Robots and dual-arm robots

Abstract

The robot includes a first horizontal arm, a second horizontal arm, and a lifting arm. The first horizontal arm rotates around a first axis. The base end side of the second horizontal arm is supported by the tip side of the first horizontal arm, and the second horizontal arm rotates around a second axis parallel to the first axis. The base end side of the lifting arm is supported by the tip side of the second horizontal arm, and the lifting arm enables an end effector mounted on the tip side thereof to be lifted and lowered. The second horizontal arm is bent in any rotation direction. When viewed from above, the lifting arm is arranged on the inner side of the bend of the second horizontal arm.

Description

Technical Field

[0001] Embodiments of the present invention relate to a robot and a dual-arm robot. Background Art

[0002] In the past, it is known to use a horizontal multi-joint robot (SCARA robot) in the transportation and assembly of an object. In addition, from the viewpoint of improving work efficiency, a double-arm SCARA robot having a pair of, that is, two SCARA robots has been proposed.

[0003] In addition, a technique has been proposed in which a sliding mechanism that moves up and down in the vertical direction is provided on each arm of a double-arm SCARA robot to improve accessibility to an object (for example, refer to Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2012-061546 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, the above-mentioned prior art has the following problem: the robot arms are prone to interfere with each other or with obstacles, that is, the interference area is prone to become wider. Thus, if the interference area is wide, the actual action area in the original movable area of ​​the robot where the robot can work without interference becomes narrower, resulting in a decrease in the robot's working efficiency.

[0009] In addition, this problem is not limited to dual-arm robots, but also occurs in so-called single-arm robots. In addition, this problem also occurs in robots that extend and retract in the horizontal direction and robots that extend and retract in the vertical direction.

[0010] An object of one aspect of an embodiment is to provide a robot and a dual-arm robot capable of reducing an interference area.

[0011] Means for solving problems

[0012] A robot in one embodiment includes a first horizontal arm, a second horizontal arm, and a lifting arm. The first horizontal arm rotates around a first axis. The base end side of the second horizontal arm is supported by the tip side of the first horizontal arm, and the second horizontal arm rotates around a second axis parallel to the first axis. The base end side of the lifting arm is supported by the tip side of the second horizontal arm, and the lifting arm enables an end effector mounted on its tip side to be raised and lowered. The second horizontal arm is bent in an arbitrary rotation direction. When viewed from above, the lifting arm is arranged on the inner side of the bend of the second horizontal arm.

[0013] A robot of another embodiment includes a first arm, a second arm, and a third arm. The first arm rotates around a first rotation axis. The base end side of the second arm is supported on the tip side of the first arm, and the second arm rotates around a second rotation axis parallel to the first rotation axis. The third arm is supported on the tip side of the second arm, and rotates around a third rotation axis parallel to the second rotation axis. When viewed from the direction of the first rotation axis, the first arm, the second arm, and the third arm are arranged in the order of the first arm, the second arm, and the third arm. The interaxial distance between the second rotation axis and the third rotation axis, i.e., the second distance, is greater than the interaxial distance between the first rotation axis and the second rotation axis, i.e., the first distance. The second arm is of such a length that, in a basic posture in which the first arm, the second arm, and the third arm overlap in their respective extending directions viewed from the direction of the first rotation axis, the tip of the second arm does not exceed the base end of the first arm. The third arm is of such a length that, in the basic posture, it does not exceed the tip of the second arm.

[0014] Effects of the Invention

[0015] According to one mode of the embodiment, a robot and a dual-arm robot capable of reducing an interference area can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a top view of the robot according to the embodiment.

[0017] Figure 2 It is a top view showing the curved shape of the second horizontal arm.

[0018] Figure 3A This is the front view of the dual-arm robot.

[0019] Figure 3B It is a three-dimensional diagram of a dual-arm robot.

[0020] Figure 4A It is a top view of the dual-arm robot.

[0021] Figure 4B It is a top view showing a posture in which the lifting arms are opposed to each other.

[0022] Figure 5 This is an explanatory diagram showing the relationship between the arm length of the lifting arm and the distance between axes.

[0023] Fig. 6A This is a side view showing the basic posture of the lifting arm.

[0024] Figure 6B It is a side view showing the coordinated action posture of the lifting arm.

[0025] Figure 7 It is an explanatory diagram showing the moving speed for each combination of the inter-axis distance ratio and the angular velocity ratio.

[0026] Fig. 8AThis is one of the schematic diagrams showing an example of arrangement of the actuator.

[0027] Figure 8B This is the second schematic diagram showing an example of actuator arrangement.

[0028] Fig. 9 This is a schematic diagram showing an example of arrangement of a plurality of robots.

[0029] Fig.10 is a block diagram showing the structure of the robot system. DETAILED DESCRIPTION

[0030] Hereinafter, the embodiments of the robot and the dual-arm robot disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, the present invention is not limited to the embodiments shown below. In addition, the following describes a case where the robot is equipped with an end effector as a tool for gripping a workpiece with a claw, but the end effector may be a suction-type tool or a tool for applying, coating, welding, etc. of a sealing material.

[0031] In the embodiments shown below, expressions such as "orthogonal", "vertical", "parallel", "horizontal", "vertical" or "symmetrical" are used, but these conditions do not need to be strictly met. In other words, the above expressions allow for deviations in manufacturing accuracy, setting accuracy, processing system, detection accuracy, etc.

[0032] First, use Figure 1 The robot 100 according to the embodiment will be described. Figure 1 1 is a top view of the robot 100 according to the embodiment. Figure 1 In order to facilitate the understanding of the description, a three-dimensional rectangular coordinate system including a Z axis with a positive direction in the vertical direction and an XY plane corresponding to a horizontal plane is shown. This rectangular coordinate system is sometimes also shown in other drawings used in the following description.

[0033] like Figure 1 As shown, the robot 100 includes a first horizontal arm 11 and a second horizontal arm 12 as the horizontal arm 10, and a lifting arm 20. An end effector 200 can be mounted on the distal end side of the lifting arm 20.

[0034] In addition, the following describes a case where the lifting arm 20 includes a plurality of arms, each of which rotates around a horizontal axis and extends and retracts to lift and lower the end effector 200. However, this is not limiting, and the lifting arm 20 may be a sliding mechanism that lifts and lowers in the vertical direction, or an arm group including the sliding mechanism.

[0035] In addition, the base end side of the first horizontal arm 11 is attached to, for example, the base portion B. Figure 1, the base B is shown to be circular when viewed from above, but the three-dimensional shape of the base B is not limited to a cylindrical shape, and may be any shape such as a rectangular parallelepiped or an elliptical column. In addition, the base B may be a supporting member such as a floor.

[0036] like Figure 1 As shown, the first horizontal arm 11 is supported by a supporting member such as a base portion B at its base end, and rotates around a first axis A1 in the vertical direction. The base end of the second horizontal arm 12 is supported by the tip end of the first horizontal arm 11, and the second horizontal arm 12 rotates around a second axis A2 parallel to the first axis A1. The base end of the lifting arm 20 is supported by the tip end of the second horizontal arm 12, and the lifting arm 20 enables the end effector 200 that can be mounted on its tip end to be lifted and lowered.

[0037] Here, the second horizontal arm 12 is bent in any rotation direction around the first axis A1 as a vertical axis, and the lifting arm 20 is arranged on the bent inner side Si of the second horizontal arm 12 in a plan view. Here, the opposite side of the bent inner side Si is referred to as the bent outer side So. Figure 1 , the second horizontal arm 12 is shown to be in a shape that is bent in the clockwise direction around the second axis A2, but it may also be in a shape that is bent in the counterclockwise direction.

[0038] In this way, by configuring the lifting arm 20 on the inner side Si of the second horizontal arm 12 which is a curved arm, the area on the inner side Si of the curve which is less likely to interfere with obstacles can be effectively utilized, thereby reducing the interference area where the robot 100 interferes with obstacles.

[0039] The following, Figure 1 The structure of the lifting arm 20 shown will be described in further detail. The lifting arm 20 includes a first lifting arm 21, a second lifting arm 22, and a third lifting arm 23. The base end side of the first lifting arm 21 is supported by the tip end side of the second horizontal arm 12, and the first lifting arm 21 rotates around a third axis A3 perpendicular to the first axis A1.

[0040] The base end side of the second lifting arm 22 is supported by the tip side of the first lifting arm 21, and the second lifting arm 22 rotates around the fourth axis A4 parallel to the third axis A3. The third lifting arm 23 is supported by the tip side of the second lifting arm 22, and the third lifting arm 23 rotates around the fifth axis A5 parallel to the fourth axis A4.

[0041] The third lifting arm 23 has a rotating part 23r for rotating the end effector 200 about a sixth axis A6 perpendicular to the fifth axis A5. The rotating part 23r may be provided on the bottom side of the third lifting arm 23 or on a side side other than the second lifting arm 22 side.

[0042] like Figure 1As shown, the robot 100 is a multi-joint robot having six axes, namely the first axis A1 to the sixth axis A6. Thus, by combining the horizontal arm 10 (the first horizontal arm 11 and the second horizontal arm 12) and the lifting arm 20, the end effector 200 can be moved to any three-dimensional position while maintaining the orientation of the sixth axis A6 as the "end axis".

[0043] In addition, if Figure 1 As shown in FIG. 1 , by setting the lifting arm 20 to a three-arm structure, the lifting range of the lifting action can be fully ensured. In addition, the detailed relationship between the length of each arm and the distance between axes in the lifting arm 20 is shown in FIG. Figure 5 This will be described later.

[0044] Next, use Figure 2 A specific curved shape of the second horizontal arm 12 serving as a curved arm will be described. Figure 2 is a top view showing the curved shape of the second horizontal arm 12. In addition, Figure 2 Equivalent to Figure 1 The robot 100 is shown with a second horizontal arm 12 and a lifting arm 20 .

[0045] like Figure 2 As shown, when the second horizontal arm 12 is viewed from above, the base end side and the terminal side of the curved outer side So are straight lines, and have a shape in which the base end side and the terminal side are smoothly connected by a curve. In addition, the base end side and the terminal side of the curved inner side Si are also straight lines, and have a shape in which the base end side and the terminal side are smoothly connected by a curve, similarly to the curved outer side So.

[0046] In addition, the lifting arm 20 is arranged at the straight portion on the end side of the curved inner side Si. Figure 2 , the case where the end side of the curved outer side So and the end side of the curved inner side Si are parallel is shown, but they do not necessarily need to be parallel.

[0047] Here, the imaginary tangent line tangent to the end side of the curved outer side So of the second horizontal arm 12 is set as the "first imaginary tangent line TL1", and the imaginary tangent line parallel to and farthest from the first imaginary tangent line TL1 among the imaginary tangent lines tangent to the second horizontal arm 12 is set as the "second imaginary tangent line TL2". In addition, the area sandwiched by the first imaginary tangent line TL1 and the second imaginary tangent line TL2 is set as the "area W".

[0048] In this case, if Figure 2As shown, the lifting arm 20 is entirely accommodated in the area W sandwiched by the first imaginary tangent line TL1 and the second imaginary tangent line TL2. That is, the second horizontal arm 12 is bent to such an extent that the lifting arm 20 is entirely accommodated in the area W. In this way, by accommodating the lifting arm 20 in the area W generated by the bending of the arm, the interference between the lifting arm 20 and obstacles can be suppressed, and the interference area can be effectively reduced. In addition, on the base end side of the inner side Si of the bend (the area where the lifting arm 20 does not exist), various sensors, wiring, etc. can also be installed on the second horizontal arm 12, and the area W can be effectively used.

[0049] Here, in Figure 2 , a part of the end effector 200 is shown protruding from the region W, but the outer shape of the end effector 200 may be set to a shape that is contained within the region W. Thus, the interference region of the end effector 200 can be further reduced.

[0050] In addition, if Figure 1 as well as Figure 2 As shown, the robot 100 also reduces the interference area by accommodating cables such as cables connected to the end effector 200 inside the shell, thereby effectively reducing the interference area together with the reduction of the interference area based on the above-mentioned curved shape. Figure 2 The side profile of the lifting arm 20 shown is used Fig. 6A as well as Figure 6B This will be described later.

[0051] Next, use Figure 3A , Figure 3B , Figure 4A as well as Figure 4B Have a pair Figure 1 The dual-arm robot 500 of the robot 100 shown will be described. Figure 3A is a front view of the dual-arm robot 500, Figure 3B is a perspective view of the dual-arm robot 500. Figure 3B This corresponds to a view of the dual-arm robot 500 as viewed from obliquely above. Figure 4A is a top view of the dual-arm robot 500. Figure 4B It means to make Figure 1 The lifting arms 20 are shown in a top view in an opposing posture.

[0052] First, the front shape of the dual-arm robot 500 will be described. Figure 3A As shown, the double-arm robot 500 includes a robot 100A corresponding to a left arm, a robot 100B corresponding to a right arm, a base B supporting the robots 100A and 100B on the upper surface side, and a carriage 300 supporting the base B on the upper surface side.

[0053] like Figure 3A As shown, the second horizontal arm 12 of each of the pair of robots 100 (robot 100A and robot 100B) is supported on the upper surface side of the first horizontal arm 11. Therefore, compared with the case where the second horizontal arm 12 is arranged on the lower surface side of the first horizontal arm 11, the second horizontal arm 12 is less likely to interfere with the base part B. Therefore, the substantial movable range of the second horizontal arm 12 can be expanded.

[0054] The dolly 300 has a built-in controller 600 for controlling the actions of the robots 100A and 100B. In addition, the dolly 300 has a plurality of wheels 310 and a plurality of legs 320 on the bottom surface side. Since the dolly 300 has the wheels 310, it is easy to move the installation position by the manual labor of the operator, for example, and since it has the legs 320, it is easy to fix the installation position.

[0055] In addition, Figure 3A In the figure, the controller 600 is shown as an example of a device built into the trolley 300, but various devices such as the end effector 200 and the substrate of the sensor attached to the dual-arm robot 500 can also be built into the trolley 300. In this way, obstacles around the dual-arm robot 500 can be reduced, and the interference area of ​​the dual-arm robot 500 can be effectively reduced.

[0056] In addition, Figure 3A , one controller 600 is illustrated, but a plurality of controllers 600 may be built into the vehicle 300. For example, a controller 600 for the robot 100A and a controller 600 for the robot 100B may be provided, and the robots 100 (robot 100A and robot 100B) may coordinate their actions by communicating with each other through the controllers 600 of both parties. In addition, the controller 600 may be provided as a housing separate from the dual-arm robot 500.

[0057] In addition, Figure 3A In FIG. 1 , the base B and the trolley 300 are shown separately, but the base B may be formed as a part of the trolley 300. Figure 3A , the case where the end effectors 200 of the same shape are mounted on the robot 100A and the robot 100B is shown, but the end effectors 200 having different shapes and different functions may be mounted on the respective robots 100 .

[0058] like Figure 3B As shown, each second horizontal arm 12 of a pair of robots 100 (robot 100A and robot 100B) is bent in the horizontal direction, and a lifting arm 20 is disposed at each of the portions that are concave due to the bending. Figure 3BAs shown, the base portion B is arranged on a portion of the upper surface of the carriage 300, and legs 320 are arranged on the bottom surface of the base portion B. Figure 3A The wheels 310 are shown hidden in the trolley 300, so that Figure 3B Not shown in the figure.

[0059] Next, use Figure 4A as well as Figure 4B The upper surface shape of the dual-arm robot 500 is described. Here, Figure 4A The posture of the double-arm robot 500 shown is a posture in which both arms (robot 100A and robot 100B) are opened to the left and right. Figure 4B The posture shown is a posture in which both arms are closed forward like the so-called "front-facing". Figure 4A as well as Figure 4B In, omitted Figure 3A Description of the end effector 200 shown.

[0060] like Figure 4A As shown, the base B of the dual-arm robot 500 supports the pair of robots 100 (robot 100A and robot 100B) on the upper surface side so that the first axes A1 of the pair of robots 100 (robot 100A and robot 100B) are parallel to each other.

[0061] Here, if Figure 4A As shown, the bending directions of the second horizontal arms 12 of the pair of robots 100 (robot 100A and robot 100B) are opposite to each other. Specifically, the second horizontal arm 12 of the robot 100A corresponding to the left arm is a shape that is bent in the clockwise direction around the second axis A2. On the other hand, the second horizontal arm 12 of the robot 100B corresponding to the right arm is a shape that is bent counterclockwise around the second axis A2.

[0062] In addition, in taking Figure 4A In the posture shown, the dual-arm robot 500 can make the first axis A1, the second axis A2 and the sixth axis A6 of the robot 100A and the first axis A1, the second axis A2 and the sixth axis A6 of the robot 100B be in a straight line. Here, as described above, since each lifting arm 20 is stored in the area W, the lifting arms 20 will not interfere with each other even when taking the "following the front" posture shown below.

[0063] like Figure 4BAs shown, it is assumed that each robot 100 (robot 100A and robot 100B) in the dual-arm robot 500 takes a posture in which the respective lifting arms 20 are opposed to each other and the "terminal axis" is included in the plane including the first axis A1 and the second axis A2. In this case, the robot 100A and the robot 100B have an outer shape that does not interfere with each other. In addition, as described above, the "terminal axis" is equivalent to the sixth axis A6.

[0064] In this way, even if the first axis A1, the second axis A2, and the sixth axis A6 of each arm are in a straight line and parallel to each other, since the two arms are formed into an outer shape that does not interfere with each other, there is no need to consider the restrictions caused by the interference of the two arms, so it is possible to effectively teach the robot 100. In addition, since it is easy to take a posture where the two arms are close to each other, the working efficiency of the dual-arm robot 500 can be improved.

[0065] For example, the robot 100A and the robot 100B can cooperate to perform processing operations while holding a long workpiece with both end effectors 200 , or one end effector 200 can process the workpiece held by the other end effector 200 .

[0066] In addition, Figure 4B Although omitted Figure 3A Although the end effector 200 shown in FIG. 1 is described, each end effector 200 preferably has an outer shape as follows: that is, even when the dual-arm robot 500 adopts Figure 4B Even in the case of the posture, the end effectors 200 do not interfere with each other.

[0067] Next, use Figure 5 , Fig. 6A as well as Figure 6B right Figure 1 The relationship between the arm length and the distance between axes of the lifting arm 20 shown in FIG. Figure 5 This corresponds to a top view of the lifting arm 20. Fig. 6A and Figure 6B This corresponds to a side view of the lifting arm 20 . Figure 5 2 is an explanatory diagram showing the relationship between the arm length and the distance between axes of the lifting arm 20. Fig. 6A is a side view showing the basic posture of the lifting arm 20, Figure 6B 2 is a side view showing the coordinated action posture of the lifting arm 20. Figure 5 , Fig. 6A and Figure 6B , the second horizontal arm 12 is indicated by a dotted line for reference.

[0068] like Figure 5As shown, the lifting arm 20 includes: a first lifting arm 21 that rotates around the third axis A3; and a second lifting arm 22 whose base end 22e side is supported on the terminal end 21t side of the first lifting arm 21 and rotates around the fifth axis A5 parallel to the fourth axis A4. In addition, the lifting arm 20 includes a third lifting arm 23 that is supported on the terminal end 22t side of the second lifting arm 22 and rotates around the fifth axis A5 parallel to the fourth axis A4.

[0069] Furthermore, when viewed from the direction of the third axis A3, the first lifting arm 21, the second lifting arm 22, and the third lifting arm 23 are arranged in the order of the first lifting arm 21, the second lifting arm 22, and the third lifting arm 23.

[0070] Here, the second distance L2 between the fourth axis A4 and the fifth axis A5 is greater than the first distance L1 between the third axis A3 and the fourth axis A4. In addition, the second lifting arm 22 has a length such that the basic posture of overlapping is observed from the direction of the third axis A3 in the extending directions of the first lifting arm 21, the second lifting arm 22, and the third lifting arm 23 (see Fig. 6A ) below, the tip 22t of the second lifting arm 22 does not exceed the base end 21e of the first lifting arm 21.

[0071] The third lifting arm 23 has a length such that, in the above-mentioned basic posture, the base end 23e of the third lifting arm 23 does not exceed the terminal end 22t of the second lifting arm 22. The lifting arm 20 is attached to the second horizontal arm 12 in such a manner that the base end 21e of the first lifting arm 21 does not exceed the terminal end 12t of the second horizontal arm 12. Figure 5 , the base end 12e of the second horizontal arm 12 is shown for reference.

[0072] In addition, Figure 5 , the case where the base end 21e of the first lifting arm 21 is aligned with the tip 22t of the second lifting arm 22, and the tip 21t of the first lifting arm 21 is aligned with the base end 22e of the second lifting arm 22, that is, the arm lengths of the two arms are equal.

[0073] However, the present invention is not limited thereto, and the arm length of the second lifting arm 22 may be shorter than the arm length of the first lifting arm 21. Figure 5 , the terminal end 22t of the second lifting arm 22 is aligned with the base end 23e of the third lifting arm 23, but the arm length of the third lifting arm 23 may be shortened in such a way that the base end 23e is closer to the fourth axis A4 than the terminal end 22t. In addition, the main function of the third lifting arm 23 is to maintain the orientation of the sixth axis A6, so Figure 5 As shown, by making the tip 23 t closer to the tip 22 t than the base end 22 e of the second lifting arm 22 , the arm length of the third lifting arm 23 can be made shorter than the arm length of the second lifting arm 22 .

[0074] In this way, the distance between axes is extended without extending the arm length of each arm, that is, the arm length of the second lifting arm 22 is not longer than the arm length of the first lifting arm 21, but the distance between axes, that is, the second distance L2, is made larger than the first distance L1. In this way, the reaching range of the lifting arm 20 can be expanded and the interference area can be reduced.

[0075] In addition, as described above, the third lifting arm 23 has a function of enabling the end effector 200 (see Figure 3A ) The rotating part 23r rotates around the sixth axis A6 perpendicular to the fifth axis A5. In the coordinated action posture in which the end effector 200 is moved while maintaining the orientation of the sixth axis A6, the sixth axis A6 is located closer to the end 22t of the second lifting arm 22 than the fifth axis A5. Figure 5 , for reference, the displacement of the sixth axis A6 from the fifth axis A5 is represented as a third distance L3.

[0076] Thus, by bringing the sixth axis A6 closer to the base end 23e of the third lifting arm 23, the reach of the lifting arm 20 can be expanded. This is because the closer the sixth axis A6 is to the base end 23e of the third lifting arm 23, the more effectively the arm length of the second lifting arm 22 can be used.

[0077] in addition, Figure 5 The basic posture of the lifting arm 20 is shown (see Fig. 6A ) is a top view, but due to Figure 5 The orientation of the sixth axis A6 shown is maintained also in the cooperative action posture, so it can be said that the basic posture is one posture included in the cooperative action posture.

[0078] Next, use Fig. 6A right Figure 5 The side profile of the lifting arm 20 shown in FIG. Fig. 6A As shown, in the basic posture, the extension direction of the first lifting arm 21 and the second lifting arm 22 is the horizontal direction. Moreover, the third axis A3 overlaps with the fifth axis A5, and the third axis A3 and the fourth axis A4 are located on the same horizontal plane as the fourth axis A4 and the fifth axis A5. In addition, the sixth axis A6 is oriented in the vertical direction.

[0079] In addition, Fig. 6A In the figure, the end sides of the first lifting arm 21 and the second horizontal arm 12 are hidden behind the second lifting arm 22, but the outer shape of the first lifting arm 21 is the same as that of the second lifting arm 22, and the shape of the end side of the second horizontal arm 12 is the same as that of the end side of the second lifting arm 22.

[0080] In addition, if Fig. 6AAs shown, in the basic posture, the second axis A2 is parallel to the sixth axis A6, and the second axis A2 and the sixth axis A6 are perpendicular to the third axis A3, the fourth axis A4 and the fifth axis A5. In addition, the extension direction of the third lifting arm 23 is Fig. 6A The horizontal direction (direction parallel to the XZ plane) in the basic posture shown.

[0081] Next, use Figure 6B The coordinated action posture of the lifting arm 20 is described. Figure 6B In the figure, the solid line indicates that the end effector 200 is Fig. 6A The posture of the lift arm 20 after the basic posture is shown as being moved upward, and the posture of the lift arm 20 after the end effector 200 is moved downward from the basic posture is indicated by a dotted line.

[0082] Moreover, in Figure 6B In FIG. 1 , the difference between the highest position and the lowest position of the end effector 200 is represented as the lifting range H. Figure 6B The postures of the first lifting arm 21 and the second lifting arm 22 shown are shown as an example for reference and do not necessarily need to be the same. Figure 6B For example, the lifting arm 20 may be extended so that the extending directions of the first lifting arm 21 and the second lifting arm 22 are in the vertical direction.

[0083] like Figure 6B As shown, the first lifting arm 21, the second lifting arm 22, and the third lifting arm 23 of the lifting arm 20 coordinately move in such a way that the sixth axis A6, the rotation axis of the end effector 200, is always in the vertical direction. Therefore, the posture of moving the end effector 200 while maintaining the orientation of the sixth axis A6 is collectively referred to as a coordinated action posture.

[0084] In addition, in order to make the lifting arm 20 a three-arm structure and maintain the orientation of the sixth axis A6, the ratio of the rotation angular velocity of each arm around the third axis A3, the fourth axis A4 and the fifth axis A5 is generally set to "1:-2:1" (where "- (negative)" indicates the reverse direction). In addition, the inter-axis distance of the first lifting arm 21 is generally set to Figure 5 The first distance L1) and the axis distance between the second lifting arm 22 (refer to Figure 5 is equal to the second distance L2) (the ratio is set to "1:1").

[0085] However, by studying the ratio of the angular velocity and the ratio of the distance between the axes, it is clear that the arm rotation angle can be reduced or the moving speed during lifting can be increased without narrowing the lifting range H. In addition, if the arm rotation angle is reduced, the bending change of the cables and the like built into the arm can be suppressed. Therefore, the life of the cables and the like can be extended, and the life of the lifting arm 20 can be extended. Therefore, in the following, using Figure 7 The combination of these ratios will be described. Figure 7 It is an explanatory diagram showing the moving speed for each combination of the inter-axis distance ratio and the angular velocity ratio.

[0086] exist Figure 7 , four examples of “E1”, “E2”, “E3” and “E4” are shown as “combination examples”. In addition, for each “combination example”, each item of “axis distance ratio”, “angular velocity ratio” and “moving speed” is shown.

[0087] Here, the “axis distance ratio” is Figure 5 The ratio of the first distance L1 to the second distance L2 shown in FIG. Figure 5 The ratio of the angular velocities corresponding to the rotations of the third axis A3, the fourth axis A4, and the fifth axis A5 shown in FIG. Figure 6B The moving speed corresponding to the lifting action shown. In addition, "-(negative)" in "angular velocity ratio" means that it is the reverse rotation direction relative to the case without "-(negative)".

[0088] The combination example "E1" is the general combination described above. In "E1", the first distance L1 and the second distance L2 (see Figure 5 ) has an inter-axis distance ratio of "1:1", around the third axis A3, the fourth axis A4 and the fifth axis A5 (refer to Figure 6B ) is "1:-2:1". In addition, the moving speed of "E1" is "V1". Here, "V1" is set as the reference moving speed.

[0089] The combination example "E2" indicates that the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is set to be the same as that of "E1" and the second distance L2 is made greater than the first distance L1 (L2>L1). Specifically, in "E2", the interaxial distance ratio between the first distance L1 and the second distance L2 is "1:j (where j>1)".

[0090] Thus, if the second distance L2 is made greater than the first distance L1, the moving speed "V2" becomes greater than "V1" in "E1" which is the reference (V2>V1). Figure 6B ) state, increase the moving speed corresponding to the lifting action.

[0091] The combination example "E3" indicates a case where the inter-axis distance ratio is set to the same as "E1", and the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is set to a ratio different from that of "E1". Specifically, in "E3", the angular velocity ratio around the third axis A3, the fourth axis A4, and the fifth axis A5 is "1: -k: k-1 (where k>2)". In addition, the total of the three ratios is 0.

[0092] If the angular velocity ratio is set in this way, the moving speed "V3" becomes greater than "V2" in "E2" (V3>V2). Therefore, it is possible to maintain the lifting range H (refer to Figure 6B ) state to further increase the speed of movement during lifting.

[0093] The combination example "E4" shows a case where the interaxial distance ratio and the angular velocity ratio are different from those in "E1" by combining "E2" and "E3". The interaxial distance ratio is the same as "E2", and the angular velocity ratio is the same as "E3".

[0094] Thus, the moving speed "V4" is greater than "V3" in "E3" (V4>V3). Therefore, it is possible to maintain the lifting range H (refer to Figure 6B ) state to further increase the speed of movement during lifting.

[0095] That is, by Figure 7 Any of the “E2”, “E3” and “E4” shown is applied to the action of the arm group of the three-arm structure performing coordinated action, which can expand the reach of the arm or increase the movement speed of the arm in the coordinated action.

[0096] In addition, when the inter-axis distance ratio is not "1:1" and the angular velocity ratio is not "1:-2:1", the horizontal position of the sixth axis A6 and the orientation of the sixth axis A6 are determined according to the lifting range H (refer to Figure 6B ) varies in height. However, these deviations can be controlled by the robot 100 (refer to Figure 1 ) is corrected. Specifically, by using the first axis A1 and the second axis A2, the positional deviation of the horizontal position of the sixth axis A6 can be corrected. In addition, by using the fifth axis A5, the orientation deviation of the sixth axis A6 can be corrected.

[0097] In addition, Figure 7 , the case where the angular velocity ratio “k” is “k>2” is shown, but depending on the combination of the inter-axial distance ratio and the angular velocity ratio, even if “k<2” is set, the moving speed can be made faster than “V1” which is the reference speed.

[0098] Next, use Fig. 8A as well as Figure 8B As Figure 3A The following describes an example of arrangement of actuators serving as a driving source in the double-arm robot 500 shown in FIG. Fig. 8A and Figure 8B 1 and 2 are schematic diagrams showing examples of actuator configuration. Fig. 8A Equivalent to Figure 4B The corresponding top view of the dual-arm robot 500. In addition, Figure 8B Equivalent to Fig. 8A A top view of the dual-arm robot 500 after the first horizontal arm 11, the second horizontal arm 12 and the lifting arm 20 are removed.

[0099] like Fig. 8A As shown, each second horizontal arm 12 of the dual-arm robot 500 has an actuator M2 and an actuator M3 built in at the base end side. In this way, by configuring the actuator M2 and the actuator M3 at the base end side of the second horizontal arm 12, the moment of inertia generated by the rotation can be reduced, and the second horizontal arm 12 can be rotated with a smaller torque.

[0100] The actuator M2 is a driving source such as a servo motor, and provides a driving force for rotating the second horizontal arm 12 around the second axis A2. Here, the driving force generated by the actuator M2 is transmitted to the second axis A2 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. As a result, the second horizontal arm 12 rotates relative to the first horizontal arm 11.

[0101] The actuator M3 is a driving source similar to the actuator M2, and is used to coordinate the movements of the arms of the lifting arm 20 around the third axis A3, the fourth axis A4, and the fifth axis A5 (see Figure 6B )’s driving force.

[0102] The driving force generated by the actuator M3 is transmitted to the third shaft A3 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism, further transmitted to the fourth shaft A4 via the transmission mechanism, and further transmitted to the fifth shaft A5 via the transmission mechanism.

[0103] Here, the angular velocity ratios about the third axis A3, the fourth axis A4, and the fifth axis A5 are set to Figure 7 Any one of "1:-2:1" or "1:-k:k-1 (where k>2)" shown. In addition, when the posture of the sixth axis A6 is not maintained, "k>0" may be used. In addition, even when the posture of the sixth axis A6 is maintained, it is not necessarily necessary to set "k>2", and it only needs to be set to "k≥1".

[0104] In addition, the third lifting arm 23 of each lifting arm 20 has an actuator M4 built therein. The actuator M4 is a driving source similar to the actuator M2 and the actuator M3, and is provided for moving the end effector 200 (see Figure 3A ) itself rotates around the sixth axis A6.

[0105] In addition, when the rotation axis of the end effector 200 deviates from the sixth axis A6, the driving force generated by the actuator M4 is transmitted to the rotation axis of the end effector 200 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. Figure 1 The rotating portion 23r described above corresponds to one or both of the actuator M2 and the transmission mechanism connected to the actuator M2.

[0106] like Figure 8B As shown, a pair of actuators M1 are built into the base B of the dual-arm robot 500. The actuator M1 is a driving source such as a servo motor, which provides a driving force for rotating the first horizontal arm 11 around the first axis A1. Here, the driving force generated by the actuator M1 is transmitted to the first axis A1 via a transmission mechanism such as a gear mechanism or a pulley / belt mechanism. As a result, the first horizontal arm 11 rotates relative to the base B. In this way, by arranging the actuator M1 in the base B, the moment of inertia generated by the rotation of the first horizontal arm 11 can be reduced, and the first horizontal arm 11 can be rotated with a smaller torque.

[0107] In addition, if Figure 8B As shown, when the base B is circular in plan view, each first axis A1 is set at a point-symmetrical position relative to the center of the circle, for example. In addition, each actuator M1 is set at a point-symmetrical position relative to the center of the circle, for example, in a manner deviating from a line connecting the first axes A1. In this way, by arranging the first axes A1 side by side instead of coaxially, the arms can be arranged side by side, and the height of the dual-arm robot 500 itself can be reduced.

[0108] In addition, by configuring the actuator M1 as described above, the height (thickness in the Z-axis direction) of the base B can be suppressed. That is, the height of the base B can be reduced. Figure 8B In the figure, the case where the first axes A1 and the actuators M1 are respectively arranged at positions symmetrical about the center point of the circle is illustrated, but they can also be arranged at positions symmetrical about a plane parallel to the YZ plane, or the actuators M1 can be arranged at positions symmetrical about a plane parallel to the XZ plane.

[0109] In addition, Figure 5 to Figure 8B In Figure 5 The arm structure with the relationship between the arm length and the distance between axes shown is described as a lifting arm 20 that is telescopic in the vertical direction. However, the direction of the third axis A3 in the lifting arm 20 is not limited to the horizontal direction, and can be set to any direction such as the vertical direction. In addition, the lifting arm 20 itself can also be used as the robot 20.

[0110] When the arm structure of the lifting arm 20 is used as the robot 20, for example, if the direction of the third axis A3 is set to the vertical direction, it becomes a so-called horizontal arm. In this way, when the lifting arm 20 itself is widely used as the robot 20, the "first lifting arm 21", "second lifting arm 22" and "third lifting arm 23" in the above description can be replaced by "first arm 21", "second arm 22" and "third arm 23", respectively.

[0111] In addition, the "third axis A3", "fourth axis A4" and "fifth axis A5" may be replaced by "first rotation axis A3", "second rotation axis A4" and "third rotation axis A5", respectively. Also, the "lifting range" may be replaced by "moving range".

[0112] In the case where this replacement is performed, that is, in the case where the lifting arm 20 is widely used as a robot 20 that performs actions not limited to the lifting action, Figure 5 The structure of the robot 20 shown is as follows.

[0113] That is, the robot 20 includes a first arm 21, a second arm 22, and a third arm 23. The first arm 21 rotates around a first rotation axis A3. The base end 22e side of the second arm 22 is supported on the end 21t side of the first arm 21, and the second arm 22 rotates around a second rotation axis A4 parallel to the first rotation axis A3. The third arm 23 is supported on the end 22t side of the second arm 22, and rotates around a third rotation axis A5 parallel to the second rotation axis A4.

[0114] In addition, when viewed from the direction of the first rotation axis A3, the first arm 21, the second arm 22, and the third arm 23 are arranged in the order of the first arm 21, the second arm 22, and the third arm 23. The interaxial distance between the second rotation axis A4 and the third rotation axis A5, i.e., the second distance L2, is greater than the interaxial distance between the first rotation axis A3 and the second rotation axis A4, i.e., the first distance L1.

[0115] The second arm 22 has a length such that, in a basic posture in which the extending directions of the first arm 21, the second arm 22, and the third arm 23 overlap as viewed from the direction of the first rotation axis A3, the tip 22t of the second arm 22 does not exceed the base end 21e of the first arm 21. The third arm 23 has a length such that it does not exceed the tip 22t of the second arm 22 in the above basic posture.

[0116] The third arm 23 has a rotating portion 23r that rotates the end effector 200 around the first rotation axis A6 that is perpendicular to the third rotation axis A5. In a coordinated action posture in which the end effector 200 is moved while maintaining the orientation of the first rotation axis A6, the first rotation axis A6 is located closer to the end 22t of the second arm 22 than the third rotation axis A5. In addition, the angular velocity ratio of the first rotation axis A3, the second rotation axis A4, and the third rotation axis A5 in the robot 20 is "1:-k:k-1 (where k>2)" in the coordinated action posture.

[0117] Next, use Fig. 9 To configure multiple Figure 1 The case of the robot 100 which is a so-called single-arm robot will be described. Fig. 9 is a schematic diagram showing an example of the configuration of multiple robots. Fig. 9 The arrangement is shown in Figure 4A Although the robot 100A is shown as the left arm of the double-arm robot 500, a robot 100B corresponding to the right arm may be arranged.

[0118] like Fig. 9 As shown in FIG. 1 , on the installation table 700, two rows of robots 100A are arranged in the direction along the Y axis. Fig. 9 In the figure, the first row of robots 100A are denoted by numbers 1, 2, etc., and are described as robots 100A1 and 100A2. Also, the second row of robots 100A are denoted by numbers 11, 12, etc., and are described as robots 100A11 and 100A12.

[0119] If used Figure 1 As already described, the second horizontal arm 12 (see Figure 1 ) is bent and the lifting arm 20 (refer to Figure 1 ) is arranged in a manner that is accommodated in the area generated by the curve. Therefore, it is difficult to cause interference with the adjacent robot 100.

[0120] However, when the robots 100 are arranged in two rows, such that the first row is the right arm and the second row is the left arm, the robots 100 in each row can be formed into a symmetrical structure with respect to a plane parallel to the YZ plane.

[0121] However, if the robot 100A (refer to Figure 3A ) and robot 100B corresponding to the left arm (refer to Figure 3A ) are mixed, then two shapes of robots 100 need to be manufactured separately, which will easily increase the cost.

[0122] Therefore, if Fig. 9 As shown, if only the robot 100A corresponding to the right arm is manufactured, or conversely, only the robot 100B corresponding to the left arm is manufactured, the development cost, the manufacturing cost, the transportation cost, and the like can be reduced.

[0123] Next, use Fig.10 The configuration of the robot system 1 according to the embodiment will be described. Fig.10 is a block diagram showing the structure of the robot system 1. Fig.10 As shown in FIG. 1 , the robot system 1 includes a dual-arm robot 500 and a controller 600. The dual-arm robot 500 is connected to the controller 600. Figure 3A As shown, the controller 600 may also be built into the dual-arm robot 500. In addition, the dual-arm robot 500 may also be set as a single-arm robot (for example, Figure 1 robot 100).

[0124] The controller 600 includes a control unit 610 and a storage unit 620. The control unit 610 includes an action control unit 610a. The storage unit 620 stores teaching information 620a. Fig.10 In order to simplify the description, one dual-arm robot 500 and one controller 600 are shown, but the motion control of multiple dual-arm robots 500 can also be performed by one controller 600, or the motion control of one dual-arm robot 500 can be performed by multiple controllers 600. In addition, when multiple controllers 600 are used, an upper controller that aggregates the controllers can also be provided.

[0125] Here, the controller 600 includes, for example, a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits.

[0126] The CPU of the computer functions as the motion control unit 610a of the control unit 610 by reading and executing a program stored in the ROM, for example. Alternatively, the motion control unit 610a may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0127] In addition, the storage unit 620 corresponds to, for example, a RAM or a HDD. The RAM or the HDD can store the teaching information 620a. In addition, the controller 600 can also obtain the above-mentioned programs and various information via other computers or portable recording media connected via a wired or wireless network. In addition, as described above, the controller 600 can also be configured as a plurality of devices that can communicate with each other, or as a hierarchical device that can communicate with an upper or lower device.

[0128] The control unit 610 performs motion control of the double-arm robot 500. In addition, when the controller 600 is composed of a plurality of controllers, the control unit 610 may also perform a process of synchronizing the controllers 600 at the same time.

[0129] The motion control unit 610a operates the dual-arm robot 500 based on the teaching information 620a. The motion control unit 610a improves the motion accuracy of the dual-arm robot 500 by performing feedback control using encoder values ​​in actuators such as motors that are the power sources of the dual-arm robot 500.

[0130] The teaching information 620a is information generated in the teaching phase of teaching the dual-arm robot 500 an action and includes a "job" as a program that specifies the action path of the dual-arm robot 500. In addition, as shown in FIG. 4 and the like, when the two arms are configured to be bilaterally symmetrical, the teaching data for each arm can be shared or reversely used. Therefore, according to the robot system 1, the time and cost of generating the teaching information 620a including the teaching data can be reduced.

[0131] As described above, the robot 100 of one embodiment includes a first horizontal arm 11, a second horizontal arm 12, and a lifting arm 20. The first horizontal arm 11 rotates around the first axis A1. The base end 12e side of the second horizontal arm 12 is supported on the terminal side of the first horizontal arm 11, and the second horizontal arm 12 rotates around the second axis A2 parallel to the first axis A1. The base end side of the lifting arm 20 is supported on the terminal 12t side of the second horizontal arm 12, and the lifting arm 20 enables the end effector 200 installed on its terminal side to be raised and lowered. The second horizontal arm 12 is bent in an arbitrary rotation direction. When viewed from above, the lifting arm 20 is arranged on the inner side Si of the bend of the second horizontal arm 12.

[0132] In this way, by arranging the lifting arm 20 on the curved inner side Si of the curved second horizontal arm 12, it is possible to reduce the interference area of ​​the robot 100.

[0133] A robot 20 of another embodiment includes a first arm 21, a second arm 22, and a third arm 23. The first arm 21 rotates around a first rotation axis A3. The base end 22e side of the second arm 22 is supported on the end 21t side of the first arm 21, and the second arm 22 rotates around a second rotation axis A4 parallel to the first rotation axis A3. The third arm 23 is supported on the end 22t side of the second arm 22, and rotates around a third rotation axis A5 parallel to the second rotation axis A4. When viewed from the direction of the first rotation axis A3, the first arm 21, the second arm 22, and the third arm 23 are arranged in the order of the first arm 21, the second arm 22, and the third arm 23. The second distance L2, which is the interaxial distance between the second rotation axis A4 and the third rotation axis A5, is greater than the first distance L1, which is the interaxial distance between the first rotation axis A3 and the second rotation axis A4. The second arm 22 has a length such that, in a basic posture in which the extending directions of the first arm 21, the second arm 22, and the third arm 23 overlap as viewed from the direction of the first rotation axis A3, the tip 22t of the second arm 22 does not exceed the base end 21e of the first arm 21. The third arm 23 has a length such that, in the basic posture, it does not exceed the tip 22t of the second arm 22.

[0134] In this way, by extending the distance between the axes of the arms without extending the total length of each arm, it is possible to expand the reach of the robot 20 and reduce the interference area.

[0135] Those skilled in the art can easily derive further effects and variations. Therefore, the broader aspects of the present invention are not limited to the specific detailed and representative embodiments shown and described above. Therefore, various changes can be made without departing from the spirit or scope of the general concept of the invention defined by the attached claims and their equivalents.

[0136] Description of symbols

[0137] 1Robotic system

[0138] 10 horizontal arm

[0139] 11First horizontal arm

[0140] 12 Second horizontal arm

[0141] 12e base

[0142] 12t end

[0143] 20 Lifting arm (robot)

[0144] 21 First lifting arm (first arm)

[0145] 21e base

[0146] 21t end

[0147] 22 Second lifting arm (second arm)

[0148] 22e base end

[0149] 22t end

[0150] 23 Third lifting arm (third arm)

[0151] 23e base

[0152] 23r Rotating part

[0153] 23t end

[0154] 100, 100A, 100B robots

[0155] 200 end effector

[0156] 300 cars

[0157] 310 wheels

[0158] 320 feet

[0159] 500 dual-arm robot

[0160] 600 Controller

[0161] 610 Control Department

[0162] 610a Motion control unit

[0163] 620 Storage Department

[0164] 620a teaching information

[0165] 700 Setting Station

[0166] A1 first axis

[0167] A2 Second Axis

[0168] A3 third axis (first rotary axis)

[0169] A4 fourth axis (second rotary axis)

[0170] A5 fifth axis (third rotary axis)

[0171] A6 Sixth axis (first rotation axis)

[0172] B Basic Department

[0173] H lifting range

[0174] M1, M2, M3 actuators

[0175] Si bend inside

[0176] So bend outside

[0177] TL1 first imaginary tangent

[0178] TL2 second imaginary tangent

[0179] W Area

Claims

1. A robot, characterized in that: The robot has: a first horizontal arm that rotates about a first axis; A second horizontal arm, the base end of which is supported by the tip end of the first horizontal arm, and the second horizontal arm rotates around a second axis parallel to the first axis; as well as a lifting arm, the base end of which is supported on the tip side of the second horizontal arm in a manner not to exceed the tip of the second horizontal arm, the lifting arm lifting and lowering the end effector that can be mounted on the tip side of the lifting arm, The second horizontal arm is bent in any rotation direction. When viewed from above, the lifting arm is arranged inside the bend of the second horizontal arm. The lifting arm has: A first lifting arm, the base end side of which is supported by the tip end side of the second horizontal arm, and is rotatable about a third axis perpendicular to the first axis; a second lifting arm whose base end is supported by the tip end of the first lifting arm and rotates around a fourth axis parallel to the third axis; and a third lifting arm supported at the distal end of the second lifting arm and rotating about a fifth axis parallel to the fourth axis; The third lifting arm has: a rotating portion that rotates the end effector about a sixth axis that is perpendicular to the fifth axis, When viewed from the direction of the third axis, the first lifting arm, the second lifting arm and the third lifting arm are arranged in the order of the first lifting arm, the second lifting arm and the third lifting arm. The second distance between the fourth axis and the fifth axis is greater than the first distance between the third axis and the fourth axis. In a basic posture in which the extending directions of the first lifting arm, the second lifting arm and the third lifting arm overlap when viewed from the direction of the third axis, the second lifting arm has a length whose end does not exceed the base end of the first lifting arm. In the basic position, the third lifting arm has a tip length that does not exceed that of the second lifting arm, In the basic posture, the first lifting arm, the second lifting arm and the third lifting arm do not exceed the end of the second horizontal arm.

2. The robot according to claim 1, characterized in that: When viewed from above, the lifting arm is housed in an area sandwiched by a first imaginary tangent and a second imaginary tangent, wherein the first imaginary tangent is tangent to the end side of the outer side of the bend of the second horizontal arm, and the second imaginary tangent is an imaginary tangent that is parallel to and farthest from the first imaginary tangent among the imaginary tangents tangent to the second horizontal arm.

3. The robot according to claim 1, characterized in that: In a cooperative operation posture in which the end effector is moved while maintaining the orientation of the sixth axis, the sixth axis is located closer to the tip end of the second lifting arm than the fifth axis.

4. The robot according to claim 3, characterized in that: In the coordinated action posture, the angular velocity ratio of the third axis, the fourth axis and the fifth axis is 1:-k:k-1, wherein k>2.

5. A dual-arm robot, characterized in that: The dual-arm robot has: A pair of robots according to any one of claims 1 to 4; and a base portion that supports the pair of robots on an upper surface side so that the first axes are parallel to each other, The bending directions of the second horizontal arms of the pair of robots are opposite to each other.

6. The dual-arm robot according to claim 5, characterized in that: The second horizontal arm is supported on an upper surface side of the first horizontal arm.

7. The dual-arm robot according to claim 5 or 6, characterized in that: The pair of robots have an outer shape that does not interfere with each other when the robots take a posture in which the respective lifting arms face each other and the terminal axes are included in a plane including the first axis and the second axis.

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