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Robot, control device, and robot system

A robot system and control device technology, applied in the direction of robots, program-controlled manipulators, manipulators, etc., can solve problems such as large spaces, and achieve the effects of avoiding interference, efficient operations, and reducing space

Active Publication Date: 2017-11-21
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, in the robot described in Patent Document 1, when moving the hand relative to the base to a position that differs by 180° around the first rotation axis, a large space is required so that the robot does not interfere.

Method used

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  • Robot, control device, and robot system
  • Robot, control device, and robot system
  • Robot, control device, and robot system

Examples

Experimental program
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Effect test

no. 1 approach

[0051] figure 1 It is a schematic perspective view showing the robot system according to the first embodiment of the present invention. figure 2 yes figure 1 Schematic front view of the robotic system shown. image 3 yes figure 1 A schematic diagram of the robot is shown. Figure 4 yes figure 1 Schematic side view of the illustrated state where the first, second and third arms of the robot do not overlap. Figure 5 yes figure 1 Schematic side view of the shown overlapping state of the first arm, the second arm and the third arm of the robot. Figure 6 yesfigure 1 Schematic side view of the illustrated state where the first, second and third arms of the robot do not overlap.

[0052] In addition, in the following, for the convenience of explanation, the Figure 2 ~ Figure 6 The upper side is referred to as "upper" or "upper", and the lower side is referred to as "lower" or "below". Additionally, the Figure 2 ~ Figure 6 Set the up and down direction in "Vertical Dire...

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Abstract

The invention provides a robot which is possible to reduce a space in which the robot is prevented from interference, a control device, and a robot system. A robot includes: a manipulator that is provided with an n-th rm which is capable of rotating around an n-th rotation axis, an (n+1)-th arm provided on the n-th arm to be capable of rotating around an (n+1)-th rotation axis having an axial direction which is different from an axial direction of the n-th rotation axis, and an (n+2)-th arm provided on the (n+1)-th arm to be capable of rotating around an (n+2)-th rotation axis. In a first state, an outline of the manipulator is positioned on an inner side of a first circle or on the first circle with the n-th rotation axis as the center thereof, and with first length between a distal end of the manipulator and the n-th rotation axis, as a radius, when viewed in the axial direction of the n-th rotation axis.

Description

technical field [0001] The present invention relates to a robot, a control device and a robot system. Background technique [0002] A robot having a robot arm is conventionally known. A plurality of arms of the robot arm are connected via joints, and a hand is attached as an end effector to the frontmost arm, for example. The joint part is driven by a motor, and the arm is rotated by the driving of the joint part. Further, the robot grasps an object with its hands, for example, moves the object to a predetermined place, and performs predetermined operations such as assembly. [0003] As such a robot, Patent Document 1 discloses a vertical articulated robot. The robot described in Patent Document 1 has a structure in which the hand is moved relative to the base to a position that differs by 180° around the first rotation axis that is the most proximal rotation axis (the rotation axis extending in the vertical direction). In this case, it is performed by rotating the first...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J13/00
CPCB25J13/00B25J18/00B25J9/0009B25J9/0027B25J9/046Y10S901/15B25J9/047
Inventor 宫阪英克
Owner SEIKO EPSON CORP
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