Ceiling-mounted robot and ceiling-mounted robot system

Abstract

[Task] Providing a ceiling-mounted robot that can increase the accuracy of vibration detection. [Solution] A ceiling-mounted robot 1 is provided with a base 110, a first arm 120 overlapping the base 110, a joint 25 holding the first arm 120 so that it is rotatable about a first axis J1 relative to the base 110, a second arm 130 overlapping the first arm 120, a joint 35 holding the second arm 130 so that it is rotatable about a second axis J2, and a working shaft 41 extending longitudinally to the other end of the second arm 130 and rotating about a third axis J3, wherein the first arm 120 comprises a housing 121, a motor 31 for rotating the second arm 130 via a belt 32 and a pulley 33 as a transmission mechanism, and an inertial sensor 8 for detecting at least one of the angular velocities and accelerations, mounted on a top panel 1211 supported and, in plan view, provided at a point that overlaps with the motor 31.

Description

[TECHNICAL FIELD]

[0001] The present invention relates to a ceiling-mounted robot and a ceiling-mounted robot system. [TECHNICAL BACKGROUND]

[0002] An example of an industrial ceiling-mounted robot is a ceiling-mounted robot according to patent document 1. The ceiling-mounted robot according to patent document 1 comprises a base, a first arm rotatably connected to the base via a first coupling element about a first cardan shaft as its center in a horizontal plane, a second arm rotatably connected to the first arm via a second coupling element about a second cardan shaft as its center in a horizontal plane, and a working shaft attached to the second arm. A second cardan shaft motor for driving the second arm is also provided on the first arm. [STATE OF THE ART DOCUMENT][PATENT DOCUMENT]

[0003] Patent document 1: WO 2012 / 029173 A [SUMMARY OF THE INVENTION][TASK TO BE SOLVED BY THE INVENTION]

[0004] With such a ceiling-mounted robot, the need for vibration damping control to suppress arm vibrations during operation using an inertial sensor increases. However, it is feared that the detection accuracy of the inertial sensor and the essential characteristics of the ceiling-mounted robot will be affected depending on the type of inertial sensor placement. [MEMORY TO SOLVENT THE TASK]

[0005] A ceiling-mounted robot according to the present invention is provided with a base, a first arm which, in plan view, overlaps the base longitudinally at one end, a first joint which is provided on one end of the first arm and holds the first arm such that it is rotatable about a first axis relative to the base, a second arm which, in plan view, overlaps the other end of the first arm longitudinally at one end, a second joint which is provided on one end of the second arm and holds the second arm such that it is rotatable about a second axis parallel to the first axis relative to the first axis, and a shaft which is provided longitudinally at the other end of the second arm and is rotated about or moved along a third axis parallel to the second axis, wherein the first arm has a housing,comprising a first board section and a second board section opposite the first board section, a motor for rotating the second arm via a transmission mechanism, and an inertial sensor for detecting at least one of the angular velocities and accelerations, which is supported on the second board section and, in plan view, is located either at a point overlapping with the motor or closer to the other end of the first arm than the motor is provided for.

[0006] A ceiling-mounted robot system according to the present invention is provided with the ceiling-mounted robot and a controller for controlling the ceiling-mounted robot. [BRIEF DESCRIPTION OF THE DRAWINGS] Fig. Figure 1 is an oblique view of the entirety of a ceiling-mounted robot system with a ceiling-mounted robot according to the present embodiment. Fig. Figure 2 is a partially enlarged oblique view according to Fig. 1. Fig. Figure 3 is a side view of the ceiling-mounted robot according to Fig. 1. Fig. 4A is a partial section of the ceiling-mounted robot according to Fig. 3. Fig. 4B is a top view of the ceiling-mounted robot according to Fig. 3, seen from the negative side in the Z-axis direction. Fig. 5 is a block diagram of the ceiling-mounted robot system according to Fig. 1. Fig. Figure 6 is a side view of a ceiling-mounted robot according to embodiment 2. Fig. Figure 7 is a partial section of the ceiling-mounted robot according to Fig. 6. Fig. Figure 8 is a top view of the ceiling-mounted robot according to Fig. 6, seen from the negative side in the Z-axis direction. [FORM OF EXECUTION OF THE INVENTION]

[0007] In the embodiment according to the invention, the dimensions of the components can be shown in different scales as shown in the individual figures, so that they can be more easily identified.

[0008] The figures can depict three axes that are perpendicular to each other, namely the X, Y and Z axes.

[0009] The X and Y axes are arranged such that a plane encompassing both the X and Y axes is horizontal. The Z axis is arranged such that the tip of the arrow points vertically upwards.

[0010] In the following explanation, the tip of the arrow on each of the three axes can be referred to as the "positive side" and the starting side of the arrow as the "negative side". The direction parallel to the X-axis can be referred to as the "X-axis direction", the direction parallel to the Y-axis as the "Y-axis direction", and the direction parallel to the Z-axis as the "Z-axis direction".

[0011] In the following, "top view" means that an object is viewed from its positive or negative side in the Z-axis direction. The positive side in the Z-axis direction can be referred to as "top" and the negative side in the Z-axis direction as "bottom".

[0012] A top surface of a structure represents a surface of said structure on the positive side in the Z-axis direction. For example, a "top surface of a deck board" represents a surface of the deck board on the positive side in the Z-axis direction. A bottom surface of a structure represents a surface of said structure on the negative side in the Z-axis direction. For example, a "bottom surface of a deck board" represents a surface of the deck board on the negative side in the Z-axis direction.

[0013] Preferred embodiments of a ceiling-mounted robot 1 and ceiling-mounted robot system 100 according to the present invention are explained below. 1. Embodiment 11.1. Overall structure of a ceiling-mounted robot and ceiling-mounted robot system

[0014] Fig. Figure 1 is an oblique view of the entirety of a ceiling-mounted robot system 100 with a ceiling-mounted robot 1 according to embodiment 1. Fig. Figure 2 is a partially enlarged oblique view according to Fig. 1.

[0015] The ceiling-mounted robot system 100 is an industrial robot that automates various work processes in factories, such as assembly, replacing human labor. The ceiling-mounted robot system 100 comprises a ceiling-mounted robot 1, inertial sensors 8 for detecting vibrations of the ceiling-mounted robot 1, and a control device 7 for controlling the ceiling-mounted robot 1.

[0016] The ceiling-mounted robot 1 is a horizontal articulated robot (SCARA robot) whose arm moves in a horizontal direction. The ceiling-mounted robot 1 is installed in a position suspended from a top panel 91 of a frame 9. The frame 9 is installed, for example, on a production line in a factory for the manufacture of precision devices, etc., such as mobile phones, smartphones, and tablet computers. The ceiling-mounted robot 1 is controlled by the control device 7 and performs operations, such as gripping, transporting, processing, assembling, etc., on workpieces 95, such as precision devices, components, etc., placed on a workbench 92. The control device 7 in the present embodiment represents an example of a controller.

[0017] The mounting surface for the ceiling-mounted robot 1 is not limited to the top board 91 of the frame 9. The mounting surface for the ceiling-mounted robot 1 can be, for example, a ceiling, wall surface, beam, column, strut, another scaffold, a rail for lifting devices, etc., in a work chamber. The term "ceiling-mounted robot 1" also includes a wall-mounted and wall-attached robot for which a side wall serves as the mounting surface.

[0018] The frame 9 includes a top board 91, a workbench 92, a frame-shaped base 93 and inertial sensors 8.

[0019] The ceiling-mounted robot 1 is attached to the cover board 91. The cover board 91 has an upper surface 911 and a lower surface 912, the surface to which the ceiling-mounted robot 1 is attached being horizontal. The cover board 91 has through holes 913, 914 penetrating in its thickness direction.

[0020] The through-hole 913 is a window for worker access from the top of the deck board 91 for maintenance of a drive component 30 mentioned later, etc. The through-hole 914 is a hole to which the ceiling-mounted robot 1 is attached. A base 110 is inserted into the through-hole 914.

[0021] The inertial sensors 8 comprise an inertial sensor 8a, which is provided on the upper surface 911 of the cover board 91 of the frame 9, and an inertial sensor 8b, which is provided on the upper surface of the workbench 92.

[0022] The inertial sensor 8a can detect vibrations generated on the frame 9 with good accuracy, as it is located on the top panel 91 to which the ceiling-mounted robot 1 is attached. The information acquired by the inertial sensor 8a is sent to the control device 7 and is used to suppress the vibrations of the ceiling-mounted robot 1, in particular vibrations of a hand 42 attached to the front end of a work head 40.

[0023] The inertial sensor 8b can detect vibrations generated at the workbench 92—in other words, how the workpiece 95 actually vibrates—with good accuracy, since it is located at the workbench 92. The information acquired by the inertial sensor 8b is sent to the control device 7 and is used to perform precise operations while suppressing the vibrations of the ceiling-mounted robot 1. For example, the control device 7 corrects the relative position of the ceiling-mounted robot 1 to the workpiece 95 based on the information acquired by the inertial sensor 8b. Therefore, the control device 7 can perform precise positioning.

[0024] In the present embodiment, the inertial sensor 8 is also provided on the ceiling-mounted robot 1. The control device 7 performs vibration damping control using the detection signal from each inertial sensor 8, which is provided on at least one of the ceiling-mounted robot 1 and the frame 9. The inertial sensor 8 is explained in detail in section 1.2.3, which is mentioned later. The vibration damping control performed by the control device 7 is explained in detail in section 1.2.4, which is mentioned later.

[0025] The ceiling-mounted robot 1 has a base 110 and a robot arm 10 connected to the base 110, as shown in Fig. Figure 2 shows the robot arm 10 having a first arm 120, a second arm 130 and a working head 40.

[0026] The first arm 120 is configured such that, in plan view, it overlaps the base 110 longitudinally at one end face via a joint element 25. The joint element 25 is provided longitudinally at one end face of the first arm 120 and holds the first arm 120 such that it is rotatable about a first axis J1 relative to the base 110. In the present embodiment, the first axis J1 is a virtual axis extending along the vertical direction, representing a rotation axis of the first arm 120. In the present embodiment, the joint element 25 represents an example of a first joint.

[0027] The second arm 130 is configured such that, in plan view, it overlaps the other end of the first arm 120 longitudinally via a joint element 35 at one end. The joint element 35 is provided longitudinally at one end of the second arm 130 and holds the second arm 130 such that it is rotatable relative to the first arm 120 about a second axis J2 parallel to the first axis J1. In the present embodiment, the second axis J2 is a virtual axis extending along the vertical direction, representing a rotation axis of the second arm 130. The second axis J2 and the first axis J1 are parallel. In the present embodiment, the joint element 35 represents an example of a second joint.

[0028] The working head 40 is provided longitudinally on the opposite end of the second arm 130. The working head 40 is equipped with a working shaft 41 and a hand 42. The working shaft 41 is an example of a shaft.

[0029] The inertial sensor 8 is attached to the first arm 120. The inertial sensor 8 detects vibrations of the first arm 120 and sends a detection signal consisting of vibration data to the control device 7. Based on the detection signal received by the inertial sensor 8, the control device 7 controls the individual parts of the ceiling-mounted robot 1 in such a way that the vibrations of the first arm 120, the ceiling-mounted robot 1, the frame 9, and / or the workpiece 95 are suppressed.

[0030] In this way, the vibration damping performance of the ceiling-mounted robot system 100 according to the present embodiment can be increased, since the ceiling-mounted robot 1 is equipped with the inertial sensor 8. Therefore, the ceiling-mounted robot 1 and the ceiling-mounted robot system 100, which are excellent in speed, accuracy and / or energy efficiency and are servo-controllable, can be realized.

[0031] In the present embodiment, the detection accuracy of the inertial sensor 8, e.g., the accuracy of the vibration data, and the essential properties of the ceiling-mounted robot 1, e.g., its processability, are compatible by taking measures regarding the arrangement of the inertial sensor 8. The arrangement of the inertial sensor 8 is explained in section 1.2.3.1, which is mentioned later. 1.2. Detailed setup of the ceiling-mounted robot

[0032] The following section describes the detailed construction of the individual parts of the ceiling-mounted robot 1 based on the Fig. 3 to Fig. 4B explained.

[0033] Fig. Figure 3 is a side view of the ceiling-mounted robot 1. Fig. 4A is a partial section of the ceiling-mounted robot 1 according to Fig. 3. Fig. Figure 4B is a top view of the ceiling-mounted robot 1 according to Fig. 3, seen from the negative side in the Z-axis direction.

[0034] The ceiling-mounted robot 1 has the base 110 and the robot arm 10 connected to the base 110, as shown in Fig. 3 shown. 1.2.1. Basis

[0035] Base 110 is a component that is placed at the top of the ceiling-mounted robot 1 and attached to the top board 91 of the frame 9.

[0036] The base 110 has a main body part 11, a plate-shaped base plate 13 provided on the lower part of the main body part 11 and a drive part 20 provided inside the main body part 11 for the rotary drive of the first arm 120 about the first axis.

[0037] The main body part 11 and the base plate 13 form a housing in which the drive part 20 is partially enclosed.

[0038] The base 110 is attached to the deck board 91 by fixing the base plate 13 together with a fitting 12 to the upper surface 911 and / or lower surface 912 of the deck board 91 by means of fixing elements, such as bolts, screws, pins, etc.

[0039] Since the base 110 is attached to the deck board 91, the ceiling-mounted robot 1 functions as a ceiling-mounted SCARA robot.

[0040] The drive part 20 includes a motor 21, a belt 22, a pulley 23 and a joint part 25.

[0041] The rotation of the motor 21 is transmitted to the joint part 25 via the belt 22 and the pulley 23. Since the motor 21, belt 22, and pulley 23 are housed in the main body part 11, the ingress of foreign substances, such as dirt, dust, etc., into the motor 21, etc., and the discharge of foreign substances from the motor 21, etc., to the outside of the robot arm 10 are prevented.

[0042] The joint part 25 has a reduction gear 26 and a flange 27.

[0043] The reduction gear 26 in the present embodiment is a tension shaft gear. However, the reduction gear 26 can be a reduction gear of another type, such as a planetary gear, etc.

[0044] One side of the flange 27 is fixed to the output shaft of the reduction gear 26 and the other side is fixed to the first arm 120.

[0045] The reduction gear 26 comprises a shaft generator 261, a flexspline 262, and a circular spline 263. The shaft generator 261 is the input shaft of the reduction gear 26, which is fixed to the pulley 23. The flexspline 262 is the output shaft of the reduction gear 26, which is fixed to the flange 27. The circular spline 263 is a fixed shaft, which is fixed to the base plate 13. Alternatively, the flexspline 262 can be fixed to the base plate 13 and the circular spline 263 can be fixed to the flange 27 as the output shaft.

[0046] Cables, such as power lines, various signal lines, etc., which are connected to the drive part 30, drive part 50, working head 40, inertial sensor 8, etc. mentioned later, and / or further pipes, etc., are inserted into a hollow tube 28. 1.2.2. Robot arm

[0047] The robot arm 10 has the first arm 120, the second arm 130 and the working head 40. 1.2.2.1. First arm

[0048] The first arm 120 is a horizontally extending arm, one end of which is cantilevered at the base 110 via the joint part 25. The first arm 120 is rotated about the first axis J1, which is a pivot axis, and thus moved in a horizontal direction.

[0049] The first arm 120 has a housing 121, a drive part 30 and an inertial sensor 8.

[0050] The housing 121 is essentially cuboid and has a plate-shaped top board 1211 and a bottom board 1212 opposite the top board 1211. In the present embodiment, the top board 1211 represents an example of a second board part and the bottom board 1212 represents an example of a first board part.

[0051] The drive unit 30 rotates the second arm 130 about the second axis J2. The drive unit 30 comprises a motor 31, a belt 32, a pulley 33, and a joint 35.

[0052] The motor 31 is provided in a covered state with a cover 122 on the lower surface 1212b of the base plate 1212 of the first arm 120. However, the motor 31 does not always have to be covered with the cover 122.

[0053] The working head 40 is arranged on the side of the lower surface 1212b of the base plate 1212 of the first arm 120. The motor 31 is arranged longitudinally in the essentially central region of the first arm 120, in other words, between the first axis J1 and the second axis J2, or more specifically, between a pipe section 132 of the second arm 130 and the working head 40, so that the motor 31 does not engage with the working head 40.

[0054] The cover 122 is designed to cover the motor 31.

[0055] The rotation of the motor 31 is transmitted to the joint part 35 via the belt 32 and the pulley 33. The belt 32 and the pulley 33 are provided on the upper surface 1212a of the base plate 1212 in the housing 121. In the present embodiment, the belt 32 and the pulley 33 represent an example of a transmission mechanism.

[0056] The joint part 35 is arranged longitudinally on the other end side of the first arm 120.

[0057] The joint part 35 has a reduction gear 36 and a flange 37.

[0058] The reduction gear 36 in the present embodiment is a tension shaft gear. However, the reduction gear 36 can be a reduction gear of another type, such as a planetary gear, etc.

[0059] The reduction gear 36 comprises a shaft generator 361, a flex spline 362, and a circular spline 363. The shaft generator 361 is the input shaft of the reduction gear 36, which is fixed to the pulley 33. The flex spline 362 is the output shaft of the reduction gear 36, which is fixed to the flange 37. The circular spline 363 is a fixed shaft, which is fixed to the first arm 120. Alternatively, the flex spline 362 can be fixed to the first arm 120, and the circular spline 363 can be fixed to the flange 37 as the output shaft.

[0060] One side of the flange 37 is fixed to the output shaft of the reduction gear 36 and the other side is fixed to the second arm 130.

[0061] Cables, such as power lines, various signal lines, etc., which are connected to the drive part 50, working head 40, inertial sensor 8, etc. mentioned later, and / or further pipes, etc., are inserted into a hollow tube 38.

[0062] The inertial sensor 8 comprises, on the lower surface 1211b of the deck board 1211, an inertial sensor 8c, which in plan view is located at a position overlapping with the motor 31, and an inertial sensor 8d, which is located closer to the other end of the first arm 120 in the longitudinal direction than the motor 31. The two inertial sensors 8c, 8d need not be provided; it is sufficient if at least one of them is provided. 1.2.2.2. Second arm

[0063] The second arm 130 is a horizontally extending arm, one end of which is supported cantilevered via the joint part 35 on the other end of the first arm 120.

[0064] The second arm 130 is rotated around the second axis J2, which is a rotary axis, and thus moved in a horizontal direction. The first axis J1 of the first arm 120 and the second axis J2 of the second arm 130 are parallel but offset from each other in the horizontal direction. In other words, the first axis J1 and the second axis J2 are separated by a predetermined distance in the horizontal direction. Therefore, the movable range of the robot arm 10 can be extended.

[0065] The second arm 130 has a housing section 131 and a tube section 132. The tube section 132 is located between the housing section 131 and the flange 37 on the second arm 130. One end of the tube section 132 is fixed to the flange 37, and the other end is connected to the housing section 131. That is, the tube section 132 functions as a joint for coupling the flange 37 to the housing section 131. The tube section 132 is designed such that its cylindrical portion surrounds the second axis J2 and has a length along the second axis J2 such that, for example, the second arm 130 can be rotated 360° relative to the first arm 120.For example, the length of the working head 40 from the upper surface of the cover board of housing section 131 to the upper end of the working head 40 is shorter than the distance along the axis of the third axis J3 between the upper surface of the cover board of housing section 131 and the lower surface 1212b of the bottom board 1212 of the first arm 120. This allows the second arm 130 to pass under the first arm 120 without the working head 40 engaging the first arm 120, even when the working shaft 41 is at its highest point. That is, the second arm 130 can rotate 360° upwards and downwards independently of the first arm 120 from the position of the working head 40.

[0066] Housing section 131 includes a drive unit 50 and a working head 40. The drive unit 50 has a motor 51. The motor 51 is controlled by the control device 7 and drives the working head 40.

[0067] The working head 40 is equipped with a working shaft 41 and a hand 42.

[0068] The working head 40 and the drive part 50 are partially enclosed in a cover 135.

[0069] The working shaft 41 is partially enclosed in a bellows-shaped cover 43.

[0070] The working shaft 41 extends longitudinally along the third axis J3, is driven by the drive element 50, and is displaced up and down along the third axis J3 and / or rotated about the third axis J3. In the present embodiment, the third axis J3 is a virtual axis extending along the vertical direction, representing an axis of rotation of the working shaft 41. The third axis J3, first axis J1, and second axis J2 are parallel.

[0071] The working shaft 41 is a hollow shaft type with a cavity in the center. Cables, such as power lines, various signal lines, etc., and / or other pipes, etc., are inserted into the cavity of the working shaft 41 and connected to the hand 42. The working shaft 41 is not limited to the hollow shaft type. The cables, etc., that are connected to the hand 42 can be connected via the outside of the working shaft 41.

[0072] The hand 42 is an end effector that is controlled by the control device 7 and performs operations such as gripping, transporting, machining, assembling, etc., for the workpieces 95, such as precision instruments, components, etc., placed on the workbench 92.

[0073] The hand 42 is detachably attached to the lower end of the working shaft 41. A suitable end effector for the task is selected from various end effectors to serve as the hand 42. These end effectors include, for example, grippers, suction end effectors, application-specific end effectors, robot hands, etc.

[0074] The drive part 50 has a shaft lifting / lowering mechanism for moving the working shaft 41 in the upward and downward direction and a shaft rotation mechanism for rotating the working shaft 41 about the third axis J3.

[0075] The motor 51 comprises a shaft lifting / lowering motor 511 and a shaft rotary motor 512. The shaft lifting / lowering motor 511 and shaft rotary motor 512 are arranged side by side along the longitudinal direction of the second arm 130.

[0076] The shaft lifting / lowering mechanism comprises the shaft lifting / lowering motor 511, a belt 52, a pulley 53, and a leadscrew mechanism 54. The leadscrew mechanism 54 consists of a threaded groove (not shown) formed on the outer circumferential surface of the working shaft 41 and a ball screw having an internal threaded block 541 rotatably mounted on the housing section 131.

[0077] The shaft lifting / lowering mechanism moves the working shaft 41 along the third axis J3, i.e. in the upward or downward direction, by transmitting the rotation of the shaft lifting / lowering motor 511 via the belt 52 and the pulley 53 to the internal thread block 541, thus rotating the internal thread block 541.

[0078] The shaft rotation mechanism consists of the shaft rotation motor 512, a belt 56, a pulley 57 and a splined shaft mechanism 58.

[0079] The splined shaft mechanism 58 consists of a keyway (not shown) formed on the outer circumferential surface of the working shaft 41 and a ball splined shaft with a hub block 581 rotatably mounted on the housing section 131. The splined shaft mechanism 58 provides sliding support for the working shaft 41 in both the upward and downward directions.

[0080] The shaft rotation mechanism rotates the working shaft 41 about the third axis J3 by transmitting the rotation of the shaft rotation motor 512 via the belt 56 and the pulley 57 to the hub block 581, thus rotating the hub block 581.

[0081] The shaft lifting / lowering motor 511 and shaft rotary motor 512 are arranged on the housing section 131 between the working shaft 41 and the tube section 132. In other words, the shaft lifting / lowering motor 511 and shaft rotary motor 512 are arranged between the working shaft 41 and the second axis J2 and between the third axis J3 and the second axis J2, respectively. 1.2.3. Inertial sensor

[0082] The inertial sensor 8 is a sensor device comprising an inertial sensor element 81 for detecting inertial force and a circuit board 82 for mounting the inertial sensor element 81 and a processor, interface chip, etc. (not shown) in a single package. The inertial sensor 8 does not always have to be included in the package; the circuit board 82 can be attached to the housing section 131.

[0083] In the present embodiment, the inertial sensor element 81 comprises a total of six sensor elements, namely for 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 accelerations in three mutually perpendicular axis directions and angular velocities about three axes.

[0084] However, the inertial sensor element 81 is not limited to the IMU. The inertial sensor element 81 can be an accelerometer for detecting the acceleration about one to three axes from the X, Y, and Z axes, an angular velocity sensor for detecting the angular velocity about one to three axes from the X, Y, and Z axes, or a sensor element consisting of a combination of these.

[0085] The inertial sensor element 81 can also be, for example, a quartz accelerometer with a quartz oscillator. The type of inertial sensor element 81 can be selected according to the intended use. For example, a silicon (Si) MEMS (Micro Electro Mechanical Systems) sensor element can be used. The inertial sensor 8 can also be equipped with a display, memory, etc. Furthermore, the inertial sensor 8 can be designed to wirelessly transmit the measured values ​​to external devices.

[0086] In the present embodiment, the inertial sensor 8 is provided on the frame 9 and first arm 120 of the ceiling-mounted robot 1. The inertial sensor 8 provided on the first arm 120 detects at least one of the angular velocities and accelerations at the point where it is attached and outputs a detection signal.

[0087] The vibrations of the first arm 120 can have a detrimental effect on the working accuracy of the ceiling-mounted robot 1.

[0088] For example, the first arm 120 is swung by receiving a horizontal force through the rotation of the first arm 120 about the first axis J1, rotation of the second arm 130 about the second axis J2, rotation of the working shaft 41 about the third axis J3, and / or vibrations of the frame 9, etc. As a result, the position of the hand 42 may deviate from the target position.

[0089] Furthermore, the first arm 120 is swung by the vertical force exerted on it by the movement of the working shaft 41 along the third axis J3, the gripping and releasing of the workpiece 95 by the hand 42, and / or vibrations of the frame 9, etc. As a result, the position of the hand 42 can deviate from the target position.

[0090] When carrying out the work operations with the hand 42, it is therefore advantageous to carry out a drive control of each motor 21, 31, 51 according to the content, the properties, the extent, etc. of the vibrations, so that the hand 42 does not deviate from the target position.

[0091] In the present embodiment, the first arm 120 is equipped with the inertial sensor 8 under the circumstances mentioned above. Using the detection signal from the inertial sensor 8, each motor 21, 31, 511, 512 is subjected to drive control to suppress vibrations. This control is referred to as vibration damping control. The ceiling-mounted robot 1 according to the present embodiment is designed such that the working accuracy of the ceiling-mounted robot 1 is increased by the vibration damping control.

[0092] However, depending on the arrangement of the inertial sensor 8, there is a concern that the detection accuracy of the inertial sensor 8, which is arranged on the first arm 120, and the essential properties of the ceiling-mounted robot 1 may be impaired. Therefore, in the present embodiment, several measures are taken to prevent the detection accuracy of the inertial sensor 8 and the essential properties of the ceiling-mounted robot 1 from being impaired by the arrangement of the inertial sensor 8, and furthermore to increase the detection accuracy of the inertial sensor 8 and the essential properties of the ceiling-mounted robot 1.

[0093] The following explains the measures taken with regard to the arrangement of the inertial sensor 8 on the first arm 120. 1.2.3.1. Arrangement of the inertial sensor 8c

[0094] The inertial sensor 8c is arranged in top view at a point overlapping with the motor 31 on the lower surface 1211b of the cover board 1211 of the first arm 120, as shown in Fig. 4A and Fig. Figure 4B shows the motor 31 being located on the lower surface 1212b of the base plate 1212 of the first arm 120. That is, the inertial sensor 8c is located on a different surface of the first arm 120 than the motor 31.

[0095] Therefore, the inertial sensor 8c is hardly affected by the vibrations of the motor 31 and can detect the vibrations of the first arm 120 with good accuracy.

[0096] Furthermore, the inertial sensor 8c is provided on the side of the base 110 on the first arm 120. That is, the inertial sensor 8 is provided at a location remote from the joint part 35.

[0097] Therefore, the inertial sensor 8c is hardly affected by the vibrations of the joint part 35 and can detect the vibrations of the first arm 120 with good accuracy. 1.2.3.2. Arrangement of the inertial sensor 8d

[0098] The inertial sensor 8d is located on the lower surface 1211b of the cover board 1211 of the first arm 120, closer to the other end of the first arm 120 in the longitudinal direction than the motor 31. That is, the inertial sensor 8d is arranged on a different surface of the first arm 120 than the motor 31.

[0099] Therefore, the inertial sensor 8d is hardly affected by the vibrations of the motor 31 and can detect the vibrations of the first arm 120 with good accuracy.

[0100] In addition, the inertial sensor 8d is provided in top view at a location that is closer to the other end of the first arm 120 than the motor 31 and overlaps with the joint part 35.

[0101] Therefore, the inertial sensor 8d is hardly affected by the vibrations of the motor 31 and can detect the vibrations of the front end of the first arm 120 with good accuracy.

[0102] Furthermore, the inertial sensor 8d is positioned closer to the base 110 than the motor 31. That is, it is located at a position further away from the joint part 35.

[0103] Therefore, the inertial sensor 8d is hardly affected by the vibrations of the joint part 35 and can detect the vibrations of the first arm 120 with good accuracy. 1.2.4. Ceiling-mounted robot system

[0104] The assembly of the ceiling-mounted robot system 100 will then be carried out based on the Fig. 1 and Fig. 5 explained. Fig. Figure 5 is a block diagram of the ceiling-mounted robot system 100 according to Fig. 1.

[0105] The ceiling-mounted robot system 100 is equipped with the ceiling-mounted robot 1, the inertial sensor 8 for detecting the vibrations of the ceiling-mounted robot 1 and the control device 7 for controlling the ceiling-mounted robot 1, as mentioned above.

[0106] In the present embodiment, the control device 7 is separate from the ceiling-mounted robot 1 and is located next to it. However, the control device 7 can be installed inside the ceiling-mounted robot 1, e.g., in the base 110, or located at a point remote from the ceiling-mounted robot 1, e.g., in a control chamber provided in a separate building.

[0107] The control device 7 has a control unit 71, a storage unit 72 and a communication unit 73, as shown in Fig. 5 shown. The individual parts are connected to each other, for example via buses, so that they can communicate with each other.

[0108] The control unit 71, which is formed, for example, from at least one CPU (Central Processing Unit), reads various programs stored in the memory unit 72, such as operating programs, etc., and executes them.

[0109] A signal generated in the control unit 71 is sent to the individual parts of the ceiling-mounted robot 1 via the communication unit 73, and signals from the individual parts of the ceiling-mounted robot 1 are received by the control unit 71 via the communication unit 73. This enables the robot arm 10 to perform predefined work processes under predefined conditions.

[0110] The control unit 71 further comprises a position command generation unit, a motor control unit, and several motor drivers. The motor control unit performs noise processing, coordinate transformation processing, etc., on the output value of the inertial sensor 8 and calculates the magnitude and direction of the vibrations detected by the inertial sensor 8. A feedback value that cancels out this vibration component is then generated, whereby the individual motors 21, 31, 511, 512 of the robot arm 10 are controlled using this feedback value.

[0111] Specifically, the position command generation unit calculates the target position of the work shaft 41 and hand 42 based on the content of the processing performed by the ceiling-mounted robot 1 and generates a path for moving the work shaft 41 and hand 42 to the calculated target position. The position command generation unit also calculates the rotation angle of the individual motors 21, 31, 511, 512 for each predefined control cycle to move the work shaft 41 and hand 42 along the generated path and outputs the resulting target rotation angle to the motor control unit as each position command.

[0112] The individual position commands for motors 21, 31, 511, and 512, as well as sensing signals from the individual encoders, are input into the motor control unit. The motor control unit then performs feedback control such that the rotation angles of motors 21, 31, 511, and 512 match the target rotation angles and outputs a control signal to each motor driver. When at least some of the motors are driven, a sensing signal from the inertial sensor element 81 is also input into the motor control unit. Using the sensing signal from at least some of the encoders and the sensing signal from the inertial sensor element 81, the motor control unit calculates a feedback value that cancels out the vibration component and performs the aforementioned feedback control.

[0113] The motor driver is provided for each motor 21, 31, 511, 512 and is actuated by the control signal from the motor control unit. Each motor driver has an inverter circuit comprising switching elements, converts the direct current to alternating current via PWM control, supplies the individual motors 21, 31, 511, 512 with the alternating current and thus drives the individual motors 21, 31, 511, 512.

[0114] For example, the drive of motor 31 is explained. The motor control unit receives not only the position command of motor 31, but also the detection signals from the encoders of the individual motors 21, 511, 512 and the inertial sensor 8, and uses these detection signals to calculate the feedback value.

[0115] The motor control unit performs the feedback control using the feedback value such that the rotation angle of motor 31, calculated from the sensing signal of the encoder of motor 31, matches the target rotation angle of motor 31. A control signal is then output to the motor driver of motor 31.

[0116] The motor driver of motor 31 drives motor 31 based on the control signal from the motor control unit. Using this feedback value, each motor 21, 31, 511, 512 of the robot arm 10 is driven, thereby enabling vibration damping control of the first arm 120, second arm 130, and work head 40 based on the detection value of the inertial sensor 8.

[0117] Only one motor control unit is provided at control unit 71, but multiple motor control units can be provided without restriction. If multiple motor control units are provided, they can correspond to the individual motors 21, 31, 511, and 512. Furthermore, the motor control unit can be configured such that the sensing signal from the encoder of motor 21 is not input into the motor control unit when motor 31 is driven. In this case, the motor control unit calculates the feedback value using the sensing signals from the encoder of motor 31 and the inertial sensor 8.

[0118] However, the setup is not limited to this. The control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it performs the vibration damping control for one of the first arm 120, second arm 130 and working head 40, or any combination of two or more of them.

[0119] For example, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it alone performs the vibration damping control for the first arm 120. That is, the feedback value can be used to drive only the motor 21.

[0120] Furthermore, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it alone performs the vibration damping control for the second arm 130. That is, the feedback value can be used to drive only the motor 31.

[0121] Furthermore, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it performs the vibration damping control for the working head 40 independently. That is, the feedback value can be used to drive only the shaft lifting / lowering motor 511 and the shaft rotary motor 512 of the drive unit 50. When performing the vibration damping control for the working head 40, the feedback value can be used to drive either only the shaft lifting / lowering motor 511 or only the shaft rotary motor 512.

[0122] Furthermore, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it independently performs the vibration damping control for the first arm 120 and second arm 130. That is, the feedback value can be used to drive only motor 21 and motor 31.

[0123] Furthermore, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it alone performs the vibration damping control for the first arm 120 and working head 40. That is, the feedback value can be used to drive only the motor 21, shaft lifting / lowering motor 511, and shaft rotary motor 512.

[0124] Furthermore, the control unit 71 can be configured such that, based on the detection value of the inertial sensor 8, it alone performs the vibration damping control for the second arm 130 and working head 40. That is, the feedback value can be used to drive only the motor 31, shaft lifting / lowering motor 511, and shaft rotary motor 512.

[0125] Through the vibration damping control, as mentioned above, the ceiling-mounted robot 1 can increase the positional accuracy of the work processes and perform highly accurate work processes.

[0126] The memory section 72 stores various programs executed by the control section 71. Memory section 72 is defined as a structure comprising volatile memory, such as RAM (Random Access Memory), non-volatile memory, such as ROM (Read Only Memory), a removable external storage device, etc.

[0127] The communication unit 73 sends and receives signals between the individual parts of the ceiling-mounted robot 1 and the control device 7 using external interfaces, such as wired LAN (Local Area Network), wireless LAN, etc. In this case, communication can take place via a server (not shown) or a network, such as the Internet, etc.

[0128] As mentioned above, the ceiling-mounted robot 1 and the ceiling-mounted robot system 100 according to the present embodiment achieve the following advantages. The ceiling-mounted robot 1 according to the present embodiment is equipped with a base 110, a first arm 120 which, in plan view, overlaps the base 110 longitudinally at one end, a joint part 25 as a first joint which is provided on one end of the first arm 120 and holds the first arm 120 such that it is rotatable about a first axis J1 relative to the base 110, a second arm 130 which, in plan view, overlaps the other end of the first arm 120 longitudinally at one end, a joint part 35 as a second joint which is provided on one end of the second arm 130 and holds the second arm 130 such that it is rotatable about a second axis J2 parallel to the first axis J1 relative to the first axis J1, and a working shaft 41 as a shaft,the second arm 130 is provided longitudinally on the other end side of the second arm 130 and is rotated about a third axis J3 parallel to the second axis J2 or moved along the third axis J3, wherein the first arm 120 has a housing 121 comprising a bottom board 1212 as a first board part and a top board 1211 opposite the bottom board 1212 as a second board part, a motor 31 for rotating the second arm 130 via a belt 32 and a pulley 33 as a transmission mechanism, and an inertial sensor 8 for detecting at least one of the angular velocities and accelerations, which is supported on the top board 1211 and, in plan view, is located either at a point overlapping with the motor 31 or closer to the other end side of the first arm 120 than the motor 31.

[0129] In the ceiling-mounted robot 1 according to the present embodiment, the motor 31 is arranged on the baseboard 1212 and the inertial sensor 8 is arranged on the topboard 1211 either at a point that overlaps with the motor 31 or closer to the other end of the first arm 120 than the motor 31 in a top view.

[0130] Therefore, the inertial sensor 8c or 8d is hardly affected by the vibrations of the motor 31 and can therefore detect the vibrations of the first arm 120 with good accuracy.

[0131] In the ceiling-mounted robot 1 according to the present embodiment, the motor 31 is furthermore arranged on the base plate 1212 and the inertial sensor 8c is arranged on the top plate 1211. In other words, the inertial sensor 8c is provided on the side of the base 110 on the first arm 120. That is, the inertial sensor 8c is provided at a location remote from the joint part 35.

[0132] Therefore, the inertial sensor 8c is hardly affected by the vibrations of the joint part 35 and can therefore detect the vibrations of the first arm 120 with good accuracy.

[0133] In the ceiling-mounted robot 1 according to the present embodiment, the baseboard 1212 is arranged as the first board part on the side of the second arm 130, and the topboard 1211 is arranged as the second board part on the side of the base 110. Therefore, the inertial sensor 8c or 8d is hardly affected by the vibrations of the motor 31 and can thus detect the vibrations of the first arm 120 with good accuracy.

[0134] In the ceiling-mounted robot 1 according to the present embodiment, the inertial sensor 8d is provided in top view at a location that is closer to the other end of the first arm 120 than the motor 31 and overlaps with the joint part 35 as the second joint.

[0135] Therefore, the inertial sensor 8d is hardly affected by the vibrations of the motor 31 and can therefore detect the vibrations of the front end of the first arm 120 with good accuracy.

[0136] The ceiling-mounted robot system 100 according to the present embodiment is equipped with the aforementioned ceiling-mounted robot 1 and a control device 7 as a controller for controlling the ceiling-mounted robot 1. Therefore, the ceiling-mounted robot system 100 can be implemented with high working accuracy and high industrial utility. 2. Design 2

[0137] Fig. Figure 6 is a side view of a ceiling-mounted robot 1 according to embodiment 2. Fig. Figure 7 is a partial section of the ceiling-mounted robot 1 according to Fig. 6. Fig. Figure 8 is a top view of the ceiling-mounted robot 1 according to Fig. 6, seen from the negative side in the Z-axis direction.

[0138] Embodiment 2 shows a different arrangement example than the arrangement of the inertial sensor 8 according to embodiment 1. In the following explanation, the same setup as in embodiment 1 is designated with the same reference numerals, and the repeated explanation is omitted.

[0139] In embodiment 2, the motor 31 of the drive part 30 is provided on the upper surface 1211a of the cover board 1211 of the first arm 120.

[0140] On the upper surface 1212a of the base plate 1212, the inertial sensor 8 comprises an inertial sensor 8e, which in plan view is located at a position overlapping with the motor 31, and an inertial sensor 8f, which in plan view is located closer to the other end of the first arm 120 in the longitudinal direction than the motor 31. Therefore, the inertial sensors 8e and 8f are hardly affected by the vibrations of the motor 31 and can thus detect the vibrations of the first arm 120 with good accuracy.

[0141] The two inertial sensors 8e and 8f need not be provided. It is sufficient if one of them is provided. In embodiment 2, the top board 1211 represents an example of the first board part and the bottom board 1212 represents an example of the second board part.

[0142] A connector group 6 is provided on the lower surface of the second arm 130 at a point that overlaps with the pipe section 132, as shown in Fig. 6 and Fig. 8 shown. The connector group 6 consists, for example, of connectors 61, 62, 63, 64, 65 for connecting the power line, various signal lines and various pipes for driving the hand 42.

[0143] In embodiment 2, the shaft lifting / lowering motor 511 and shaft rotation motor 512 are arranged side by side along the transverse direction of the second arm 130. Therefore, the arm length of the second arm 130 can be shorter than in embodiment 1. Consequently, the moment of inertia of the second arm 130, which rotates about the second axis J2, can be smaller than in embodiment 1.

[0144] As mentioned above, the ceiling-mounted robot 1 according to embodiment 2 offers the following advantages in addition to those according to embodiment 1.

[0145] The ceiling-mounted robot 1 according to embodiment 2 is equipped with a base 110, a first arm 120 which, in plan view, overlaps the base 110 longitudinally at one end, a joint part 25 as a first joint which is provided on one end of the first arm 120 and holds the first arm 120 such that it is rotatable about a first axis J1 relative to the base 110, a second arm 130 which, in plan view, overlaps the other end of the first arm 120 longitudinally at one end, a joint part 35 as a second joint which is provided on one end of the second arm 130 and holds the second arm 130 such that it is rotatable about a second axis J2 parallel to the first axis J1 relative to the first axis J1, and a working shaft 41 as a shaft,the second arm 130 is provided longitudinally on the other end side of the second arm 130 and is rotated about a third axis J3 parallel to the second axis J2 or moved along the third axis J3, wherein the first arm 120 has a housing 121 comprising a top board 1211 as a first board part and a bottom board 1212 opposite the top board 1211 as a second board part, a motor 31 for rotating the second arm 130 via a belt 32 and a pulley 33 as a transmission mechanism, and an inertial sensor 8 for detecting at least one of the angular velocities and accelerations, which is supported on the bottom board 1212 and, in plan view, is located either at a point overlapping with the motor 31 or closer to the other end side of the first arm 120 than the motor 31.

[0146] In the ceiling-mounted robot 1 according to embodiment 2, the motor 31 is arranged on the top board 1211 and the inertial sensor 8 is arranged on the bottom board 1212 either at a point that overlaps with the motor 31 or closer to the other end of the first arm 120 than the motor 31 in plan view.

[0147] Therefore, the inertial sensor 8e or 8f is hardly affected by the vibrations of the motor 31 and can therefore detect the vibrations of the first arm 120 with good accuracy.

[0148] In the ceiling-mounted robot 1 according to embodiment 2, the top board 1211 is arranged as the first board part on the side of the base 110 and the bottom board 1212 is arranged as the second board part on the side of the second arm.

[0149] Therefore, the inertial sensor 8e or 8f is hardly affected by the vibrations of the motor 31 and can therefore detect the vibrations of the first arm 120 with good accuracy.

[0150] As mentioned above, the individual embodiments of the ceiling-mounted robot 1 and the ceiling-mounted robot system 100 have been described, but the present invention is not limited to these. Each part of the ceiling-mounted robot system 100 can be replaced by any structure that can perform the same function. Furthermore, any structures can be added to the ceiling-mounted robot system 100. Moreover, the present invention can be a combination of some of the features of the individual embodiments. [REFERENCE MARK LIST] 1 ceiling-mounted robot 10 robot arms 100 ceiling-mounted robot systems 20 Drive unit 21 engine 22 belts 23 Pulley 25 Joint part 26 reduction gears 261 Wave generator 262 Flexspline 263 Circular Spline 27 flange 28 hollow tube 30 Drive unit 31 Engine 32 belts 33 Pulley 35 Joint part 36 reduction gears 361 Wave generator 362 Flexspline 363 Circular Spline 37 Flange 38 hollow tube 40 working head 41 work wave 42 Hand 43 Cover 50 Drive unit 51 Engine 511 Shaft lifting / lowering motor 512 Shaft rotary motor 52 belts 53 Pulley 54 Lead screw mechanism 541 Internal thread block 56 belts 57 Pulley 58 Splined shaft mechanism 581 Hub block 6 Connector group 61, 62, 63, 64, 65 connectors 7 Control device 71 Control unit 72 Memory section 73 Communication section 8, 8a, 8b, 8c, 8d, 8e, 8f Inertial sensor 81 Inertial sensor element 82 circuit boards 9 frame 91 Deckboard 911 upper surface 912 lower surface 913 Through hole 914 Through hole 92 Workbench 93 Foot section 95 workpiece 110 base 11 Main body part 12 fittings 13 Base plate 120 first arm 121 cases 1211 Cover board 1211a upper surface 1211 b lower surface 1212 Floorboard 1212a upper surface 1212b lower surface 122 Cover 130 second arm 131 Housing section 132 Pipe section 135 Cover J1 first axis J2 second axis J3 third axis QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2012 / 029173 A

[0003]

Claims

[1] Ceiling-mounted robot that with a base, a first arm which, in plan view, overlaps the base longitudinally on one end side, a first joint which is provided on one end side of the first arm and holds the first arm in such a way that it can be rotated about a first axis relative to the base, a second arm which, in plan view, overlaps longitudinally at one end side with the other end side of the first arm, a second joint, which is provided on one end side of the second arm and holds the second arm in such a way that it is rotatable relative to the first arm about a second axis parallel to the first axis, and a shaft which is provided longitudinally on the other end of the second arm and is rotated about a third axis parallel to the second axis or moved along the third axis, is provided where the first arm a housing comprising a first board section and a second board section opposite the first board section, a motor for rotating the second arm via a transmission mechanism and an inertial sensor for detecting at least one of the angular velocities and accelerations, which is supported on the second board part and, in plan view, is located either at a point overlapping with the motor or closer to the other end of the first arm than the motor is provided, exhibits. [2] Ceiling-mounted robot according to claim 1, wherein the first board part is arranged on the side of the second arm and the second board part is arranged on the side of the base. [3] Ceiling-mounted robot according to claim 1, wherein the first board part is arranged on the side of the base and the second board part is arranged on the side of the second arm. [4] Ceiling-mounted robot according to claim 1, wherein the inertial sensor is provided in plan view at a location which is closer to the other end of the first arm than the motor and overlaps with the second joint. [5] Ceiling-mounted robot according to claim 1, wherein the inertial sensor is provided in plan view at a location which overlaps with the motor and is closer to the base than the motor. [6] Ceiling-mounted robot system comprising a ceiling-mounted robot according to any one of claims 1 to 5 and a controller for controlling the ceiling-mounted robot.

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