WO2024024044A1 - Robot articulé - Google Patents

Robot articulé Download PDF

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Publication number
WO2024024044A1
WO2024024044A1 PCT/JP2022/029151 JP2022029151W WO2024024044A1 WO 2024024044 A1 WO2024024044 A1 WO 2024024044A1 JP 2022029151 W JP2022029151 W JP 2022029151W WO 2024024044 A1 WO2024024044 A1 WO 2024024044A1
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WO
WIPO (PCT)
Prior art keywords
arm
axis
base
articulated robot
rotational force
Prior art date
Application number
PCT/JP2022/029151
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English (en)
Japanese (ja)
Inventor
俊文 馬目
Original Assignee
ヤマハ発動機株式会社
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Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2022/029151 priority Critical patent/WO2024024044A1/fr
Publication of WO2024024044A1 publication Critical patent/WO2024024044A1/fr

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    • 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

  • the present invention relates to an articulated robot.
  • a horizontal articulated robot as disclosed in Patent Document 1 is known.
  • This horizontal articulated robot includes a base portion fixed on a base, and an articulated arm supported by the base portion.
  • the arm is connected to a first arm part supported so as to be pivotable about a first axis perpendicular to the base part, and to a tip of the first arm part so as to be pivotable about a second axis perpendicular to the base part.
  • the device includes a second arm portion and an operating shaft disposed at the tip of the second arm portion.
  • Various end effectors are attached to the tip of the operating shaft.
  • the first arm portion is driven by a motor (first motor) placed on the first axis
  • the second arm portion is driven by a motor (second motor) placed on the second axis.
  • the arm moves the end effector (operating shaft) in the horizontal direction within a certain area centered on the base part by driving the first arm part and the second arm part by these motors.
  • the present invention has been made in view of the above-mentioned problems, and an object thereof is to further reduce the inertia (moment of inertia) about the rotation axis of the arm.
  • An articulated robot includes a first arm rotatable about a first axis, and a first arm rotatably connected to the first arm about a second axis parallel to the first axis.
  • a first motor that generates a rotational force for rotating the first arm about the first axis; and a first motor that generates a rotational force that rotates the first arm about the first axis;
  • a second motor that is disposed at a position closer to the first axis than the second axis in the section and generates a rotational force that rotates the second arm; and the first arm and the second arm.
  • a rotational force transmitting part that connects the two motors to transmit the rotational force generated by the second motor to the second arm, and deforms in accordance with the rotation of the second arm part with respect to the first arm part.
  • FIG. 1 is a perspective view of a horizontal articulated robot (of an articulated robot) according to the first embodiment.
  • FIG. 2 is a plan view (partially sectional view) of the horizontal articulated robot.
  • FIG. 3 is a sectional view of the horizontal articulated robot.
  • FIG. 4 is an explanatory diagram (perspective view) of the operation of the horizontal articulated robot.
  • FIG. 5 is an explanatory diagram (plan view) of the operation of the horizontal articulated robot.
  • FIG. 6 is a planar model (neutral state) of the horizontal articulated robot.
  • FIG. 7 is a planar model of the horizontal articulated robot (when the arm is in operation).
  • FIG. 8 is a schematic perspective view of a horizontal articulated robot according to the second embodiment.
  • FIG. 8 is a schematic perspective view of a horizontal articulated robot according to the second embodiment.
  • FIG. 9 is a schematic perspective view of a horizontal articulated robot according to the third embodiment.
  • FIG. 10 is a side view (X arrow view in FIG. 9) of the horizontal articulated robot according to the third embodiment.
  • FIG. 11 is a schematic perspective view of a horizontal articulated robot according to the fourth embodiment.
  • FIG. 12 is a sectional view of a horizontal articulated robot according to the fifth embodiment.
  • FIG. 13 is a sectional view of a horizontal articulated robot according to the sixth embodiment.
  • FIG. 14 is a sectional view of main parts of a horizontal articulated robot according to a seventh embodiment.
  • FIG. 15 is a sectional view of main parts of a horizontal articulated robot according to the eighth embodiment.
  • FIG. 16 is a sectional view of a horizontal articulated robot according to the ninth embodiment.
  • FIG. 10 is a side view (X arrow view in FIG. 9) of the horizontal articulated robot according to the third embodiment.
  • FIG. 11 is a schematic perspective view of a horizontal articulated
  • FIG. 17 is a sectional view of a horizontally articulated robot according to the tenth embodiment.
  • FIG. 18 is a perspective view of a horizontally articulated robot according to the eleventh embodiment.
  • FIG. 19 is a plan view (partially sectional view) of a horizontally articulated robot according to the eleventh embodiment.
  • FIG. 20 is a perspective view of a horizontal articulated robot according to the twelfth embodiment.
  • FIG. 21 is a plan view (partially sectional view) of a horizontal articulated robot according to the twelfth embodiment.
  • FIG. 22 is a sectional view of a horizontal articulated robot according to the twelfth embodiment.
  • FIG. 23 is an explanatory diagram (perspective view) of the operation of the horizontal articulated robot according to the twelfth embodiment.
  • FIG. 24 is an explanatory diagram (plan view) of the operation of the horizontal articulated robot according to the twelfth embodiment.
  • FIG. 25 is a schematic perspective view of a horizontal articulated robot according to the thirteenth embodiment.
  • FIG. 26 is a sectional view of a horizontal articulated robot according to the fourteenth embodiment.
  • FIG. 27 is a schematic perspective view of a horizontal articulated robot according to the fourteenth embodiment.
  • FIG. 28 is a plan view (partially sectional view) of a horizontal articulated robot according to the fifteenth embodiment.
  • FIG. 29 is a plan view (partially sectional view) of a horizontal articulated robot according to the sixteenth embodiment.
  • FIG. 30 is a plan view (partially sectional view) of a horizontal articulated robot according to the seventeenth embodiment.
  • FIG. 31 is a plan view (partially sectional view) of a horizontal articulated robot according to a modification of the seventeenth embodiment.
  • FIG. 32 is a perspective view of a vertically articulated robot (18th embodiment).
  • FIG. 33 is a sectional view of the distal end portion of the robot arm of the vertical articulated robot.
  • FIG. 1 is a perspective view showing a first embodiment of a horizontal multi-joint robot, which is an example of the multi-joint robot of the present invention
  • FIG. 2 is a plan view (partially sectional view) of the horizontal multi-joint robot.
  • FIG. 3 is a sectional view along a vertical plane of the horizontal articulated robot.
  • the horizontal articulated robot 1 (hereinafter abbreviated as robot 1) shown in FIGS. 1 to 3 includes a base part 2, which is a part installed on a base BP, and a robot arm 3 supported by this base part 2.
  • the robot arm 3 includes a work shaft 7 provided at the tip thereof.
  • the robot arm 3 includes a first arm part 4 rotatably connected to the base part 2 around an axis A1, and a second arm part 4 rotatably connected to the first arm part 4 around an axis A2. 5, and a rotational force transmission section 6 for rotating the second arm section 5 with respect to the first arm section 4.
  • the axis A1 and the axis A2 are perpendicular axes parallel to each other. Note that the axis A1 is an example of the "first axis" of the present invention, and the axis A2 is an example of the "second axis" of the present invention.
  • the base portion 2 is a hollow, rectangular parallelepiped-shaped rigid structure.
  • a first motor M1 is provided inside the base portion 2.
  • the first motor M1 is a motor that drives the first arm portion 4.
  • the first motor M1 is a reducer-integrated servo motor in which a reducer M1b is integrally provided in a motor main body M1a.
  • the reduction gear M1b is an RV reduction gear, a cyclo reduction gear (registered trademark), a harmonic drive (registered trademark), or the like.
  • the second and fourth motors M2 and M4, which will be described later, are similarly speed reducer-integrated servo motors in which a speed reducer is integrally provided in the motor body. Note that a third motor M3, which will be described later, and a fourth motor M4, which will be described later, in a ninth embodiment, are not equipped with a reduction gear.
  • the first motor M1 is fixed to the upper wall portion 2a of the base portion 2 in an upward posture with the reducer M1b located on the upper side.
  • An opening is formed in the upper wall portion 2a, and the output shaft of the reducer M1b is fixed to the lower wall portion 4b of one longitudinal end (base end) of the first arm portion 4 through this opening. ing.
  • the first arm portion 4 is rotated (swiveled) around the axis A1 by the first motor M1, with its base end portion serving as a fulcrum.
  • the second arm part 5 is located above the first arm part 4, and one longitudinal end (base end) thereof is rotatable to the other longitudinal end (tip part) of the first arm part 4. connected.
  • the hollow shaft 5c provided on the lower wall portion 5b of the second arm portion 5 is held by the inner ring of a bearing B4 provided on the upper wall portion 4a of the first arm portion 4.
  • the second arm portion 5 is rotatably connected to the first arm portion 4 about the axis A2 with its base end portion as a fulcrum.
  • both the first arm portion 4 and the second arm portion 5 have a hollow structure, and the internal spaces of both arm portions 4 and 5 communicate with each other through the hollow shaft 5c.
  • the work shaft 7 is disposed at the other longitudinal end (tip) of the second arm portion 5, that is, at the tip of the robot arm 3.
  • the working shaft 7 is a vertically extending spline shaft.
  • the work shaft 7 passes through the second arm portion 5 and is supported so as to be movable in the vertical direction (axial direction) and rotated about the axis relative to the second arm portion 5, and is connected to the drive mechanism portion 8. driven by.
  • the drive mechanism section 8 includes a third motor M3, a screw shaft 34 arranged parallel to the work shaft 7 and rotatably supported by the third motor M3, a nut member 35 attached to the screw shaft 34, It includes a connecting member 32 that connects the upper end portion of the shaft 7 and the nut member 35. Further, the drive mechanism section 8 includes a fourth motor M4 and a spline nut 31 mounted on the work shaft 7 and connected to a speed reducer M4b of the fourth motor M4. That is, when the screw shaft 34 is rotated by the drive of the third motor M3, this rotational movement is converted into a vertical movement of the working shaft 7 via the nut member 35 and the connecting member 36, so that the working shaft 7 moves in the vertical direction.
  • the work shaft 7 is rotated by driving the fourth motor M4.
  • the fourth motor M4 is a hollow motor having a through hole penetrating in the vertical direction, and the work shaft 7 is provided so as to pass through the center of the fourth motor M4 and the spline nut 31.
  • a vertically elongated hollow cover member 30 is fixed to the tip of the second arm portion 5.
  • the cover member 30 is fixed to the upper wall portion 5a of the second arm portion 5, and covers a portion of the drive mechanism portion 8 and the second arm portion 5 that protrudes upward from the upper wall portion 5a.
  • a work tool (end effector) not shown is attached to the tip (lower end) of the work shaft 7.
  • a chuck device for gripping and transporting a workpiece a processing device for performing various processing such as welding on a workpiece, or a measuring device for measuring a workpiece, etc.
  • a working tool is attached to the tip of the working shaft 7.
  • a rotational force about the axis A3 parallel to the axis A1 and the axis A2 is applied to a position in the first arm part 4 closer to the axis A1 than the axis A2, that is, a position from the axis A2 to the axis A1 excluding the area on the axis A2.
  • a second motor M2 is arranged to generate the power.
  • the second motor M2 is a motor that drives the second arm portion 5.
  • the second motor M2 is not arranged on the axis A2, but is arranged at a position shifted from the axis A2 toward the axis A1. Therefore, the second arm portion 5 rotates around the axis A2 with the base end portion of the second arm portion 5 as a fulcrum as the rotational force of the second motor M2 is transmitted via the rotational force transmission portion 6. (swivel) driven.
  • the rotational force transmission section 6 connects the first arm section 4 and the second arm section 5 to transmit the rotational force, and deforms following the rotation of the second arm section 5 with respect to the first arm section 4. It is configured as follows. This point will be explained in detail below.
  • the rotational force transmission unit 6 includes a first base 10 that rotates around an axis A3 due to the rotational force of a second motor M2, and a second base 12 that is rotatably supported around an axis A4 with respect to the second arm 5. , an extensible portion 13 that connects the first base 10 and the second base 12 and expands and contracts (deforms) in accordance with changes in the distance between the first base 10 and the second base 12.
  • the axis A3 and the axis A4 are perpendicular axes parallel to each other, and the axis A3 is an example of the "third axis" of the present invention, and the axis A4 is an example of the "fourth axis" of the present invention.
  • the first base 10 is a hollow box-shaped member including a frame 20 and a cover 21, and is configured to surround the second motor M2.
  • the frame 20 has a cross section including a plate-shaped horizontal part 20a along the upper wall part 4a of the first arm part 4, and a plate-shaped upright part 20b rising vertically upward from one end of the horizontal part 20a. It has an L-shaped shape.
  • the horizontal portion 20a is fixed to the motor main body M2a of the second motor M2 or the body of the reducer M2b (the part joined to the motor main body M2a).
  • the output shaft of the speed reducer M2b of the second motor M2 is fixed to the first arm portion 4. Therefore, when the second motor M2 operates, the motor main body M2a and the first base portion 10 (frame 20) rotate together around the axis A3 with respect to the first arm portion 4.
  • the second base 12 is arranged between the work shaft 7 and the axis A2 in the longitudinal direction of the second arm 5, and is rotatable around the axis A4 with respect to the upper surface (upper wall 5a) of the second arm 5. is supported by Like the first base 10, the second base 12 is also a hollow box-shaped member including a frame 22 and a cover 23.
  • the frame 22 has an L-shaped cross section and includes a plate-shaped horizontal portion 22a along the upper wall portion 5a of the second arm portion 5, and a plate-shaped upright portion 22b rising vertically upward from one end of the horizontal portion 22a. It has the shape of
  • the horizontal portion 22a of the frame 22 is formed with a circular opening 22c penetrating vertically along the axis A4, and a sleeve portion 22d extending downward from the periphery of the opening 22c.
  • This sleeve portion 22d is held by an inner ring of a bearing B5 provided on the upper wall portion 5a of the second arm portion 5.
  • the telescopic section 13 is a link mechanism consisting of a first link 14 and a second link 15.
  • the first link 14 is an example of the "first link member” of the present invention
  • the second link 15 is an example of the "second link member” of the present invention.
  • Both links 14 and 15 are elongated hollow plates that have a thickness in the width direction (vertical direction in FIG. 2) of the first link 14 and the second link 15 (hereinafter sometimes referred to as arm bodies).
  • the first link 14 and the second link 15 are overlapped in the thickness direction at one end in the longitudinal direction, and are connected to each other at the one end so as to be rotatable around an axis A5 extending in the horizontal direction.
  • the hollow shaft 14a provided on the side wall of the first link 14 is held by the inner ring of the bearing B13 provided on the second link 15, so that the first link 14 and the second link 15 are connected to each other. are rotatably connected.
  • the first arm part 4 and the second arm part 5 are aligned in a straight line (hereinafter sometimes referred to as the neutral state of the robot arm 3 or the neutral state of the arm body)
  • the first The link 14 is located outside the second link 15 (on the side opposite to the arm body). Both links 14 and 15 are connected to the respective bases 10 and 12 in the following manner in a side view, in an upwardly convex bent state. Note that the first link 14 may be located inside the second link 15.
  • the other end of the first link 14 is rotatably connected to the upright portion 20b of the frame 20 of the first base 10 about an axis A6 parallel to the axis A5.
  • the other end of the second link 15 is rotatably connected to the upright portion 22b of the frame 22 of the second base 12 about an axis A7 parallel to the axis A5.
  • the hollow shaft 14b provided on the side surface of the first link 14 is held by the inner ring of a bearing B14 provided on the upright portion 20b of the first base 10.
  • a hollow shaft 15a provided on the side wall portion of the second link 15 is held by an inner ring of a bearing B15 provided on the upright portion 22b of the second base portion 12.
  • the second link 15 is rotatably connected to the second base 12, and the first link 14 is rotatably connected to the first base 10.
  • the axis A5 is an example of the "fifth axis" of the present invention.
  • a cable 100 such as an electric wire for driving the first to fourth motors M1 to M4 is introduced inside the base portion 2.
  • the cable pipe L1 is provided in an arch shape.
  • the cable pipe L1 is, for example, a flexible tube made of resin.
  • the cable 100 is guided from the base portion 2 to the inside of the rotational force transmission portion 6 through the cable piping L1, and is guided to the tip of the second arm portion 5 through the inside of the rotational force transmission portion 6. Specifically, the cable 100 is guided from the first base 10 of the rotational force transmission unit 6 into the first link 14 through the hollow shaft 14b, and from the first link 14 into the second link 15 through the hollow shaft 14a. . Further, the cable 100 is guided from the second link 15 through the hollow shaft 15a into the second base 12, and from the second base 12 into the second arm portion 5 through the opening 22c and the sleeve portion 22d.
  • the cable for the first motor is connected to the first motor M1 within the base portion 2
  • the cable for the second motor is connected to the second motor M2 within the first base portion 10.
  • cables for the third motor and the fourth motor are connected to the third motor M3 and the fourth motor M4, respectively, inside the second arm portion 5.
  • FIG. 4 is a perspective view
  • FIG. 5 is a plan view, each showing the operation of the robot 1. 4 and 5, some members such as the covers 21 and 23 of the bases 10 and 12 of the rotational force transmitting unit 6 and the cable pipe L1 are omitted.
  • the first arm portion 4 is rotationally driven around the axis A1 by the first motor M1.
  • the work shaft 7 end effector moves in the horizontal direction to an arbitrary position within the movable region indicated by the symbol Ar in FIG. 5(a).
  • the second arm section 5 is moved from (e) in FIG. It is possible to operate non-stop from d) ⁇ (a) ⁇ (b) ⁇ (c) or from (c) ⁇ (b) ⁇ (a) ⁇ (d) ⁇ (e).
  • the second arm part 5 rotates clockwise (R1 direction) or counterclockwise (R2 direction) relative to the first arm part 4, that is, in a so-called right-handed system. It is possible to continuously switch from an arm state to a left-handed arm state, or from a left-handed arm state to a right-handed arm state.
  • the second motor M2 which is conventionally arranged on the axis A2 of rotation of the second arm part 5 (Patent Document 1), is arranged at a position closer to the axis A1 than the axis A2. ing. Therefore, the center of gravity of the robot arm 3 is closer to the axis A1, thereby reducing the inertia (moment of inertia) of the robot arm 3 about the axis A1.
  • the rotational force of the second motor M2 since the rotational force of the second motor M2 is transmitted to the second arm section 5 via the rotational force transmission section 6, the influence on the inertia due to the increased weight of the rotational force transmission section 6 is taken into consideration. There is a need to.
  • the weight of the rotational force transmission section 6 is sufficiently small compared to the weight of the second motor M2 including the motor main body M2a and the speed reducer M2b, and the influence of the rotational force transmission section 6 on the inertia is extremely low. Therefore, according to the configuration of the robot 1 described above, it can be said that it is possible to reduce the inertia of the robot arm 3 around the axis A1 compared to a conventional horizontal articulated robot.
  • FIG. 6 is a plan view of the robot 1 in a neutral state.
  • FIG. 7 is a plan view of the second arm portion 5 when it is in operation. Specifically, a state is shown in which the second arm part 5 is driven in reverse and the work shaft 7 is brought into contact with an obstacle to restrict the rotation of the second arm part 5.
  • the link lengths B of the respective links 14 and 15 of the telescopic section 13 of the rotational force transmission section 6 are equal to each other, and the rotational force transmission section 6 has the second arm It is assumed that the unit 5 is configured to move by 2 ⁇ around the axis A2.
  • the torque around the axis A3 generated by the second motor M2 is T1
  • the torque around the axis A2 in that case is T2
  • the torque around the axis A2 is transmitted to the second arm via the rotational force transmission section 6.
  • the reduction ratio of the speed reducer M2b of the second motor M2 is set to twice that when the second motor M2 is arranged on the axis A2, the torque T2 around the axis A2 will be doubled, and the torque T2 around the axis A2 will be doubled.
  • the speed (angular velocity) of the second arm portion 5 becomes 1/2, and the second arm portion 5 is moved around the axis A2 with torque and speed (angular velocity) comparable to those when the second motor M2 is arranged on the axis A2. It becomes possible to drive the In this case, changing the reduction ratio of the reduction gear M2b hardly involves an increase in the weight of the second motor M2.
  • the inertia (moment of inertia) seen from the second motor M2 is reduced by the square of the reduction ratio, so if the reduction ratio is doubled as described above, the inertia around the axis A2 becomes 1/4. Therefore, according to the robot 1 described above, in addition to the inertia around the axis A1, compared to the case where the second motor M2 is arranged on the axis A2, the inertia when the position of the second motor M2 is taken as a reference is can be reduced to the same level or less, and it is possible to increase the torque of the second motor M2 without worrying about the inertia around the axis A1.
  • FIG. 8 is a schematic perspective view of the robot 1 according to the second embodiment. (a) in the figure shows the robot 1 with the robot arm 3 in a neutral state. The robot 1 according to the second embodiment differs from the first embodiment in the configuration of the rotational force transmission section 6 in the following points.
  • each link 14, 15 of the extensible portion 13 is bent upwardly and connected to each base portion 10, 12.
  • the first link 14 and the second link 15 are connected to each base 10 and 12 in a downwardly convex bent state.
  • the rotational force transmission section 6 transmits the rotational force of the second motor M2 to the second arm section 5, and deforms following the rotation of the second arm section 5. In other words, it expands and contracts.
  • each base 10 and 12 of the second embodiment is configured to have a higher height than that of the first embodiment, and when the extendable part 13 is folded as the second arm part 5 rotates, the arm part Each link 14, 15 is supported at a height position where 4, 5 and the expandable portion 13 do not interfere with each other.
  • FIG. 9 is a schematic perspective view of the robot 1 according to the third embodiment. (a) in the figure shows the robot 1 with the robot arm 3 in a neutral state. Moreover, FIG. 10 is a side view of the robot 1 (X arrow view of FIG. 9). The robot 1 according to the third embodiment differs from the first embodiment in the configuration of the rotational force transmission section 6 in the following points.
  • the axis A6 is perpendicular to the axis A3, and similarly the axis A7 is perpendicular to the axis A4. That is, the angle that the axis A6 makes with the axis A3 and the angle that the axis A7 makes with the axis A4 are both 90 degrees.
  • the angle ⁇ a formed by the axis A6 with respect to the axis A3 and the angle ⁇ b formed by the axis A7 with respect to the axis A4 are set to be the same acute angle. has been done. Therefore, the upright portion 20b of the frame 20 at the first base 10 and the upright portion 22b of the frame 22 at the second base 12 are both inclined with respect to the vertical axis.
  • the rotational force transmission section 6 transmits the rotational force of the second motor M2 to the second arm section 5, and deforms following the rotation of the second arm section 5. In other words, it expands and contracts.
  • the angle ⁇ a formed by the axis A6 with respect to the axis A3 and the angle ⁇ b formed by the axis A7 with respect to the axis A4 are the same as in the first embodiment from the viewpoint of avoiding interference between the second arm portion 5 and the telescopic portion 13. It is desirable that the angle be 90°. If the angles ⁇ a and ⁇ b become smaller than 90°, there is a concern that interference between the second arm portion 5 and the extendable portion 13 may occur. Therefore, in the third embodiment, the angles ⁇ a and ⁇ b are set within a range where the second arm portion 5 and the extendable portion 13 do not interfere, for example, within a range of 10° or more and less than 90°.
  • FIG. 11 is a schematic perspective view of the robot 1 according to the fourth embodiment. (a) in the figure shows the robot 1 with the robot arm 3 in a neutral state.
  • the robot 1 according to the fourth embodiment differs from the first embodiment in the configuration of the rotational force transmitting section 6 in the following points.
  • the rotational force transmitting section 6 is configured such that the extensible section 13 is arranged along the widthwise center of the arm body, that is, on a straight line intersecting the axes A2 to A4. There is.
  • the frames 20 and 22 of each base 10 and 12 have horizontal portions 20a and 22a formed in a disk shape, and upright portions 20b and 22b are provided at the center thereof.
  • One end of the first link 14 and the second link 15 is bifurcated, and when the other end is inserted into the fork, the first link 14 and the second link 15 are connected. are rotatably connected.
  • the end of the first link 14 on the first base 10 side is formed into two forks, and the first link 14 is rotated by the upright part 20b with the upright part 20b inserted into the forked part. possible to be connected.
  • the end of the second link 15 on the second base 12 side is formed into two forks, and the second link 15 is attached to the upright part 22b with the upright part 22b inserted into the forked part. Rotatably connected.
  • the second motor M2 is arranged inside the first arm section 4.
  • the second motor M2 is fixed to the upper wall portion 4a in an upward posture with the reducer M2b located on the upper side, and the output shaft of the reducer M2b is fixed to the frame 20 of the first base 10.
  • the wiring structure of the cable 100 can be the same as in the fifth and sixth embodiments described later.
  • the rotational force transmitting section 6 is configured such that when the robot arm 3 is in the neutral state, the extensible section 13 is disposed inside the arm body in the width direction. , there is an advantage that the entire robot is more compact than the robot 1 of the first embodiment.
  • FIG. 12 is a sectional view along a vertical plane showing the robot 1 according to the fifth embodiment.
  • the robot 1 according to the fifth embodiment differs from the first embodiment mainly in the wiring structure of the cable 100 in the following points.
  • the cable 100 was guided from the base section 2 to the rotational force transmission section 6 through the cable piping L1, and was guided to the tip of the second arm section 5 through the inside of the rotational force transmission section 6.
  • a cable pipe L1 is provided between the base part 2 and the second arm part 5.
  • the cable 100 is guided from the base part 2 into the second arm part 5 through the cable pipe L1. Specifically, the cable 100 is guided inside the second arm section 5 at a position between the work shaft 7 and the second base section 12 of the rotational force transmission section 6 .
  • cables for the third motor and for the fourth motor are connected to the third motor M3 and the fourth motor M4 inside the second arm portion 5, respectively.
  • a cable for the second motor is introduced from the second arm section 5 to the first arm section 4 through the hollow shaft 5c, and is connected to the second motor M2 inside the first arm section 4.
  • the cable for the first motor is connected to the first motor M1 within the base portion 2, as in the first embodiment.
  • the second motor M2 is in an upward posture with the reducer M2b located on the upper side, and the reducer M2b is fixed to the upper wall portion 4a of the first arm portion 4. ing.
  • the output shaft of the speed reducer M2b is fixed to the frame 20 of the first base 10 of the rotational force transmitting section 6.
  • the basic structure of the robot 1 of the fifth embodiment is the same as that of the first embodiment, so the robot 1 of the fifth embodiment can also enjoy the same effects as the first embodiment.
  • FIG. 13 is a sectional view taken along a vertical plane of the robot 1 according to the sixth embodiment.
  • the robot 1 according to the sixth embodiment differs from the first embodiment mainly in the wiring structure of the cable 100 in the following points.
  • a flexible cable pipe L1 (not shown in FIG. 1) made of a flexible tube is provided, and the cable 100 is guided from the base part 2 to the rotational force transmitting part 6 through the cable pipe L1.
  • a cable guide section 40 made of a rigid hollow structure is provided at the upper part of the base section 2 in place of the cable pipe L1 of the first embodiment.
  • the cable guide section 40 has an inverted L-shape including a vertical guide section 41 extending upward from the upper surface of the base section 2 and a horizontal guide section 42 extending horizontally from the upper end thereof.
  • the vertical guide portion 41 is provided on the upper surface of the base portion 2 at a position outside the movable region of the first arm portion 4 .
  • the lateral guide portion 42 is located above the upper surface of the first arm portion 4, and is provided such that its tip portion is located on the axis A1.
  • An opening 42a is formed on the lower surface of the distal end of the horizontal guide portion 42 at a position corresponding to the axis A1. Furthermore, an opening 4c is formed on the upper surface (upper wall 4a) of the first arm portion 4 to face the opening 42a.
  • the cable 100 is introduced into the cable guide section 40 through an opening 2b formed in the upper wall section 2a of the base section 2, and is introduced from the cable guide section 40 through the openings 42a and 4c. It is guided into the interior of the first arm section 4, and further guided from the first arm section 4 to the distal end of the second arm section 5 through the hollow shaft 5c.
  • the cable for the second motor is connected to the second motor M2 inside the first arm section 4, and the cables for the third motor and the fourth motor are connected inside the second arm section 5. , are connected to a third motor M3 and a fourth motor M4, respectively.
  • the cable for the first motor is connected to the first motor M1 within the base portion 2 as in the first embodiment.
  • the second motor M2 is in an upward posture as in the fifth embodiment, and the reducer M2b is fixed to the upper wall part 4a of the first arm part 4. ing.
  • the output shaft of the speed reducer M2b is fixed to the frame 20 of the first base 10 of the rotational force transmitting section 6.
  • the basic structure of the robot 1 of the sixth embodiment is the same as that of the first embodiment, so the robot 1 of the sixth embodiment can also enjoy the same effects as the first embodiment.
  • the robot 1 of the sixth embodiment since the cable piping L1 is omitted, there is an advantage that the risk of interference between the cable piping L1 and external equipment is reduced.
  • FIG. 14 is a sectional view of a main part of the robot 1 according to the seventh embodiment along a vertical plane.
  • the robot 1 according to the seventh embodiment differs from the first embodiment in the wiring structure of the rotational force transmission section 6 and the cable 100 in the following points.
  • the second motor M2 is arranged on the axis A1. That is, the second motor M2 is arranged with respect to the first arm part 4 so as to generate a rotational force about the axis A1, and the rotational force transmission part 6 is arranged so as to correspond to the arrangement of the second motor M2. It is provided.
  • the basic configuration of the rotational force transmitting section 6 is the same as in the first embodiment, but the link lengths of the links 14 and 15 are different from the first embodiment.
  • a cable guide section 40 similar to the sixth embodiment is provided at the upper part of the base section 2 in place of the cable piping L1 of the first embodiment.
  • the lateral guide section 42 of the cable guide section 40 is provided above the top surface of the first base section 10 of the rotational force transmission section 6, that is, above the top surface of the cover 21.
  • the cover 21 is provided with an opening 21a at a position opposite to the opening 42a of the cable guide section 40 (lateral guide section 42), that is, on the axis A1.
  • the cable 100 is introduced into the cable guide section 40 through an opening 2b formed in the upper wall section 2a of the base section 2, and rotated from the cable guide section 40 through the openings 42a and 21a. It is guided inside the first base 10 of the force transmitting part 6 . As in the first embodiment, it is guided to the distal end portion of the second arm portion 5 through the inside of the rotational force transmitting portion 6.
  • the basic structure of the robot 1 of the seventh embodiment is the same as that of the first embodiment, so the robot 1 of the seventh embodiment can also enjoy the same effects as the first embodiment.
  • the second motor M2 is arranged on the axis A1 which is the rotation center of the first arm part 4, compared to the case where the second motor M2 is arranged on the axis A3, , the center of gravity of the robot arm 3 becomes closer to the axis A1. Therefore, according to the robot 1 of the seventh embodiment, the inertia (moment of inertia) of the robot arm 3 about the axis A1 is reduced compared to the robot 1 of the first embodiment.
  • FIG. 15 is a sectional view of a main part of the robot 1 according to the eighth embodiment along a vertical plane.
  • the robot 1 according to the eighth embodiment has a configuration in which the second motor M2 is arranged on the axis A1 in the robot 1 according to the already described sixth embodiment (see FIG. 13).
  • a rotational force transmission section 6 is provided to correspond to the arrangement of the second motor M2.
  • the basic configuration of the rotational force transmission section 6 is the same as in the first embodiment.
  • the second motor M2 moves the lateral guide section 42 of the cable guide section 40 through the opening 4c of the first arm section 4 and the opening 42a of the lateral guide section 42. It is arranged so as to penetrate in the vertical direction.
  • the first base part 10 of the rotational force transmitting part 6 is arranged above the horizontal guide part 42, and the output shaft of the speed reducer M2b of the second motor M2 is attached to the frame 20 (horizontal part 20a) of the first base part 10. is fixed.
  • the cable 100 is introduced from the base part 2 into the cable guide part 40, and is led from the cable guide part 40 through the openings 42a and 4c to the first arm part 4 along the second motor M2. You will be guided inside. Then, it is guided to the distal end portion of the second arm portion 5 through the interior of each of the first arm portion 4 and the second arm portion 5.
  • the basic structure of the robot 1 of the eighth embodiment is the same as that of the first embodiment, so the robot 1 of the eighth embodiment can also enjoy the same effects as the first embodiment. Further, in the eighth embodiment, since the second motor M2 is arranged on the axis A1, which is the rotation center of the first arm part 4, the robot arm around the axis A1, similar to the robot 1 of the seventh embodiment, It becomes possible to reduce the inertia (moment of inertia) of 3 compared to the robot 1 of the first embodiment.
  • FIG. 16 is a sectional view taken along a vertical plane of the robot 1 according to the ninth embodiment.
  • the robot 1 according to the ninth embodiment has the same basic structure as the robot 1 according to the already described sixth embodiment (see FIG. 13), but the specifics of the work shaft 7 and the drive mechanism section 8 are different in the following points.
  • the configuration is different from the sixth embodiment.
  • the work shaft 7 is a ball screw spline shaft, and the work shaft 7 is arranged on the axis A4 so as to vertically penetrate the second base 12 of the rotational force transmission section 6. There is. Specifically, the working shaft 7 passes through the second base 12 in the vertical direction through the bearing B5, the opening 22c of the frame 22 of the second base 12, and the opening 23a formed in the cover 23.
  • the work shaft 7 includes a ball screw nut 36a rotatably supported on the upper wall portion 5a of the second arm portion 5 via a bearing B20, and a ball rotatably supported on the lower wall portion 5b via a bearing B21.
  • the spline nut 38a is inserted into the spline nut 38a.
  • the ball screw nut 36a is driven by a third motor M3, and the ball spline nut 38a is driven by a fourth motor M4 by a belt transmission mechanism.
  • the third motor M3 and the fourth motor M4 are arranged at a position between the axis A4 and the axis A2 in the second arm part 5 so that each output shaft is located inside the second arm part 5. They are arranged vertically facing each other.
  • a transmission belt 36d is attached across a pulley 36b attached to the ball screw nut 36a and a pulley 36c fixed to the output shaft of the third motor M3, and a pulley 38b attached to the ball spline nut 38a.
  • a transmission belt 38d is attached across the motor and a pulley 38c fixed to the output shaft of the fourth motor M4.
  • the drive mechanism section 8 is thus configured by the third motor M3, the fourth motor M4, the ball screw nut 36a, the ball spline nut 38a, and the belt transmission mechanism described above.
  • the basic structure of the robot 1 of the ninth embodiment is the same as that of the first embodiment, so the robot 1 of the ninth embodiment can also enjoy the same effects as the first embodiment.
  • the work shaft 7 is arranged on the axis A4 and is configured to vertically penetrate the second base 12 of the rotational force transmitting section 6.
  • the rotational force transmission section 6 does not interfere with the drive mechanism section 8 of the work shaft 7. Therefore, there is an advantage that the movable area Ar of the second arm portion 5 is not restricted in order to avoid the interference, in other words, it contributes to increasing the movable area Ar.
  • FIG. 17 is a sectional view taken along a vertical plane of the robot 1 according to the tenth embodiment.
  • the robot 1 according to the tenth embodiment differs from the first embodiment in the specific configuration of the rotational force transmission section 6 in the following points.
  • the telescoping section 13 of the rotational force transmitting section 6 had a configuration in which two links 14 and 15 were interconnected at their ends, but the telescoping section 13 of the tenth embodiment As shown in FIG. 17, it consists of a magic hand type link mechanism (rage tongue) in which a plurality of parallel link mechanisms are combined.
  • the individual links constituting the telescoping section 13 have a hollow structure, and the cable 100 guided from the base section 2 to the rotational force transmitting section 6 through the cable piping L1 is inside the links of the telescoping section 13. It is guided to the distal end of the second arm part 5 through. This point is the same as the first embodiment.
  • the basic structure of the robot 1 of the tenth embodiment is the same as that of the first embodiment, so the robot 1 of the tenth embodiment can also enjoy the same effects as the first embodiment.
  • the telescopic portion 13 (rage tongue) as described above, as the second arm portion 5 rotates, the axis A4 and the axis A3 are brought closest to each other, that is, the telescopic portion 13 is folded to the smallest size.
  • the upper end height of the stretchable section 13 in the extended state is suppressed to be lower than that of the stretchable section 13 of the first embodiment. Therefore, it is possible to keep the height occupied by the telescopic section 13 during operation low.
  • FIG. 18 is a perspective view of the robot 1 according to the eleventh embodiment
  • FIG. 19 is a plan view (partially sectional view) of the robot 1.
  • the robot 1 according to the eleventh embodiment differs from the first embodiment in the specific configuration of the rotational force transmission section 6 in the following points.
  • the first link 14 constituting the telescopic section 13 of the rotational force transmitting section 6 is connected to the first section 141 connected to the second link 15. , a second portion 142 connected to the first base portion 10 (frame 20), and a connecting portion 16 that connects these portions so as to be relatively rotatable around the axis A8.
  • the axis A8 is an axis extending in the longitudinal direction of the first link 14, orthogonal to the axes A5 to A7.
  • the connecting portion 16 is composed of a bearing such as a cross roller bearing, and the inner ring of the bearing is fixed to the first portion 141 and the outer ring portion of the bearing is fixed to the second portion 142.
  • the rotational force generated by the second motor M2 can be more smoothly transmitted to the second arm section 5 via the rotational force transmission section 6.
  • unnecessary force will act on each link 14, 15 and each bearing B5, B13 to B15, causing deformation and rotation. It is conceivable that this may result in resistance when the force transmission section 6 is operated.
  • relative rotation between the first portion 141 and the second portion 142 is allowed, thereby making it possible to release unnecessary forces as described above. Therefore, the rotational force transmission section 6 can operate smoothly, and as a result, the rotational force generated by the second motor M2 can be transmitted to the second arm section 5 more smoothly.
  • the connecting portion 16 is provided on the first link 14 side, but the connecting portion 16 may be provided on the second link 15 side.
  • the connecting portion 16 is constituted by a bearing, it is not limited to a bearing as long as the first portion 141 and the second portion 142 can be connected so as to be relatively rotatable around the axis A8.
  • the connecting portion 16 is configured with a bearing, as shown in FIG. 19, the cable 100 can be easily routed inside the expandable portion 13.
  • the connecting portion 16 is provided in the link member connected to the first base 10 or the link member connected to the second base 12 among the link members constituting the plurality of parallel link mechanisms of the extensible portion 13. be able to.
  • FIG. 20 is a perspective view of the robot 1 according to the twelfth embodiment
  • FIG. 21 is a plan view (partially sectional view) of the robot 1.
  • FIG. 22 is a sectional view of the robot 1 taken along a vertical plane.
  • the robot 1 according to the twelfth embodiment differs from the first embodiment in the specific configuration of the rotational force transmission section 6 in the following points.
  • the extensible portion 13 of the rotational force transmitting portion 6 is composed of a linear motion member instead of a link mechanism.
  • the extensible portion 13 includes a shaft member 50 connected to the second base 12 and a guide member 52 connected to the first base 10.
  • the shaft member 50 is a spline shaft
  • the guide member 52 is a cylindrical spline nut.
  • the telescopic portion 13 has a telescopic structure in which one end side (distal end side) of the shaft member 50 is inserted into the inside of the guide member 52 from one end side (distal end side).
  • the axial length L52 of the guide member 52 is set to be slightly longer than the axial length L50 of the shaft member 50, and each of the axial lengths L50 and L52 is at a position approximately midway between the axis A6 and the axis A7 when the robot arm 3 is in a neutral state.
  • the tip of the shaft member 50 is inserted into the tip of the guide member 52, while the tip of the shaft member 50 is inserted into the innermost part of the guide member 52 when the second arm portion 5 is rotated the most from the neutral state. It is set so as to be located at the end (that is, not protrude outward from the guide member 52).
  • the other end (base end) of the shaft member 50 is held by a holder member 51, and the shaft member 50 is attached to the frame 22 (standing portion 22b) of the second base 12 via the holder member 51. They are connected to be rotatable around the axis A7.
  • the other end (base end) of the guide member 52 is held by a holder member 53, and the guide member 52 is attached to the frame 20 (erected portion 20b) of the first base 10 via the holder member 53. On the other hand, it is rotatably connected around the axis A6. Specifically, as shown in FIG. 21, the shaft portion 51a provided on the holder member 51 is held by the inner ring of the bearing B15 provided on the upright portion 22b.
  • a shaft portion 53a provided on the holder member 53 is held by an inner ring of the bearing B14 provided on the upright portion 20b.
  • the shaft member 50 is rotatably connected to the second base 12, and the guide member 52 is rotatably connected to the first base 10.
  • the second motor M2 is in an upward posture as in the sixth embodiment (see FIG. 13), and the reducer M2b is fixed to the upper wall portion 4a of the first arm portion 4. has been done.
  • the output shaft of the speed reducer M2b is fixed to the frame 20 of the first base 10 of the rotational force transmitting section 6.
  • the wiring structure of the cable 100 in the robot 1 of the twelfth embodiment is the same as the wiring structure of the sixth embodiment (see FIG. 13). That is, the cable guide section 40 is provided on the upper part of the base section 2. The cable 100 is introduced into the cable guide section 40 from the base section 2. The cable is guided into the first arm part 4 through the cable guide part 40, and further guided from the first arm part 4 to the tip of the second arm part 5 through the hollow shaft 5c.
  • FIGS. 23 and 24 are explanatory diagrams of the operation of the robot 1 of the twelfth embodiment, with FIG. 23 being a perspective view and FIG. 24 being a plan view, each showing the operation of the robot 1. Note that in FIGS. 23 and 24, the covers 21 and 23 of the bases 10 and 12 of the rotational force transmission section 6 and the cable guide section 40 are omitted.
  • the second arm portion 5 when the second arm portion 5 is reversely driven by the second motor M2, the second arm portion 5 rotates counterclockwise (in the direction of arrow R2) in plan view.
  • the guide member 52 changes as shown in FIGS.
  • the shaft member 50 enters into the inside of the telescopic portion 13, and the total length of the extensible portion 13 is reduced. That is, the extensible portion 13 expands and contracts in accordance with the rotation of the second arm portion 5 with respect to the first arm portion 4 .
  • the first arm portion 4 is rotationally driven around the axis A1 by the first motor M1.
  • the work shaft 7 end effector moves in the horizontal direction to any position within the movable area Ar shown in FIG. 24(a).
  • the basic structure of the robot 1 of the twelfth embodiment is the same as that of the first embodiment, so the robot 1 of the twelfth embodiment can also enjoy the same effects as the first embodiment.
  • the telescopic part 13 of the rotational force transmitting part 6 is composed of the shaft member 50 and the guide member 52 as described above. There is no large variation in the height of the expandable part 13. Therefore, it is possible to keep the height occupied by the telescopic section 13 during operation low.
  • the shaft member 50 is a spline shaft
  • the guide member 52 is a cylindrical spline nut.
  • the shaft member 50 with a rail member such as a linear guide
  • the guide member 52 with a sliding member such as a slider that slides along the rail member.
  • the telescopic portion 13 may have a structure (double row) in which pairs of shaft members 50 (spline shafts or rail members) and guide members 52 (spline nuts or sliding members) are provided in multiple rows.
  • FIG. 25 is a schematic perspective view of the robot 1 according to the thirteenth embodiment. (a) in the figure shows the robot 1 with the robot arm 3 in a neutral state.
  • the robot 1 according to the thirteenth embodiment has the same basic configuration as the robot 1 according to the twelfth embodiment, but differs in the configuration of the rotational force transmission section 6 in the following points.
  • the angle that the axis A6 makes with the axis A3 and the angle that the axis A7 makes with the axis A4 are the same acute angle. is set to . Therefore, the upright portion 20b of the frame 20 on the first base 10 and the upright portion 22b of the frame 22 on the second base 12 are both provided to be inclined with respect to the vertical.
  • the basic structure of the robot 1 of the thirteenth embodiment is the same as that of the twelfth embodiment. Therefore, the robot 1 of the thirteenth embodiment can also enjoy the same effects as the twelfth embodiment.
  • the angle formed by the axis A6 with respect to the axis A3 and the angle formed by the axis A7 with respect to the axis A4 are as in the twelfth embodiment from the viewpoint of avoiding interference between the second arm part 5 and the telescopic part 13.
  • the angle is 90°. If the angle is smaller than 90°, there is a concern that there will be interference between the second arm portion 5 and the extendable portion 13. Therefore, in the thirteenth embodiment, the angle is set within a range where the second arm portion 5 and the telescopic portion 13 do not interfere, for example, within a range of 10° or more and less than 90°. This point is similar to the third embodiment described above.
  • FIG. 26 is a sectional view taken along a vertical plane of the robot 1 according to the fourteenth embodiment. Further, FIG. 27 is a perspective view of the robot 1, and (a) in the figure shows the robot 1 with the robot arm 3 in a neutral state.
  • the robot 1 according to the fourteenth embodiment has the same basic configuration as the robot 1 of the twelfth embodiment (see FIGS. 20 to 24), but differs in the configuration of the rotational force transmission section 6 in the following points.
  • the rotational force transmitting section 6 is configured such that the extensible section 13 is parallel to a plane orthogonal to the axis A2 to the axis A4.
  • the first base 10 and the second base 12 are provided with box-shaped frames 20 and 22, the base end of the shaft member 50 is fixed to the frame 22 of the second base 12, and the guide member 52 is fixed to the frame 22 of the second base 12.
  • the base end portion of is fixed to the frame 20 of the first base portion 10. That is, in the robot 1 of the fourteenth embodiment, the shaft member 50 around the axis A7 is restricted, and the rotation of the guide member 52 around the axis A6 is restricted.
  • the basic structure of the robot 1 of the fourteenth embodiment is the same as that of the twelfth embodiment, so the robot 1 of the fourteenth embodiment can also enjoy the same effects as the twelfth embodiment.
  • the rotational force transmitting portion when the robot arm 3 is in the neutral state, includes the extendable portion 13 on the inner side in the width direction of the arm body (the first arm portion 4 and the second arm portion 5).
  • the configuration of the robot arm 3 including the rotational force transmitting section 6 becomes compact. Furthermore, the configuration is simplified because members for rotatably supporting the shaft member 50 and the guide member 52 (the bearings B14, 15, the holder members 51, 53) are not required.
  • FIG. 28 is a plan view (partially sectional view) of the robot 1 according to the fifteenth embodiment, showing the robot 1 with the robot arm 3 in a neutral state.
  • the robot 1 according to the fifteenth embodiment has the same basic configuration as the robot 1 according to the twelfth embodiment (see FIGS. 20 to 24), but differs in the configuration of the rotational force transmission section 6 in the following points.
  • a shaft member 50 in the telescopic portion 13 is rotatably supported by a holder member 51 via a bearing B30.
  • this configuration allows the rotational force generated by the second motor M2 to be more smoothly transmitted to the second arm portion 5 via the rotational force transmission portion 6.
  • the shaft member 50, the guide member 52, or the bearing B5 , B14, and B15 may be deformed due to unnecessary force acting on them, resulting in resistance when the rotational force transmitting section 6 is operated.
  • unnecessary force acting on the rotational force transmitting section 6 can be released. . Therefore, the rotational force transmission section 6 can operate smoothly, and as a result, the rotational force generated by the second motor M2 can be transmitted to the second arm section 5 more smoothly.
  • the shaft member 50 is rotatably supported with respect to the holder member 51, but the guide member 52 may be rotatably supported with respect to the holder member 53. In this case as well, similar effects can be enjoyed.
  • the configuration may be such that relative rotation between the shaft member 50 and the guide member 52 is allowed while maintaining the structure in which the shaft member 50 is fixed to the holder member 51 and the guide member 52 to the holder member 53.
  • the shaft member 50 with a ball bush shaft and constructing the guide member 52 with a ball bush nut, smooth operation is possible.
  • the same effects as the configuration in FIG. 28 can be achieved.
  • the configuration in which the shaft member 50 is a ball bush shaft and the guide member 52 is a ball bush nut can also be applied to the fourteenth embodiment described above.
  • the fourteenth embodiment since the shaft member 50 around the axis A7 is restricted and the rotation of the guide member 52 around the axis A6 is restricted, the rotational force generated by the second motor M2 is The effect of smoothly transmitting the signal to the second arm portion 5 is low.
  • FIG. 29 is a plan view (partially sectional view) of the robot 1 according to the sixteenth embodiment.
  • the robot 1 according to the sixteenth embodiment has the same basic configuration as the robot 1 according to the twelfth embodiment (see FIGS. 20 to 24), but differs in the configuration of the rotational force transmission section 6 in the following points.
  • the tip of the shaft member 50 is inserted into the guide member 52 only at the position of the first base 10, that is, approximately only at the position of the axis A3.
  • the axial length L50 of the shaft member 50 and the axial length L52 of the guide member 52 in the telescoping portion 13 are set so as to be guided (guided).
  • the shaft member 50 penetrates the guide member 52, and the shaft member 50 rotates.
  • the tip protrudes to the rear of the first arm portion 4, that is, to the axis A1 side (base portion 2 side).
  • the movable area Ar of the robot arm 3 is not easily restricted by the axial lengths L50 and L52 of the shaft member 50 and the guide member 52. Therefore, the robot 1 of the sixteenth embodiment contributes to increasing the movable range of the robot arm 3.
  • FIG. 30 is a plan sectional view (partial sectional view) of the robot 1 according to the seventeenth embodiment.
  • the robot 1 according to the seventeenth embodiment has the same basic configuration as the robot 1 according to the twelfth embodiment, but differs in the configuration of the rotational force transmission section 6 in the following points.
  • the guide member 52 constituting the telescopic part 13 of the rotational force transmitting part 6 has two unit guide members 52a and 52b (outer guide member 52a, inner guide member 52b). That is, the extensible portion 13 has a telescopic structure that is expandable and retractable in two stages, in which the outer guide member 52a and the inner guide member 52b are slidably arranged concentrically with respect to the shaft member 50.
  • the shaft member 50 is made of a spline shaft.
  • the inner guide member 52b is made of a composite cylindrical body having a spline groove on the inner circumferential surface and a spline on the outer circumferential surface
  • the outer guide member 52a is made of a cylindrical spline nut.
  • the extensible portion 13 further includes biasing members that bias the inner guide member 52b from both sides in the axial direction.
  • a coil spring 55 is arranged between the holder member 51 and one end of the inner guide member 52b, and on the first base 10 side, the coil spring 55 is arranged between the holder member 53 and the inner side.
  • a coil spring 56 is arranged between the guide member 52b and the other end thereof.
  • the coil spring 55 on the second base 12 side is arranged on the outer periphery of the shaft member 50.
  • the coil spring 56 on the first base 10 side is arranged in a spring accommodating recess 531 formed in the holder member 53.
  • the inner guide member 52b is urged toward the first base 10 side by the elastic force of the coil spring 55 with respect to the holder member 51 on the second base 12 side, and the holder member 51 on the first base 10 side
  • the inner guide member 52b is urged toward the second base 12 by the elastic force of the coil spring 56 with respect to the member 53.
  • the extendable part 13 since the extendable part 13 has a structure that can be extended and contracted in two stages, the degree of freedom in the length of extension and contraction of the extendable part 13 is higher than that of the robot 1 of the twelfth embodiment. That is, when the second arm portion 5 rotates, it becomes possible to contract the extendable portion 13 shorter. Therefore, it contributes to expanding the movable area Ar of the robot arm 3.
  • the inner guide member 52b is biased in opposite directions from both sides in the axial direction by the coil springs 55 and 56, its position relative to the shaft member 50 and the outer guide member 52a is maintained stably. . Therefore, during the operation of the robot arm 3, unstable movement of the inner guide member 52b is suppressed or prevented.
  • the coil spring 56 on the first base 10 side corresponds to the "first biasing member” of the present invention
  • the coil spring 55 on the second base 12 side corresponds to the "second biasing member” of the present invention. This corresponds to "parts”.
  • the guide member 52 includes three unit guide members 52a, 52b, and 52c (referred to as an outer guide member 52a, a first inner guide member 52b, and a second inner guide member 52c) that are slidable along their axes. It consists of That is, in the extensible portion 13, the outer guide member 52a, the first inner guide member 52b, and the second inner guide member 52c are slidably arranged concentrically with respect to the shaft member 50.
  • the shaft member 50 is made of a spline shaft
  • the first and second inner guide members 52b and 52c are made of the composite cylindrical body
  • the outer guide member 52a is made of a cylindrical spline nut.
  • a coil spring 55a is arranged between the holder member 51 on the second base 12 side and the end of the first inner guide member 52b, and A coil spring 55b having a smaller diameter than the coil spring 55a is arranged between the ends.
  • a coil spring 56a is arranged between the holder member 53 on the first base 10 side and the end of the first inner guide member 52b, and between the holder member 53 and the end of the second inner guide member 52c.
  • a coil spring 56b having a smaller diameter than the coil spring 56a is arranged.
  • the small diameter coil spring 55b is arranged inside the large diameter coil spring 55a and on the outer periphery of the shaft member 50, and the small diameter coil spring 55b is arranged on the outer periphery of the shaft member 50.
  • the spring 55a is arranged around the outer periphery of the second inner guide member 52c.
  • the large diameter coil spring 55a is formed in the holder member 53 and arranged in the first spring housing recess 531
  • the small diameter coil spring 56b is It is arranged inside a second spring accommodating recess 532 which is inside the large diameter coil spring 55a and is further formed at the inner bottom of the first spring accommodating recess 531.
  • the degree of freedom in the length of expansion and contraction of the expansion and contraction portion 13 can be further increased. Moreover, the positions of the first and second inner guide members 52b and 52c can be stably maintained with respect to the shaft member 50 and the outer guide member 52a by the stepped force of the coil springs 55a, 55b, 56a, and 56b.
  • the coil springs 56a and 56b on the first base 10 side each correspond to the "first biasing member” of the present invention
  • the coil springs 55a and 55b on the second base 12 side each correspond to the "first biasing member” of the present invention. This corresponds to the "second biasing member”.
  • the 18th embodiment is an example of application of the present invention to a vertically articulated robot.
  • FIG. 32 is a perspective view of a vertically articulated robot.
  • the vertical articulated robot 1' shown in the figure includes a base part 200 installed on a base BP, and a robot arm 300 supported by this base part 200.
  • the robot arm 300 includes a first arm part 210 connected to the base part 200 so as to be rotatable about an axis A11 perpendicular to the base part 200, and a first arm part 210 rotatable about an axis A12 perpendicular to the axis A11 relative to the first arm part 210.
  • a second arm part 220 whose base end is connected to the distal end of the second arm part 220, and a third arm part 230 whose base end is rotatably connected to the distal end of the second arm part 220 about an axis A13 parallel to the axis A12.
  • a fourth arm part 240 whose base end is connected to the distal end of the third arm part 230 so as to be rotatable about an axis A14 perpendicular to the axis A13; and a fifth arm portion 250 rotatably connected around an axis A15.
  • a tool motor M6 that generates a rotational force around an axis A16 orthogonal to the axis A15 is attached to the fifth arm section 250, and an end effector 400, which is a work tool such as a robot hand, is attached to the tool motor M6. is assembled.
  • the first arm part 210 is rotationally driven around the axis A11 by a first arm motor (not shown) arranged in the base part 200, and the second arm part 220 is driven to rotate around the axis A11 by a first arm motor (not shown) arranged in the first arm part 210.
  • the third arm portion 230 is rotationally driven around the axis A12 by a second arm motor, and the third arm portion 230 is rotationally driven around the axis A13 by a third arm motor (not shown) disposed within the third arm portion 230, and the fourth arm
  • the section 240 is rotationally driven around the axis A14 by a fourth arm motor (not shown) disposed within the third arm section 230, and the fifth arm section 250 is driven to rotate around the axis A14 by a fourth arm motor (not shown) disposed within the third arm section 230. It is rotationally driven around an axis A15 by a motor M5 (shown in FIG. 33).
  • FIG. 33 is a cross-sectional view of the tip portion of the robot arm 300, specifically, a cross-sectional view of the fourth arm portion 240 and the fifth arm portion 250.
  • the fourth arm portion 240 has an arm support portion 241 extending forward at one end in the width direction (vertical direction in FIG. 33) at its distal end.
  • a fifth arm portion 250 is rotatably supported by this arm support portion 241 .
  • a hollow shaft 251 provided on the side wall of the fifth arm portion 250 is held by an inner ring of a bearing B40 provided on the arm support portion 241.
  • the fifth arm section 250 is rotatably connected to the fourth arm section 240 about the axis A15.
  • the fifth arm motor M5 that drives the fifth arm part 250 is not arranged on the axis A15, that is, in the fifth arm part 250, but inside the fourth arm part 240, from the axis A15 to the axis A14. (a position spaced apart toward the proximal end of the fourth arm portion 240) on the opposite side of the fourth arm portion 240.
  • the fifth arm section 250 is rotationally driven around the axis A15 by transmitting the rotational force generated by the fifth arm motor M5 via the rotational force transmission section 60.
  • the configuration of the rotational force transmission section 60 is substantially the same as the configuration of the rotational force transmission section 6 already described in the fourteenth embodiment (FIG. 26). That is, the rotational force transmission section 60 is rotatable around the axis A18 via the bearing B42 with respect to the first base 110 which rotates around the axis A17 by the rotational force of the fifth arm motor M5 and the fifth arm section 250.
  • An extensible part 130 that connects the supported second base 120, the first base 110, and the second base 120, and deforms (expands and contracts) in accordance with changes in the distance between the first base 110 and the second base 120. and, including.
  • the axis A17 and the axis A18 are both axes parallel to the axis A15.
  • the telescopic section 130 is composed of a shaft member 150 made of a spline shaft and a guide member 152 made of a spline nut.
  • the parts are each fixed to the first base part 110.
  • the shaft member 150 and the guide member 152 may be a combination of a ball bush shaft and a ball bush nut, or may be a combination of a rail member such as a linear guide and a sliding member such as a linear guide slider.
  • the fifth arm motor M5 that drives the fifth arm section 250 is not disposed in the fifth arm section 250, but is located inside the fourth arm section 240, and is located along the axis A15. It is arranged at a position shifted to the opposite side along the axis A14. Therefore, the weight of the fifth arm section 250 is reduced, and the inertia (moment of inertia) of the fifth arm section 250 about the axis A15 is reduced. Furthermore, the fifth arm portion 250 can be made more compact.
  • the fourth arm section 240 corresponds to the "first arm section” and the fifth arm section 250 corresponds to the "second arm section” of the present invention (claim 17).
  • the axis A15 corresponds to the "first axis”
  • the axis A17 corresponds to the "second axis”
  • the axis A18 corresponds to the "third axis” of the present invention.
  • the fifth arm motor M5 corresponds to the "motor” of the present invention.
  • the present invention can be summarized as follows.
  • the articulated robot of the present invention includes a first arm rotatable about a first axis, and a second arm rotatably connected to the first arm rotatable about a second axis parallel to the first axis.
  • An articulated robot having an arm including a first motor that generates a rotational force that rotates the first arm about the first axis; a second motor that is disposed at a position closer to the first axis than the second axis and generates a rotational force that rotates the second arm; and the first arm and the second arm are connected to each other.
  • a rotational force transmitting section is provided that transmits the rotational force generated by the second motor to the second arm section and deforms in accordance with the rotation of the second arm section with respect to the first arm section.
  • the second motor for driving the second arm is disposed at a position closer to the first axis than the second axis in the first arm.
  • the inertia (moment of inertia) of the arm about the first axis can be reduced compared to conventional multi-joint robots in which the second motor is disposed at the second motor.
  • the second arm portion it is possible to reduce the inertia based on the position of the second motor compared to the case where the second motor is arranged on the second axis. Therefore, with this configuration of the multi-joint robot, it is possible to effectively reduce the inertia around the rotation axis of the arm of the multi-joint robot.
  • the second motor generates a rotational force about a third axis parallel to the first axis and the second axis
  • the rotational force transmission section is configured to generate rotational force of the second motor.
  • the second arm can be smoothly rotated with respect to the first arm while transmitting the rotational force of the second motor to the second arm via the rotational force transmission section.
  • the extensible portion comprises a link mechanism. According to this configuration, with a relatively simple configuration, while transmitting the rotational force of the second motor to the second arm section, the rotational force transmission section can be smoothly deformed (expanded and contracted) as the second arm section rotates. becomes possible.
  • the link mechanism includes a first link and a second link whose ends on one side are connected to each other so as to be rotatable about a fifth linear axis forming a predetermined angle with the first axis,
  • the other end of the first link is rotatably connected to the first base about an axis parallel to the fifth axis, and the other end of the second link is connected to the second base.
  • the predetermined angle is preferably 90°.
  • the rotational force of the second motor is transmitted to the second motor via the rotational force transmission section while avoiding interference between the first arm section and the second arm section and the rotational force transmission section. becomes possible.
  • the extendable part is a link mechanism
  • one end of the link mechanism is rotatably connected to the first base about an axis perpendicular to the third axis.
  • the link mechanism may be a magic hand type link mechanism, in which the other end is rotatably connected to the second base about an axis perpendicular to the fourth axis.
  • This configuration is advantageous in keeping the height occupied by the link mechanism low when the link mechanism is folded as the second arm rotates.
  • one of the plurality of links constituting the link mechanism includes a first part and a second part that are separated from each other in the longitudinal direction of the link, and a first part and a second part that are separated from each other in the longitudinal direction of the link, and the third part that is arranged around an axis extending in the longitudinal direction of the link.
  • the first part and the second part may be configured to include a connecting part that connects the second part so as to be relatively rotatable.
  • the rotational force of the second motor can be more smoothly transmitted to the second arm section via the rotational force transmission section. That is, if the accuracy of the rotational force transmission section is not sufficiently ensured, it is conceivable that unnecessary force acts on each link, deforming it, and creating resistance when the rotational force transmission section operates. According to the above configuration, relative rotation between the first portion and the second portion is allowed, thereby making it possible to release unnecessary forces as described above. Therefore, the rotational force transmission section can operate smoothly, and as a result, the rotational force generated by the second motor can be more smoothly transmitted to the second arm section.
  • the articulated robot described above includes a cable routed from the base section to the second arm section, at least a portion of the cable is routed through the inside of the rotational force transmission section. It may be searched.
  • the telescoping section includes a shaft member supported on one side of the first base and the second base, and a shaft member supported on the other side to move the shaft member in the axial direction. It may also be configured to include a guide member that is slidably held.
  • the shaft member is rotatably supported on one side of the first base and the second base about a sixth axis forming a predetermined angle with the first axis
  • the holder member is rotatably supported by the other of the first base and the second base about an axis parallel to the sixth axis.
  • the predetermined angle is 90°.
  • the rotational force of the second motor is transmitted to the second motor via the rotational force transmission section while avoiding interference between the first arm section and the second arm section and the rotational force transmission section. becomes possible.
  • the extensible part includes the shaft member and the guide member, it is preferable that the extensible part is provided parallel to a plane orthogonal to the second axis and the third axis.
  • the rotational force transmitting part can be smoothly deformed (expanded and contracted) as the second arm part rotates without rotatably supporting the shaft member and the guide member with respect to the first base part and the second base part. becomes possible.
  • one side of the shaft member and the guide member is rotatably provided around an axis relative to the first base or the second base that supports the one side.
  • the shaft member may be provided so as to be rotatable relative to the guide member.
  • the rotational force of the second motor can be more smoothly transmitted to the second arm section via the rotational force transmission section. That is, if the accuracy of the rotational force transmission section is not sufficiently ensured, unnecessary force may act on the shaft member or the guide member, deforming it and causing resistance during operation of the rotational force transmission section. According to the above configuration, it is possible to release the unnecessary force as described above, so that the rotational force transmission section can operate smoothly, and as a result, the rotational force generated by the second motor can be transferred more smoothly to the second motor. It becomes possible to transmit the signal to the two arm sections.
  • the guide member may be composed of a plurality of unit guide members of a telescopic structure that are arranged coaxially with the shaft member so as to be slidable with respect to each other.
  • the extendable part can be extended and contracted in multiple stages, so the degree of freedom in the length of extension and contraction of the extendable part is increased. That is, it becomes possible to reduce the length of the telescopic portion to a shorter length when the second arm portion rotates. Therefore, it contributes to expanding the movable range of the arm.
  • the outer guide member when the outermost unit guide member among the plurality of unit guide members is defined as the outer guide member, and the unit guide member arranged inside the outer unit guide member is defined as the inner guide member.
  • the outer guide member is connected to the base on the other side, and the extensible portion is a biasing member disposed on both sides of the inner guide member in the axial direction, , a first biasing member that biases the base on the other side toward the base on the one side; and a second biasing member that biases the base on the one side toward the base on the other side. It may also include a member.
  • the position of the inner guide member is stably maintained with respect to the shaft member and the outer guide member. Therefore, unstable movement of the inner guide member during operation of the robot arm 3 is suppressed or prevented.
  • an articulated robot includes an arm including a first arm section and a second arm section rotatably connected to the first arm section about a first axis.
  • the articulated robot is arranged at a position spaced apart from the first axis of the first arm toward the proximal end of the first arm, and generates a rotational force that rotates the second arm.
  • the rotational force transmission section generates a rotational force about a second axis parallel to the first axis
  • the rotational force transmission section has a first base that rotates about the second axis due to the rotational force of the second motor, and a rotational force that rotates about the second axis parallel to the first axis.
  • a second base supported by the second arm so as to be rotatable about a parallel third axis; and a second arm that connects the first base and the second base, and is connected to the first arm. and an extensible portion that expands and contracts in accordance with a change in the distance between the first base and the second base due to rotation of the base.
  • the inertia (moment of inertia) with respect to the second arm based on the position of the second motor is higher than that when the second motor is arranged on the second axis. It becomes possible to reduce the amount effectively.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot articulé comprenant un bras qui comprend une première partie de bras qui peut se mettre en rotation autour d'une première ligne d'axe, et une seconde partie de bras qui est reliée à la première partie de bras de façon à pouvoir se mettre en rotation autour d'une seconde ligne d'axe parallèle à la première ligne d'axe. Le robot articulé comprend en outre : un premier moteur qui génère une force de rotation pour mettre en rotation la première partie de bras autour de la première ligne d'axe ; un second moteur qui est disposé dans une position plus proche de la première ligne d'axe que de la seconde ligne d'axe sur la première partie de bras, et qui génère une force de rotation pour mettre en rotation la seconde partie de bras ; et une partie de transmission de force de rotation qui relie la première partie de bras et la seconde partie de bras pour transmettre la force de rotation générée par le second moteur à la seconde partie de bras, et qui se déforme pour suivre la rotation de la seconde partie de bras par rapport à la première partie de bras.
PCT/JP2022/029151 2022-07-28 2022-07-28 Robot articulé WO2024024044A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/029151 WO2024024044A1 (fr) 2022-07-28 2022-07-28 Robot articulé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/029151 WO2024024044A1 (fr) 2022-07-28 2022-07-28 Robot articulé

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WO2024024044A1 true WO2024024044A1 (fr) 2024-02-01

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3703968A (en) * 1971-09-20 1972-11-28 Us Navy Linear linkage manipulator arm
JPH11156769A (ja) * 1997-11-28 1999-06-15 Tescon Co Ltd 双腕型スカラロボット
JP2005012139A (ja) * 2003-06-23 2005-01-13 Jel:Kk 基板搬送装置
JP2006082178A (ja) * 2004-09-16 2006-03-30 Nihon Bisoh Co Ltd 建築物の外壁面作業装置
JP2016537215A (ja) * 2013-11-11 2016-12-01 フラウンホファー ゲセルシャフト ツール フェールデルンク ダー アンゲヴァンテン フォルシュンク エー．ファオ． 多関節アームロボット型装置
JP2018182157A (ja) * 2017-04-18 2018-11-15 トヨタ自動車株式会社 ウエハの加工装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3703968A (en) * 1971-09-20 1972-11-28 Us Navy Linear linkage manipulator arm
JPH11156769A (ja) * 1997-11-28 1999-06-15 Tescon Co Ltd 双腕型スカラロボット
JP2005012139A (ja) * 2003-06-23 2005-01-13 Jel:Kk 基板搬送装置
JP2006082178A (ja) * 2004-09-16 2006-03-30 Nihon Bisoh Co Ltd 建築物の外壁面作業装置
JP2016537215A (ja) * 2013-11-11 2016-12-01 フラウンホファー ゲセルシャフト ツール フェールデルンク ダー アンゲヴァンテン フォルシュンク エー．ファオ． 多関節アームロボット型装置
JP2018182157A (ja) * 2017-04-18 2018-11-15 トヨタ自動車株式会社 ウエハの加工装置

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