さらに含み、
    　前記第３駆動機構及び前記モータは、
    　前記第３部分が前記第１部分の延在方向に沿って移動した場合、前記第３部分と一体的に移動することないように、前記第１部分に取り付けられており、
    　前記第３駆動機構は、前記モータの駆動により前記第１部分に対して前記第３部分を回転させる、
    　ことを特徴とする請求項１３に記載の多関節ロボット。     a motor attached to the third drive mechanism and driving the third drive mechanism;
    In addition, it includes
    The third drive mechanism and the motor are
    attached to the first portion so as not to move integrally with the third portion when the third portion moves along the extending direction of the first portion;
    The third drive mechanism rotates the third portion with respect to the first portion by driving the motor.
    The articulated robot according to claim 13.
  15. 　基部と、
    　先端部と、
    　第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、
    　前記第１リンクと前記第２リンクとを接続する第１駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を第１回転軸として前記第２リンクを前記第１リンクに対して回転させる第１駆動機構と、
    　前記第２リンクと前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンクとを接続、又は、前記第２リンクと前記先端部とを接続する第２駆動機構であって、前記第２リンクが延在する方向とのなす角度が前記所定の角度より大きい軸を第２回転軸として前記先端部を前記第２リンクに対して回転させる第２駆動機構と、
    　を備え、
    　前記第２リンクは、
    　前記第１リンクに接続される第１部分と、
    　前記複数のリンクのうちの前記第１リンク及び前記第２リンク以外のリンク又は前記先端部に接続される第２部分と、
    　前記第１部分と前記第２部分とを接続する第３部分と、
    　前記第１部分が延在する方向とのなす角度が前記所定の角度以下の軸を第３回転軸として、前記第３部分を前記第１部分に対して回転させる第７駆動機構と、
    　前記第３部分に対して前記第２部分を前記第３部分の延在方向に沿って移動させることにより、前記第２リンクを伸縮させる第３伸縮機構と、
    　を含む、
    　ことを特徴とする多関節ロボット。     The base and
    The tip and
    a plurality of links including a first link and a second link and connecting the base and the tip;
    A first drive mechanism that connects the first link and the second link, wherein the second rotation axis is an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends. a first drive mechanism that rotates a link relative to the first link;
    A second drive mechanism that connects the second link to a link other than the first link and the second link among the plurality of links, or connects the second link and the tip end, a second drive mechanism that rotates the tip with respect to the second link using, as a second rotation axis, an axis that makes an angle with the direction in which the second link extends that is larger than the predetermined angle;
    Equipped with
    The second link is
    a first portion connected to the first link;
    a link other than the first link and the second link among the plurality of links or a second portion connected to the tip;
    a third portion connecting the first portion and the second portion;
    a seventh drive mechanism that rotates the third portion relative to the first portion using an axis that makes an angle with the direction in which the first portion extends less than or equal to the predetermined angle as a third rotation axis;
    a third expansion and contraction mechanism that expands and contracts the second link by moving the second portion with respect to the third portion along the extending direction of the third portion;
    including,
    An articulated robot characterized by:
  16. 　基部と、
    　先端部と、
    　第１リンク及び第２リンクを含み、前記基部と前記先端部とを接続する複数のリンクと、
    　前記第１リンクと前記第２リンクとを接続する駆動機構であって、前記第１リンクが延在する方向とのなす角度が所定の角度より大きい軸を回転軸として前記第２リンクを前記第１リンクに対して回転させる駆動機構と、
    　を備え、
    　前記駆動機構は、
    　前記回転軸に沿って、前記第２リンクを前記第１リンクに対して相対的に移動させる第４伸縮機構を含む、
    　ことを特徴とする多関節ロボット。     The base and
    The tip and
    a plurality of links including a first link and a second link and connecting the base and the tip;
    The drive mechanism connects the first link and the second link, and the drive mechanism connects the second link to the second link using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends. a drive mechanism that rotates one link;
    Equipped with
    The drive mechanism is
    including a fourth telescoping mechanism that moves the second link relative to the first link along the rotation axis;
    An articulated robot characterized by:
PCT/JP2023/018592 2022-05-26 2023-05-18 Articulated robot, control method for articulated robot, robot system, and method for manufacturing article WO2023228857A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136782A (en) * 1984-12-10 1986-06-24 株式会社東芝 Composite multi-joint type robot
JPH10333723A (en) * 1997-05-28 1998-12-18 Nec Corp Positioning device for multiple degree of freedom manipulator, method therefor and recording medium for storing program for executing the same
JP2017209781A (en) * 2016-05-16 2017-11-30 クリオン、インコーポレイテッド System and method for robotic manipulator system
WO2021148462A1 (en) * 2020-01-21 2021-07-29 Orbishaft Ab Portable shaft system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136782A (en) * 1984-12-10 1986-06-24 株式会社東芝 Composite multi-joint type robot
JPH10333723A (en) * 1997-05-28 1998-12-18 Nec Corp Positioning device for multiple degree of freedom manipulator, method therefor and recording medium for storing program for executing the same
JP2017209781A (en) * 2016-05-16 2017-11-30 クリオン、インコーポレイテッド System and method for robotic manipulator system
WO2021148462A1 (en) * 2020-01-21 2021-07-29 Orbishaft Ab Portable shaft system

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