Suspension-type robot and suspension-type robot system

Abstract

The utility model relates to a suspension type robot and suspension type robot system, provide the detection precision of suspension type robot that can improve vibration. Suspension type robot has: base station, first arm, with base station overlap, joint part, keep first arm can rotate relative to base station around first axis, second arm, with first arm overlap, joint part, keep second arm can rotate around second axis, and operating shaft, set up in the other end side of the long side direction of second arm, rotate around third axis, first arm has: casing, motor, make second arm rotate through as transmission mechanism's belt and pulley, and inertia sensor, supported by roof, set up in the position with motor overlap under planar observation, and this inertia sensor detects at least one of angular velocity and acceleration.

Description

Technical Field

[0001] This utility model relates to a suspended robot and a suspended robot system. Background Technology

[0002] As an industrial suspended robot, for example, is the suspended robot described in Patent Document 1. The suspended robot described in Patent Document 1 includes: a base; a first arm connected to the base via a first joint and capable of rotating in a horizontal plane about a first joint axis; a second arm connected to the first arm via a second joint and capable of rotating in a horizontal plane about a second joint axis; and a working axis mounted on the second arm. Furthermore, a second joint axis motor for driving the second arm is provided in the first arm.

[0003] Patent Document 1: WO2012 / 029173 Publication

[0004] In such suspended robots, there is a growing demand for vibration control using inertial sensors to suppress arm swaying during movement. However, the detection accuracy of inertial sensors and the basic performance of suspended robots can be compromised by the way the inertial sensors are configured. Utility Model Content

[0005] The suspended robot of this invention comprises: a base; a first arm, wherein, in top view, one end of the first arm in the long direction overlaps with the base; a first joint, disposed on the said end of the first arm, holding the first arm so that it can rotate relative to the base about a first axis; a second arm, wherein, in top view, one end of the second arm in the long direction overlaps with the other end of the first arm in the long direction; a second joint, disposed on the said end of the second arm, holding the second arm so that it can rotate relative to the first arm about a second axis parallel to the first axis; and an axis, disposed on the other end of the second arm in the long direction, rotating about or moving along the third axis parallel to the second axis. The first arm comprises: a housing having a first plate portion and a second plate portion opposite to the first plate portion; a motor for rotating the second arm via a transmission mechanism; and an inertial sensor supported by the second plate portion, disposed in top view at a position overlapping with the motor or at a position closer to the other end of the first arm than the motor, the inertial sensor detecting at least one of angular velocity and acceleration.

[0006] The first plate portion is disposed on one side of the second arm, and the second plate portion is disposed on one side of the base.

[0007] The first plate portion is disposed on one side of the base, and the second plate portion is disposed on one side of the second arm.

[0008] From a top-down view, the inertial sensor is located at the other end of the first arm, closer to the motor, and overlaps with the second joint.

[0009] From a top-down view, the inertial sensor is positioned overlapping the motor and closer to the base than the motor.

[0010] The suspended robot system of this invention includes the suspended robot and a controller for controlling the suspended robot. Attached Figure Description

[0011] Figure 1 This is an overall perspective view of a suspended robot system equipped with the suspended robot of this embodiment.

[0012] Figure 2 yes Figure 1 A partially enlarged 3D image.

[0013] Figure 3 yes Figure 1 A side view of a suspended robot.

[0014] Figure 4A yes Figure 3 A partial cross-sectional view of a suspended robot.

[0015] Figure 4B Viewed from the negative side of the Z-axis Figure 3 A top view of a suspended robot.

[0016] Figure 5 yes Figure 1 A block diagram of a suspended robot system.

[0017] Figure 6 This is a side view of the suspended robot according to Embodiment 2.

[0018] Figure 7 yes Figure 6 A partial cross-sectional view of a suspended robot.

[0019] Figure 8 Viewed from the negative side of the Z-axis Figure 6 A top view of a suspended robot.

[0020] Explanation of reference numerals in the attached figures

[0021] 1…Suspended robot, 10…Robotic arm, 100…Suspended robot system, 20…Drive unit, 21…Motor, 22…Belt, 23…Pulley, 25…Joint, 26…Reducer, 261…Waveform generator, 262…Flexible wheel, 263…Rigid wheel, 27…Flange, 28…Hollow tube, 30…Drive unit, 31…Motor, 32…Belt, 33…Pulley, 35…Joint, 36…Reducer, 361…Waveform generator 362… Flexible wheel, 363… Rigid wheel, 37… Flange, 38… Hollow tube, 40… Working head, 41… Operating shaft, 42… Hand, 43… Cover, 50… Drive unit, 51… Motor, 511… Shaft lifting motor, 512… Shaft rotation motor, 52… Belt, 53… Pulley, 54… Lead screw mechanism, 541… Internal thread block, 56… Belt, 57… Pulley, 58… Spline mechanism, 581… Flange block, 6… Connector assembly, 61, 6 2, 63, 64, 65… Connectors, 7… Control device, 71… Control unit, 72… Storage unit, 73… Communication unit, 8, 8a, 8b, 8c, 8d, 8e, 8f… Inertial sensor, 81… Inertial sensor element, 82… Substrate, 9… Stand, 91… Top plate, 911… Upper surface, 912… Lower surface, 913… Through hole, 914… Through hole, 92… Worktable, 93… Feet, 95… Workpiece, 110… 11…Main body, 12…Fittings, 13…Base plate, 120…First arm, 121…Shell, 1211…Top plate, 1211a…Upper surface, 1211b…Lower surface, 1212…Bottom plate, 1212a…Upper surface, 1212b…Lower surface, 122…Cover, 130…Second arm, 131…Shell part, 132…Cylinder part, 135…Cover, J1…First shaft, J2…Second shaft, J3…Third shaft. Detailed Implementation

[0022] In embodiments of this utility model, for clarity, the constituent elements shown in the various figures are sometimes depicted using different scales.

[0023] In the accompanying drawings, sometimes the three axes of X, Y and Z, which are orthogonal to each other, are shown.

[0024] The X and Y axes are configured such that the plane including the X and Y axes is horizontal, and the Z axis is configured such that the front end of the arrow points vertically upwards.

[0025] In the following description, sometimes the front end of the arrow on the 3-axis is described as the "positive side," and the base end of the arrow is described as the "negative side." Sometimes the direction parallel to the X-axis is described as the "X-axis direction," the direction parallel to the Y-axis is described as the "Y-axis direction," and the direction parallel to the Z-axis is described as the "Z-axis direction."

[0026] In the following context, "viewing from above" refers to observing an object from either the positive or negative side along the Z-axis. The positive side along the Z-axis is sometimes described as "above," and the negative side along the Z-axis is sometimes described as "below."

[0027] In addition, the description of the upper surface of a certain structure is defined as the surface on the positive side of the Z-axis direction of that structure. For example, "the upper surface of the top plate" means the surface on the positive side of the Z-axis direction of the top plate.

[0028] In addition, the description of the lower surface of a certain structure is defined as the surface on the negative side of the Z-axis direction of that structure. For example, "lower surface of the top plate" means the surface on the negative side of the Z-axis direction of the top plate.

[0029] The preferred embodiments of the suspended robot 1 and the suspended robot system 100 of this utility model will be described below.

[0030] 1. Implementation Method 1

[0031] 1.1. Overall Composition of Suspended Robots and Suspended Robot Systems

[0032] Figure 1 This is an overall perspective view of a suspended robot system 100 having a suspended robot 1 according to embodiment 1. Figure 2 yes Figure 1 A partially enlarged 3D image.

[0033] The suspended robot system 100 is an automated industrial robot that replaces humans in various tasks such as assembly in factories.

[0034] The suspended robot system 100 includes: a suspended robot 1, an inertial sensor 8 for detecting the vibration of the suspended robot 1, and a control device 7 for controlling the suspended robot 1.

[0035] The suspended robot 1 is a horizontal multi-joint robot (SCARA Robot) whose arm moves in the horizontal direction.

[0036] The suspended robot 1 is configured to be suspended from the top plate 91 of the platform 9. The platform 9 is, for example, installed on a manufacturing assembly line in a factory that manufactures precision equipment such as mobile phones, smartphones, and tablet terminals. The suspended robot 1 is controlled by a control device 7 to perform operations such as grasping, conveying, processing, and assembling precision equipment, components, and other workpieces 95 placed on the worktable 92. In this embodiment, the control device 7 is an example of a controller.

[0037] It should be noted that the mounting surface of the suspended robot 1 is not limited to the top plate 91 of the platform 9. The mounting surface of the suspended robot 1 can also be, for example, the ceiling, walls, beams, columns, diagonal braces, other building structures, lifting and transport tracks, etc. It should also be noted that the suspended robot 1 includes wall-mounted and wall-mounted robots with side walls as the mounting surface.

[0038] The platform 9 has a top plate 91, a worktable 92, frame-shaped legs 93, and an inertial sensor 8.

[0039] A suspended robot 1 is mounted on a top plate 91. The top plate 91 has an upper surface 911 and a lower surface 912, and the surface on which the suspended robot 1 is mounted is horizontal. The top plate 91 has through holes 913 and 914 extending through its thickness direction.

[0040] The through hole 913 is a window for the operator to access from above the top plate 91 during maintenance of the drive unit 30, which will be described later. The through hole 914 is a hole through which the suspended robot 1 is installed, and the base 110 is inserted.

[0041] The inertial sensor 8 includes an inertial sensor 8a disposed on the upper surface 911 of the top plate 91 of the platform 9 and an inertial sensor 8b disposed on the upper surface of the worktable 92.

[0042] Because an inertial sensor 8a is mounted on the top plate 91 on which the suspended robot 1 is installed, vibrations generated on the platform 9 can be detected with excellent accuracy. The information detected by the inertial sensor 8a is sent to the control device 7 to suppress the vibration of the suspended robot 1, and in particular, to suppress the vibration of the hand 42 mounted on the front end of the working head 40.

[0043] Because the inertial sensor 8b is positioned on the worktable 92, it can detect vibrations generated on the worktable 92 with excellent accuracy; in other words, it can detect with excellent accuracy how the workpiece 95 actually vibrates. The information detected by the inertial sensor 8b is sent to the control device 7 to suppress the vibration of the suspended robot 1 and perform correct operations. For example, the control device 7 corrects the relative position of the suspended robot 1 and the workpiece 95 based on the information detected by the inertial sensor 8b. Therefore, the control device 7 can perform accurate positioning.

[0044] It should be noted that, in this embodiment, an inertial sensor 8 is also provided in the suspended robot 1. The control device 7 uses the detection signals of each inertial sensor 8 provided in at least one of the suspended robot 1 and the platform 9 to perform vibration reduction control. The inertial sensor 8 will be described in detail in section 1.2.3 below. The vibration reduction control performed by the control device 7 will be described in detail in section 1.2.4 below.

[0045] like Figure 2 As shown, the suspended robot 1 has a base 110 and a robotic arm 10 connected to the base 110.

[0046] The robotic arm 10 has a first arm 120, a second arm 130, and a working head 40.

[0047] Viewed from above, one end of the first arm 120 along its long side overlaps with the base 110 via a joint 25. The joint 25 is located at one end of the first arm 120 along its long side and holds the first arm 120 so that it can rotate relative to the base 110 about a first axis J1. In this embodiment, the first axis J1 is an imaginary axis extending in a vertical direction and represents the axis of rotation of the first arm 120. In this embodiment, the joint 25 is an example of a first joint.

[0048] Viewed from above, the second arm 130 overlaps with the other end of the first arm 120 along its long side via a joint 35. The joint 35 is located at one end of the second arm 130 along its long side and holds the second arm 130 so that it can rotate relative to the first arm 120 about a second axis J2 parallel to the first axis J1. In this embodiment, the second axis J2 is an imaginary axis extending in a vertical direction, representing the axis of rotation of the second arm 130. The second axis J2 is parallel to the first axis J1. In this embodiment, the joint 35 is an example of a second joint.

[0049] The working head 40 is located at the other end of the long side of the second arm 130. The working head 40 includes an operating shaft 41 and a hand 42. In this embodiment, the operating shaft 41 is an example of a shaft.

[0050] An inertial sensor 8 is installed on the first arm 120.

[0051] The inertial sensor 8 detects the vibration of the first arm 120 and sends the detection signal, consisting of the shaking data, to the control device 7. The control device 7 controls various parts of the suspended robot 1 based on the detection signal detected by the inertial sensor 8 to suppress the vibration of the first arm 120, the suspended robot 1, the platform 9, and / or the workpiece 95.

[0052] Thus, the suspension robot system 100 of this embodiment improves vibration reduction performance by incorporating the inertial sensor 8 into the suspension robot 1. Consequently, a suspension robot 1 and suspension robot system 100 capable of servo control with excellent high speed, accuracy, and / or energy efficiency can be realized.

[0053] Furthermore, in this embodiment, by refining the configuration of the inertial sensor 8, it is possible to achieve both the detection accuracy of the inertial sensor 8 (e.g., the correctness of the data regarding shaking) and the basic performance of the suspended robot 1 (e.g., operability). The configuration of the inertial sensor 8 will be explained in section 1.2.3.1 below.

[0054] 1.2. Detailed Composition of Suspension-Type Robot

[0055] The following is based on Figures 3 to 4B The detailed structure of each part of the suspended robot 1 is explained.

[0056] Figure 3 yes Figure 1 Side view of the suspended robot 1. Figure 4A yes Figure 3 A partial cross-sectional view of the suspended robot 1. Figure 4B Viewed from the negative side of the Z-axis Figure 3 A top view of the suspended robot 1.

[0057] like Figure 3 As shown, the suspended robot 1 has a base 110 and a robotic arm 10 connected to the base 110.

[0058] 1.2.1.Abutment

[0059] The base 110 is a component located at the top of the suspended robot 1 and mounted on the top plate 91 of the platform 9.

[0060] The base 110 has a main body 11, a plate-shaped base plate 13 located at the lower part of the main body 11, and a drive unit 20 located inside the main body 11 for driving the first arm 120 to rotate around a first axis.

[0061] The main body 11 and the base plate 13 constitute a shell, and a part of the drive unit 20 is housed inside the shell.

[0062] The base plate 13 and the hardware 12 are fixed to the upper surface 911 and / or lower surface 912 of the top plate 91 using bolts, screws, pins and other fixing components, and the base 110 is set on the top plate 91.

[0063] By setting a base 110 on the top plate 91, the suspended robot 1 functions as a suspended SCARA robot.

[0064] The drive unit 20 includes a motor 21, a belt 22, a pulley 23, and a joint 25.

[0065] The rotation of motor 21 is transmitted to joint 25 via belt 22 and pulley 23. Since motor 21, belt 22 and pulley 23 are housed in main body 11, foreign objects such as dust and dirt are prevented from entering motor 21 and from being discharged from motor 21 to outside of robotic arm 10.

[0066] The joint 25 has a speed reducer 26 and a flange 27.

[0067] In this embodiment, the reducer 26 is a wave gear reducer. It should be noted that the reducer 26 can also be other types of reducers such as planetary gear reducers.

[0068] One side of flange 27 is fixed to the output shaft of reducer 26, and the other side is fixed to first arm 120.

[0069] The reducer 26 includes a waveform generator 261, a flexible wheel 262, and a rigid wheel 263. The waveform generator 261 is the input shaft of the reducer 26 and is fixed to the pulley 23. The flexible wheel 262 is the output shaft of the reducer 26 and is fixed to the flange 27. The rigid wheel 263 is a fixed shaft and is fixed to the base plate 13. It should be noted that alternatively, the flexible wheel 262 can be fixed to the base plate 13 as a fixed shaft, and the rigid wheel 263 can be fixed to the flange 27 as an output shaft.

[0070] The hollow tube 28 is connected to power lines, various signal lines, and other cables and / or piping that are connected to the drive unit 30, drive unit 50, working head 40, inertial sensor 8, etc. (described later).

[0071] 1.2.2. Robotic Arm

[0072] The robotic arm 10 has a first arm 120, a second arm 130, and a working head 40.

[0073] 1.2.2.1. First Arm

[0074] One end of the horizontally extending arm of the first arm 120 is cantilevered by the base 110 via the joint 25. The first arm 120 moves horizontally by rotating about a first axis J1, which serves as the axis of rotation.

[0075] The first arm 120 has a housing 121, a drive unit 30, and an inertial sensor 8.

[0076] The housing 121 has a generally cuboid shape and has a plate-shaped top plate 1211 and a bottom plate 1212 opposite to the top plate 1211. In this embodiment, the top plate 1211 is an example of a second plate portion and the bottom plate 1212 is an example of a first plate portion.

[0077] The drive unit 30 drives the second arm 130 to rotate around the second axis J2. The drive unit 30 includes a motor 31, a belt 32, a pulley 33, and a joint 35.

[0078] With the cover 122 in place, the motor 31 is located on the lower surface 1212b of the base plate 1212 of the first arm 120. It should be noted that the motor 31 does not necessarily need to be covered by the cover 122.

[0079] Although the working head 40 is disposed on the lower surface 1212b side of the base plate 1212 of the first arm 120, the motor 31 is disposed in a manner that does not interfere with the working head 40 in the approximately central part of the long side direction of the first arm 120. In other words, it is disposed between the first shaft J1 and the second shaft J2, and more specifically, between the cylinder 132 of the second arm 130 and the working head 40.

[0080] The cover 122 is configured to cover the motor 31.

[0081] The rotation of the motor 31 is transmitted to the joint 35 via the belt 32 and pulley 33. The belt 32 and pulley 33 are disposed inside the housing 121 on the upper surface 1212a of the base plate 1212. In this embodiment, the belt 32 and pulley 33 are an example of a transmission mechanism.

[0082] The joint 35 is located on the other end of the long side of the first arm 120.

[0083] The joint 35 has a reducer 36 and a flange 37.

[0084] In this embodiment, the reducer 36 is a wave gear reducer. It should be noted that the reducer 36 can also be other types of reducers such as planetary gear reducers.

[0085] The reducer 36 includes a waveform generator 361, a flexible wheel 362, and a rigid wheel 363. The waveform generator 361 is the input shaft of the reducer 36 and is fixed to the pulley 33. The flexible wheel 362 is the output shaft of the reducer 36 and is fixed to the flange 37. The rigid wheel 363 is a fixed shaft and is fixed to the first arm 120. It should be noted that the flexible wheel 362 can also be fixed to the first arm 120 as a fixed shaft, and the rigid wheel 363 can be fixed to the flange 37 as an output shaft.

[0086] One side of flange 37 is fixed to the output shaft of reducer 36, and the other side is fixed to second arm 130.

[0087] The hollow tube 38 is connected to power lines, various signal lines, and other cables and / or piping that are connected to the drive unit 50, the working head 40, the inertial sensor 8, etc. (described later).

[0088] The inertial sensor 8 is located on the lower surface 1211b of the top plate 1211, and when viewed from above, includes: an inertial sensor 8c, positioned overlapping with the motor 31; and an inertial sensor 8d, positioned on the opposite side of the first arm 120, further along its long side than the motor 31. It should be noted that both inertial sensors 8c and 8d are not required; at least one is sufficient.

[0089] 1.2.2.2. Second arm

[0090] One end of the horizontally extending arm of the second arm 130 is cantilevered by the other end of the first arm 120 via a joint 35.

[0091] The second arm 130 moves horizontally by rotating about a second axis J2, which serves as the axis of rotation. Although the first axis J1 of the first arm 120 and the second axis J2 of the second arm 130 are parallel, they are offset horizontally. In other words, the first axis J1 and the second axis J2 are separated by a predetermined distance in the horizontal direction. Therefore, a wide range of motion of the robotic arm 10 can be achieved.

[0092] The second arm 130 has a housing portion 131 and a cylindrical portion 132.

[0093] The cylindrical portion 132 is disposed in the second arm 130 between the housing portion 131 and the flange 37. One side of the cylindrical portion 132 is fixed to the flange 37, and the other side is connected to the housing portion 131. That is, the cylindrical portion 132 functions as a coupling connecting the flange 37 and the housing portion 131. The cylindrical portion of the cylindrical portion 132 is configured to surround the second shaft J2, and the length of the cylindrical portion 132 along the second shaft J2 is, for example, a length that allows the second arm 130 to rotate 360° relative to the first arm 120. For example, the length of the working head 40 from the upper surface of the top plate of the housing portion 131 to the upper end of the working head 40 is shorter than the distance along the axial direction of the third shaft J3 from the upper surface of the top plate of the housing portion 131 to the lower surface 1212b of the bottom plate 1212 of the first arm 120. Therefore, even when the operating shaft 41 is at its highest position, the second arm 130 can still pass under the first arm 120 without the working head 40 interfering with the first arm 120. That is, the second arm 130 can rotate 360° relative to the first arm 120 regardless of the vertical position of the working head 40.

[0094] The housing 131 is provided with a drive unit 50 and a working head 40.

[0095] The drive unit 50 has a motor 51, which is controlled by the control device 7 to drive the working head 40.

[0096] The working head 40 has an operating shaft 41 and a hand 42.

[0097] The working head 40 and part of the drive unit 50 are housed in the cover 135.

[0098] A portion of the operating shaft 41 is housed in a bellows-shaped cover 43.

[0099] The long side of the operating shaft 41 extends along the third axis J3, and the operating shaft 41 is driven by the drive unit 50 to slide vertically along the third axis J3 and / or rotate about the third axis J3. In this embodiment, the third axis J3 is an imaginary axis extending vertically and represents the rotation axis of the operating shaft 41. The third axis J3, the first axis J1, and the second axis J2 are parallel.

[0100] The operating shaft 41 uses a hollow shaft type component with a central cavity. Power cables, various signal cables, and / or other conduits are inserted into the cavity of the operating shaft 41, and it is connected to the hand 42. It should be noted that the operating shaft 41 is not limited to the hollow shaft type. Cables connected to the hand 42 can also be connected via the outside of the operating shaft 41.

[0101] Hand 42 is an end effector, controlled by control device 7 to perform operations such as holding, conveying, processing, and assembling precision equipment, components, and other workpieces 95 placed on worktable 92.

[0102] Hand 42 is detachably mounted on the lower end of operating shaft 41. Hand 42 contains an end effector selected from various types suitable for the task at hand. Examples of end effectors include grippers, suction-type end effectors, dedicated end effectors, and robotic arms.

[0103] The drive unit 50 includes: a shaft lifting mechanism for sliding the operating shaft 41 in the vertical direction; and a shaft rotation mechanism for rotating the operating shaft 41 about a third shaft J3.

[0104] The motor 51 has a shaft lifting motor 511 and a shaft rotating motor 512. The shaft lifting motor 511 and the shaft rotating motor 512 are arranged adjacent to each other along the long side of the second arm 130.

[0105] The shaft lifting mechanism consists of a shaft lifting motor 511, a belt 52, a pulley 53, and a lead screw mechanism 54.

[0106] The lead screw mechanism 54 is constituted by a ball screw having a threaded groove (not shown) formed on the outer peripheral surface of the operating shaft 41 and an internal threaded block 541 rotatably supported by the housing portion 131.

[0107] The shaft lifting mechanism transmits the rotation of the shaft lifting motor 511 to the internal thread block 541 via the belt 52 and pulley 53, causing the internal thread block 541 to rotate, thereby moving the operating shaft 41 along the third shaft J3, that is, along the upward or downward direction.

[0108] The shaft rotation mechanism consists of a shaft rotation motor 512, a belt 56, a pulley 57, and a spline mechanism 58.

[0109] The spline mechanism 58 is composed of a ball spline having a spline groove (not shown) formed on the outer peripheral surface of the operating shaft 41 and a flange block 581 rotatably supported by the housing portion 131. The spline mechanism 58 supports the operating shaft 41 so that it can slide freely in the vertical direction.

[0110] The shaft rotation mechanism transmits the rotation of the shaft rotation motor 512 to the flange block 581 via the belt 56 and pulley 57, causing the flange block 581 to rotate, thereby causing the operating shaft 41 to rotate around the third shaft J3.

[0111] The shaft lifting motor 511 and the shaft rotation motor 512 are disposed in the housing portion 131 between the operating shaft 41 and the cylinder portion 132. In other words, the shaft lifting motor 511 and the shaft rotation motor 512 are disposed between the operating shaft 41 and the second shaft J2, or between the third shaft J3 and the second shaft J2.

[0112] 1.2.3. Inertial Sensors

[0113] The inertial sensor 8 is a sensor device that houses an inertial sensor element 81 and a substrate 82 within a package. The inertial sensor element 81 detects inertial forces, and the substrate 82 houses the inertial sensor element 81 and a processor, interface chip, etc. (not shown). It should be noted that the inertial sensor 8 does not necessarily need to be housed in a package; it can also be mounted on the housing portion 131 as the substrate 82.

[0114] In this embodiment, the inertial sensor element 81 includes six types of sensor elements: acceleration in the X-axis direction, acceleration in the Y-axis direction, acceleration in the Z-axis direction, angular velocity about the X-axis, angular velocity about the Y-axis, and angular velocity about the Z-axis. In other words, the inertial sensor 8 is an IMU (Inertial Measurement Unit) that detects acceleration in three mutually orthogonal axes and angular velocities about the axes.

[0115] It should be noted that the inertial sensor element 81 is not limited to an IMU. The inertial sensor element 81 can also be an acceleration sensor element that detects the acceleration of one to three axes of the X-axis, Y-axis and Z-axis, an angular velocity sensor element that detects the angular velocity of one to three axes of the X-axis, Y-axis and Z-axis, or a sensor element composed of combinations thereof.

[0116] Alternatively, as the inertial sensor element 81, a crystal accelerometer element utilizing a crystal oscillator can be used, for example. The type of inertial sensor element 81 can be selected according to the application; for example, a Si-MEMS (Micro Electro Mechanical Systems) sensor element utilizing silicon (Si) in the material can be used.

[0117] Alternatively, a display, memory, etc., can be integrated into the inertial sensor 8. Furthermore, the inertial sensor 8 can also be configured to wirelessly transmit detection values ​​to external devices.

[0118] In this embodiment, the inertial sensor 8 is located on the platform 9 and the first arm 120 of the suspended robot 1.

[0119] An inertial sensor 8 located on the first arm 120 detects at least one of the angular velocity and acceleration at the set position and outputs a detection signal.

[0120] The vibration of the first arm 120 can sometimes have an adverse effect on the working accuracy of the suspended robot 1.

[0121] For example, the first arm 120 vibrates in the horizontal direction due to forces acting on it, such as the rotation of the first arm 120 around the first axis J1, the rotation of the second arm 130 around the second axis J2, the rotation of the operating shaft 41 around the third axis J3, and / or the swaying of the platform 9. As a result, the position of the hand 42 may sometimes deviate from the target position.

[0122] Furthermore, in the first arm 120, due to the movement of the operating axis 41 along the third axis J3, the gripping or releasing of the workpiece 95 by the hand 42, and / or the swaying of the platform 9, the first arm 120 will vibrate in the vertical direction due to forces. As a result, the position of the hand 42 may sometimes deviate from the target position.

[0123] Therefore, when using the hand 42 for operation, it is preferable to drive and control each motor 21, 31, and 51 according to the content, characteristics, and degree of vibration, so as to prevent the hand 42 from deviating from the target position.

[0124] In this embodiment, due to the above-described situation, an inertial sensor 8 is provided in the first arm 120. Then, the detection signal of the inertial sensor 8 is used to drive and control each motor 21, 31, 511, and 512 to suppress vibration. Such control is called vibration reduction control. The suspended robot 1 of this embodiment is configured to improve the operating accuracy of the suspended robot 1 by performing vibration reduction control.

[0125] However, there is a possibility that the detection accuracy of the inertial sensor 8 configured on the first arm 120 and the basic performance of the suspended robot 1 may be compromised due to the configuration method of the inertial sensor 8. Therefore, in this embodiment, some research has been conducted to prevent the detection accuracy of the inertial sensor 8 and the basic performance of the suspended robot 1 from being compromised due to the configuration of the inertial sensor 8, thereby improving the detection accuracy of the inertial sensor 8 and the basic performance of the suspended robot 1.

[0126] The following describes the research conducted on configuring the inertial sensor 8 on the first arm 120.

[0127] 1.2.3.1. Configuration of Inertial Sensor 8c

[0128] like Figure 4A and Figure 4B As shown, the inertial sensor 8c is located on the lower surface 1211b of the top plate 1211 of the first arm 120, and is positioned overlapping the motor 31 when viewed from above. The motor 31 is located on the lower surface 1212b of the bottom plate 1212 of the first arm 120. That is, the inertial sensor 8c is located on a different surface from the motor 31 in the first arm 120.

[0129] Therefore, the inertial sensor 8c is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0130] In addition, the inertial sensor 8c is located on the side of the base 110 in the first arm 120. That is, the inertial sensor 8c is located away from the joint 35.

[0131] Therefore, the inertial sensor 8c is less affected by the vibration of the joint 35 and can detect the vibration of the first arm 120 with excellent accuracy.

[0132] 1.2.3.2. Configuration of Inertial Sensor 8D

[0133] The inertial sensor 8d is located on the lower surface 1211b of the top plate 1211 of the first arm 120, at a position on the opposite end of the long side of the first arm 120, which is closer to the motor 31. In other words, the inertial sensor 8d is disposed on a different surface in the first arm 120 than the motor 31.

[0134] Therefore, the inertial sensor 8d is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0135] In addition, when viewed from above, the inertial sensor 8d is located on the other end of the first arm 120, which is closer to the motor 31 and overlaps with the joint 35.

[0136] Therefore, the inertial sensor 8d is less affected by the vibration of the motor 31 and can detect the vibration of the front end of the first arm 120 with excellent accuracy.

[0137] In addition, the inertial sensor 8d is located on the base 110 side further than the motor 31. That is, it is located away from the joint 35.

[0138] Therefore, the inertial sensor 8d is less affected by the vibration of the joint 35 and can detect the vibration of the first arm 120 with excellent accuracy.

[0139] 1.2.4. Suspended Robot System

[0140] Next, based on Figure 1 and Figure 5 The configuration of the suspended robot system 100 is described. Figure 5 yes Figure 1 Block diagram of the suspended robot system 100.

[0141] As described above, the suspended robot system 100 includes a suspended robot 1, an inertial sensor 8 for detecting the vibration of the suspended robot 1, and a control device 7 for controlling the suspended robot 1.

[0142] In this embodiment, the control device 7 is separate from the suspended robot 1 and is disposed on the side of the suspended robot 1. It should be noted that the control device 7 can be built into the interior of the suspended robot 1, for example, the base 110, or it can be disposed in a location away from the suspended robot 1, for example, in a control room located in another building.

[0143] like Figure 5 As shown, the control device 7 includes a control unit 71, a storage unit 72, and a communication unit 73. These units are connected to each other, for example, via a bus, in a manner that enables them to communicate with each other.

[0144] The control unit 71 may consist of at least one CPU (Central Processing Unit), which reads and executes various programs such as operation programs stored in the storage unit 72.

[0145] Signals generated by the control unit 71 are transmitted to each part of the suspended robot 1 via the communication unit 73, and signals from each part of the suspended robot 1 are received by the control unit 71 via the communication unit 73. As a result, the robotic arm 10 can perform a specified task under specified conditions.

[0146] In addition, the control unit 71 includes a position command generation unit, a motor control unit, and multiple motor drivers. The motor control unit performs noise processing and coordinate transformation processing on the output value of the inertial sensor 8, and calculates the magnitude and direction of the vibration detected by the inertial sensor 8. Then, it generates a feedback value that eliminates the relevant vibration components, and uses the feedback value to control each motor 21, 31, 511, and 512 of the robotic arm 10.

[0147] Specifically, the position command generation unit calculates the target positions of the operating axis 41 and the hand 42 based on the processing performed by the suspended robot 1, and generates a track for moving the operating axis 41 and the hand 42 at the calculated target positions. In addition, the position command generation unit calculates the rotation angle of each motor 21, 31, 511, and 512 according to a predetermined control cycle, and outputs the target rotation angle as a result of the calculation as a position command to the motor control unit so that the operating axis 41 and the hand 42 move along the generated track.

[0148] The motor control unit receives position commands from motors 21, 31, 511, and 512, as well as detection signals from each encoder, and performs feedback control to ensure that the rotation angles of motors 21, 31, 511, and 512 match the target rotation angle. It then outputs control signals to each motor driver. Additionally, when driving at least some of the motors, the motor control unit also receives detection signals from inertial sensor element 81. Using the detection signals from at least some of the encoders and the detection signals from inertial sensor element 81, the motor control unit calculates feedback values ​​to eliminate vibration components and performs the aforementioned feedback control.

[0149] Motor drivers are installed in each of the motors 21, 31, 511, and 512, and operate based on control signals from the motor control unit. Each motor driver has an inverter circuit including switching elements, which converts DC current into AC current through PWM control and supplies AC current to each of the motors 21, 31, 511, and 512 to drive each of the motors 21, 31, 511, and 512.

[0150] For example, if we describe the driving of motor 31, in addition to inputting the position command of motor 31, we also input the detection signals from the encoders of each motor 21, 511, and 512 and the inertial sensor 8 to the motor control unit, and use these detection signals to calculate the feedback value.

[0151] The motor control unit uses feedback values ​​for feedback control and outputs control signals to the motor driver of motor 31 so that the rotation angle of motor 31 calculated based on the detection signal of the encoder of motor 31 is consistent with the target rotation angle of motor 31.

[0152] The motor driver of motor 31 drives motor 31 based on the control signal from the motor control unit. By using such feedback values ​​to drive each motor 21, 31, 511, and 512 of the robotic arm 10, vibration reduction control can be performed on the first arm 120, the second arm 130, and the working head 40 based on the detection values ​​of the inertial sensor 8.

[0153] It should be noted that although only one motor control unit is provided in the control unit 71, it is not limited to this, and multiple motor control units may be provided. In the case of multiple motor control units, they may be configured to correspond to the respective motors 21, 31, 511, and 512. Alternatively, it may be configured such that the encoder detection signal of motor 21 is input to the motor control unit when motor 31 is not being driven. In this case, the motor control unit calculates the feedback value using the detection signals from the encoder and inertial sensor 8 of motor 31.

[0154] However, the control unit 71 is not limited to this configuration. It can be configured to perform vibration reduction control on one or any combination of two or more of the first arm 120, the second arm 130 and the working head 40 based on the detection value of the inertial sensor 8.

[0155] For example, the control unit 71 can also be configured to perform vibration reduction control only on the first arm 120 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the motor 21.

[0156] Alternatively, the control unit 71 can also be configured to perform vibration reduction control only on the second arm 130 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the motor 31.

[0157] Alternatively, the control unit 71 can also be configured to perform vibration reduction control only on the working head 40 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the shaft lifting motor 511 and the shaft rotation motor 512 of the drive unit 50. Alternatively, when performing vibration reduction control on the working head 40, the feedback value can be used to drive only one of the shaft lifting motor 511 and the shaft rotation motor 512.

[0158] Alternatively, the control unit 71 can also be configured to perform vibration reduction control only on the first arm 120 and the second arm 130 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the motor 21 and the motor 31.

[0159] Alternatively, the control unit 71 can also be configured to perform vibration reduction control only on the first arm 120 and the working head 40 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the motor 21, the shaft lifting motor 511, and the shaft rotation motor 512.

[0160] Alternatively, the control unit 71 can also be configured to perform vibration reduction control only on the second arm 130 and the working head 40 based on the detection value of the inertial sensor 8. That is, the feedback value can also be used to drive only the motor 31, the shaft lifting motor 511, and the shaft rotation motor 512.

[0161] The suspended robot 1 can improve the positional accuracy of its work and perform high-precision operations through the vibration reduction control described above.

[0162] The storage unit 72 stores various programs executed by the control unit 71. Examples of storage units 72 include components that are composed of volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices.

[0163] The communication unit 73 uses external interfaces such as wired LAN (Local Area Network) or wireless LAN to transmit and receive signals between various parts of the suspended robot 1 and the control device 7. In this case, communication can be conducted via a server (not shown) or via a network such as the Internet.

[0164] As described above, the suspended robot 1 and the suspended robot system 100 of this embodiment can achieve the following effects.

[0165] The suspended robot 1 of this embodiment includes: a base 110; a first arm 120, which, when viewed from above, overlaps one end of the first arm 120 in the long direction with the base 110; a joint portion 25, serving as a first joint, is provided at one end of the first arm 120, holding the first arm 120 so that it can rotate relative to the base 110 about a first axis J1; a second arm 130, which, when viewed from above, overlaps one end of the second arm 130 in the long direction with the other end of the first arm 120 in the long direction; a joint portion 35, serving as a second joint, is provided at one end of the second arm 130, holding the second arm 130 so that it can rotate relative to the first arm 120 about a second axis J2 parallel to the first axis J1; and a function... An operating shaft 41, which serves as the axis, is located at the other end of the long side of the second arm 130 and rotates about a third axis J3 parallel to the second axis J2, or moves along the third axis J3. The first arm 120 includes: a housing 121 having a bottom plate 1212 as a first plate and a top plate 1211 opposite the bottom plate 1212 as a second plate; a motor 31 that rotates the second arm 130 via a belt 32 and a pulley 33 as a transmission mechanism; and an inertial sensor 8 supported by the top plate 1211 and, when viewed from above, located at a position overlapping with the motor 31 or at a position closer to the other end of the first arm 120 than the motor 31. The inertial sensor 8 detects at least one of angular velocity and acceleration.

[0166] Thus, in this embodiment, the suspended robot 1 has the motor 31 mounted on the base plate 1212 and the inertial sensor 8 mounted on the top plate 1211 at a position that overlaps with the motor 31 when viewed from above, or at a position that is closer to the other end of the first arm 120 than the motor 31.

[0167] Therefore, the inertial sensor 8c or inertial sensor 8d is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0168] Furthermore, in this embodiment, the suspended robot 1 has the motor 31 mounted on the base plate 1212 and the inertial sensor 8 mounted on the top plate 1211. In other words, the inertial sensor 8 is located in the first arm 120 on the side of the base 110. That is, the inertial sensor 8 is located away from the joint 35.

[0169] Therefore, the inertial sensor 8c is less affected by the vibration of the joint 35 and can detect the vibration of the first arm 120 with excellent accuracy.

[0170] In the suspended robot 1 of this embodiment, the bottom plate 1212, which is the first plate part, is disposed on one side of the second arm 130, and the top plate 1211, which is the second plate part, is disposed on one side of the base 110.

[0171] Therefore, the inertial sensor 8c or inertial sensor 8d is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0172] In the suspended robot 1 of this embodiment, when viewed from above, the inertial sensor 8d is located on the other end of the first arm 120, closer to the motor 31, and overlaps with the joint portion 35, which serves as the second joint.

[0173] Therefore, the inertial sensor 8d is less affected by the vibration of the motor 31 and can detect the vibration of the front end of the first arm 120 with excellent accuracy.

[0174] The suspended robot system 100 of this embodiment includes: the suspended robot 1 described above; and a control device 7 as a controller to control the suspended robot 1.

[0175] Therefore, a suspended robot system 100 with high operational accuracy and high industrial application value can be realized.

[0176] 2. Implementation Method 2

[0177] Figure 6 This is a side view of the suspended robot 1 according to Embodiment 2. Figure 7 yes Figure 6 A partial cross-sectional view of the suspended robot 1. Figure 8 Viewed from the negative side of the Z-axis Figure 6 A top view of the suspended robot 1.

[0178] Embodiment 2 shows another configuration example of the inertial sensor 8 shown in Embodiment 1. It should be noted that in the following description, the same reference numerals are used to refer to the same components as in Embodiment 1, and repeated descriptions are omitted.

[0179] In embodiment 2, the motor 31 of the drive unit 30 is provided on the upper surface 1211a of the top plate 1211 of the first arm 120.

[0180] The inertial sensor 8 is located on the upper surface 1212a of the base plate 1212. When viewed from above, it includes: an inertial sensor 8e, which is located at a position overlapping with the motor 31; and an inertial sensor 8f, which is located at the other end of the first arm 120, which is closer to the long side than the motor 31.

[0181] Therefore, inertial sensors 8e and 8f are less affected by the vibration of motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0182] It should be noted that it is not necessary to have both inertial sensor 8e and inertial sensor 8f; either inertial sensor 8e or inertial sensor 8f is sufficient. In embodiment 2, the top plate 1211 is an example of the first plate portion, and the bottom plate 1212 is an example of the second plate portion.

[0183] like Figure 6 and Figure 8 As shown, a connector assembly 6 is provided on the lower surface of the second arm 130 at a position overlapping with the cylindrical portion 132. The connector assembly 6 consists, for example, of a power line for driving the hand 42, various signal lines, and connectors 61, 62, 63, 64, and 65 for connecting various pipes.

[0184] In Embodiment 2, the shaft lifting motor 511 and the shaft rotation motor 512 are arranged adjacent to each other along the short side of the second arm 130. Therefore, the arm length of the second arm 130 can be shorter than that in Embodiment 1. Thus, the moment of inertia of the second arm 130 rotating about the second shaft J2 can be less than that in Embodiment 1.

[0185] As described above, the suspended robot 1 according to Embodiment 2, in addition to the effects of Embodiment 1, can also achieve the following effects.

[0186] The suspended robot 1 of Embodiment 2 includes: a base 110; a first arm 120, one end of which, in top view, overlaps with the base 110 along its long side; a joint portion 25, serving as a first joint, is provided at one end of the first arm 120, holding the first arm 120 so that it can rotate relative to the base 110 about a first axis J1; a second arm 130, one end of which, in top view, overlaps with the other end of the first arm 120 along its long side; a joint portion 35, serving as a second joint, is provided at one end of the second arm 130, holding the second arm 130 so that it can rotate relative to the first arm 120 about a second axis J2 parallel to the first axis J1; and a... An operating shaft 41, which serves as the axis, is located at the other end of the long side of the second arm 130 and rotates about a third axis J3 parallel to the second axis J2, or moves along the third axis J3. The first arm 120 has: a housing 121 having a top plate 1211 as a first plate and a bottom plate 1212 opposite to the top plate 1211 as a second plate; a motor 31 that rotates the second arm 130 via a belt 32 and a pulley 33 as a transmission mechanism; and an inertial sensor 8 supported by the bottom plate 1212 and, when viewed from above, located at a position overlapping with the motor 31 or at a position closer to the other end of the first arm 120 than the motor 31. The inertial sensor 8 detects at least one of angular velocity and acceleration.

[0187] Thus, in embodiment 2, the suspended robot 1 has the motor 31 mounted on the top plate 1211, and the inertial sensor 8 mounted on the bottom plate 1212 at a position that overlaps with the motor 31 when viewed from above, or at a position that is closer to the other end of the first arm 120 than the motor 31.

[0188] Therefore, the inertial sensor 8e or inertial sensor 8f is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0189] In the suspended robot 1 of embodiment 2, the top plate 1211, which is the first plate part, is disposed on one side of the base 110, and the bottom plate 1212, which is the second plate part, is disposed on one side of the second arm.

[0190] Therefore, the inertial sensor 8e or inertial sensor 8f is less affected by the vibration of the motor 31 and can detect the vibration of the first arm 120 with excellent accuracy.

[0191] While various embodiments of the suspended robot 1 and the suspended robot system 100 have been described above, this invention is not limited thereto. Furthermore, each part of the suspended robot system 100 can be replaced with any structure that can perform the same function. Additionally, any structure can be added to the suspended robot system 100. Furthermore, this invention can also be a combination of features from various embodiments.

Claims

1. A suspended robot, characterized in that, have: abutment; When viewed from above, one end of the first arm along its long side overlaps with the base. A first joint is provided at one end of the first arm to hold the first arm so that it can rotate about a first axis relative to the base. When viewed from above, one end of the second arm along its long side overlaps with the other end of the first arm along its long side. The second joint is located at one end of the second arm and holds the second arm so that it can rotate relative to the first arm about a second axis parallel to the first axis. as well as An axis, located at the other end of the long side of the second arm, can rotate about a third axis parallel to the second axis, or move along the third axis. The first arm has: The housing has a first plate portion and a second plate portion opposite to the first plate portion; The motor rotates the second arm via a transmission mechanism; as well as An inertial sensor, supported by the second plate, is positioned, when viewed from above, at a location overlapping the motor or at a location further away from the motor than the other end of the first arm. The inertial sensor detects at least one of angular velocity and acceleration.

2. The suspended robot according to claim 1, characterized in that, The first plate portion is disposed on one side of the second arm, and the second plate portion is disposed on one side of the base.

3. The suspended robot according to claim 1, characterized in that, The first plate portion is disposed on one side of the base, and the second plate portion is disposed on one side of the second arm.

4. The suspended robot according to claim 1, characterized in that, From a top-down view, the inertial sensor is located at the other end of the first arm, closer to the motor, and overlaps with the second joint.

5. The suspended robot according to claim 1, characterized in that, From a top-down view, the inertial sensor is positioned overlapping the motor and closer to the base than the motor.

6. A suspended robot system, characterized in that, have: The suspended robot according to any one of claims 1 to 5; and The controller controls the suspended robot.

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