Robot

Abstract

To provide a robot capable of inhibiting an increase in the size of the device configuration even when equipped with multiple arms.SOLUTION: A robot 100 includes a vertically articulated robot arm unit 20 and a horizontally articulated robot arm unit 30. The robot 100 further includes a main base unit 10 that supports both the robot arm unit 20 and the robot arm unit 30, with each of the robot arm unit 20 and the robot arm unit 30 rotating around a common rotational axis C1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This disclosure relates to robots. [Background technology]

[0002] Conventionally, robots with multiple arms have been disclosed. The robot disclosed in Patent Document 1 is a multi-arm robot with multiple arms with end effectors at the tips. This multi-arm robot includes a pair of horizontal multi-joint arms and one vertical multi-joint arm as the multiple arms. One of the pair of horizontal multi-joint arms has a base end connected to one of both side surfaces of a fixed part, and the other of the pair of horizontal multi-joint arms has a base end connected to the other of both side surfaces of the fixed part. The one vertical multi-joint arm has a base end connected to one side between both side surfaces of the fixed part to which the pair of horizontal multi-joint arms are connected. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-223179 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the robot of Patent Document 1, the base ends of the multiple arms are connected to different surfaces of the fixed part, and therefore the base ends of the multiple arms are connected to different positions on the fixed part, which means that the device configuration becomes large in order to include multiple arms.

[0005] This disclosure has been made to solve the problems described above, and one objective of this disclosure is to provide a robot that can prevent the device configuration from becoming large even when it is equipped with multiple arms. [Means for solving the problem]

[0006] A robot according to one aspect of the present disclosure includes a vertical robot arm section with vertical multiple joints, a horizontal robot arm section with horizontal multiple joints, and a main body base section that supports the vertical robot arm section and the horizontal robot arm section in a state in which each of the vertical robot arm section and the horizontal robot arm section rotates around a common rotation axis. Note that the term "horizontal" here is described as a broad concept that includes not only a horizontal plane but also an in-plane direction that is parallel to a surface on which the robot is placed.

[0007] As described above, a robot according to one aspect of the disclosure includes a main body base that supports the vertical robot arm unit and the horizontal robot arm unit in a state in which the vertical robot arm unit and the horizontal robot arm unit each rotate about a common rotation axis. This makes it possible to prevent the device configuration from becoming large, since the vertical robot arm unit and the horizontal robot arm unit are supported in a state in which they each rotate about a common rotation axis, compared to a case in which the vertical robot arm unit and the horizontal robot arm unit are each connected to different positions on the main body base. As a result, even when multiple arms are provided, it is possible to prevent the device configuration from becoming large. Effect of the Invention

[0008] According to the present disclosure, even when multiple arms are provided, the device configuration can be prevented from becoming large. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a configuration of a robot according to a first embodiment of the present disclosure. [Diagram 2] FIG. 4 is a schematic diagram for explaining the length of an arm portion. [Diagram 3] FIG. 4 is a diagram showing an example of an arrangement of a drive unit. [Figure 4] FIG. 11 is a schematic diagram showing a configuration of a robot according to a second embodiment of the present disclosure. [Diagram 5] 13A and 13B are diagrams for explaining folding of the arm portion. [Figure 6]FIG. 13 is a schematic diagram showing a configuration of a robot according to a third embodiment of the present disclosure. [Figure 7] FIG. 11 is a perspective view showing the configuration of a base portion of a vertically articulated robot arm according to a first modified example of the first embodiment. [Figure 8] FIG. 11 is a perspective view showing the configuration of a base portion of a vertically articulated robot arm according to a second modified example of the first embodiment. [Figure 9] FIG. 11 is a perspective view showing the configuration of a base portion of a vertically articulated robot arm according to a third modified example of the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] [First embodiment] Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings.

[0011] A robot 100 according to a first embodiment will be described with reference to FIGS. 1 to 3.

[0012] (Robot arm configuration) As shown in FIG. 1, the robot 100 includes a main body base unit 10, a robot arm unit 20, and a robot arm unit 30. The robot 100 is a dual-arm robot having the robot arm unit 20 and the robot arm unit 30 as a pair of robot arms independent of each other. For example, the robot arm unit 20 is the right arm of the robot 100, and the robot arm unit 30 is the left arm of the robot 100. An end effector is attached to each tip of the robot arm unit 20 and the robot arm unit 30. The robot 100 performs handling tasks such as transportation, assembly, and machining by operating the pair of robot arms, the robot arm unit 20 and the robot arm unit 30, and the end effector. The robot arm unit 20 is an example of a vertical robot arm unit. The robot arm unit 30 is an example of a horizontal robot arm unit.

[0013] In the following description, "horizontal" refers to an in-plane direction parallel to the floor surface on which the robot 100 is placed. For example, when the robot 100 is placed on an inclined surface or a wall surface, the direction parallel to each of the inclined surface and the wall surface on which the robot 100 is placed will be described as "horizontal". Furthermore, with respect to the robot 100, the direction toward the floor surface on which the robot 100 is placed is defined as downward, and the direction away from the floor surface is defined as upward.

[0014] The main body base 10 is a housing placed on a floor surface. The main body base 10 supports a pair of robot arm units 20 and 30. In the first embodiment, the robot arm unit 20 and the robot arm unit 30 are connected to the main body base 10 so that they rotate around a common rotation axis C1. That is, the main body base 10 supports the robot arm unit 20 and the robot arm unit 30 in a state in which the robot arm unit 20 and the robot arm unit 30 rotate around the common rotation axis C1. The main body base 10 includes a drive mechanism 11 shown in FIG. 3. The drive mechanism 11 has a gear and a shaft member to which the robot arm unit 20 and the robot arm unit 30 are connected. For example, the shaft member of the drive mechanism 11 is arranged to extend upward along the rotation axis C1 from the main body base 10 so as to penetrate the robot arm unit 20 and the robot arm unit 30 so that the robot arm unit 20 and the robot arm unit 30 rotate around the common rotation axis C1. The rotation axis C1 is an example of a common rotation axis.

[0015] As shown in FIG. 1, the robot arm unit 20 is a six-axis vertical articulated robot arm having six joint axes. As a vertical articulated robot arm, the robot arm unit 20 includes at least one arm unit that rotates about a rotation axis in a direction along a horizontal plane perpendicular to the rotation axis C1 of the first axis relative to the main body base unit 10. In the first embodiment, the robot arm unit 20 has two arms that rotate about a rotation axis in a direction along a horizontal plane perpendicular to the rotation axis C1. Specifically, the robot arm unit 20 includes a base unit 21, an arm unit 22, an arm unit 23, and a wrist unit 24. The base unit 21, the arm unit 22, the arm unit 23, and the wrist unit 24 are connected in this order from the base end of the robot arm unit 20 to the tip end. The base unit 21 is an example of a vertical articulated base unit. The arm unit 22 is an example of a vertical articulated base arm unit. The arm unit 23 is an example of a vertical articulated tip arm unit.

[0016] The base unit 21 is connected to the main body base unit 10 so as to rotate around the rotation axis C1. That is, the base unit 21 is connected to the main body base unit 10 and rotates around the common rotation axis C1. The rotation axis C1 corresponds to the first joint axis of the six vertical articulated joints extending along a direction perpendicular to the horizontal plane. The base unit 21 is attached to the top surface, which is the upper surface of the main body base unit 10, so as to rotate along the horizontal plane. The base unit 21 is an inverted T-shaped link member having a portion 21a extending along the horizontal plane and a portion 21b extending in a direction perpendicular to the horizontal plane. The portion 21b is arranged to extend upward on the opposite side to the main body base unit 10, with respect to the portion 21a arranged to extend outward from the rotation axis C1. The base unit 21 is connected to the main body base unit 10 at the portion 21a, and connected to the arm unit 22 at the portion 21b.

[0017] The arm unit 22 is connected to the base unit 21 so as to rotate about a rotation axis C22 perpendicular to the rotation axis C1. That is, the arm unit 22 is connected to the base unit 21 and rotates about the rotation axis C22. The rotation axis C22 corresponds to the joint axis of the second axis in the robot arm unit 20. The arm unit 22 is attached to the portion 21b of the base unit 21 so as to rotate along a vertical plane perpendicular to the horizontal plane. The arm unit 22 is a rod-shaped link member that extends linearly from the base end to the tip. One end of the arm unit 22 on the base end side is connected to the base unit 21, and the other end on the tip side is connected to the arm unit 23.

[0018] The arm unit 23 is connected to the arm unit 22 separately from the base unit 21 so as to rotate around a rotation axis C23 parallel to the rotation axis C22. The rotation axis C23 corresponds to the joint axis of the third axis in the robot arm unit 20. The arm unit 23 also rotates around the direction in which the arm unit 23 extends. Specifically, the arm unit 23 includes a portion 23a and a portion 23b which are two different link members. The portion 23a is disposed on the base end side of the arm unit 23 and is connected to the arm unit 22 so as to rotate around the rotation axis C23. The portion 23b is disposed on the tip side of the arm unit 23 and is connected to the portion 23a so as to rotate around the rotation axis C24. The arm unit 23 is a rod-shaped member which extends linearly with the two link members, the portion 23a and the portion 23b, connected to each other. That is, in the arm unit 23, the portion 23b is connected to rotate relative to the portion 23a about the rotation axis C24, which is the direction in which the arm unit 23 extends. A wrist unit 24 is connected to the tip of the arm unit 23. The rotation axis C23 and the rotation axis C24 correspond to the third and fourth joint axes of the robot arm unit 20, respectively.

[0019] In the first embodiment, the arm portion 23 is disposed closer to the rotation axis C1 than the arm portion 22. The arm portion 23 is disposed closer to the rotation axis C1 than the arm portion 22. In other words, the arm portion 23 is disposed closer to the center of rotation of the base portion 21, which is closer to the rotation axis C1 than the arm portion 22. The arm portion 23 is disposed so that the rotation axis C24 intersects with the rotation axis C1. That is, the extension direction of the arm portion 23 intersects with the rotation axis C1. Note that "intersect" here means that when the arm portion 23 is operated, the extension direction of the arm portion 23 is not in a twisted position with respect to the rotation axis C1. The arm portion 23 is disposed at a position where a plane is formed by the rotation axis C24, which is the extension direction of the arm portion 23, and the rotation axis C1. That is, the rotation axis C1 and the rotation axis C24 are disposed on the same plane. Further, the operating range of the robot arm unit 20 is set so that, by operating the robot arm unit 20, the rotation axis C1 and the rotation axis C24 are positioned in a coincident positional relationship.

[0020] The wrist section 24 includes a portion 24a and a portion 24b. In the wrist section 24, the portion 24a is connected to the tip of the portion 23b of the arm section 23 so as to rotate around a rotation axis C25 extending in a direction perpendicular to the extension direction of the arm section 23. That is, the rotation axis C25 is perpendicular to the rotation axis C24. The portion 24b is connected to the portion 24a so as to rotate around a rotation axis C26 extending in a direction perpendicular to the rotation axis C25. The end effector connected to the tip side of the portion 24b of the wrist section 24 rotates around the rotation axis C26 with respect to the portion 24a due to the rotation of the portion 24b. The rotation axis C25 and the rotation axis C26 correspond to the joint axis of the fifth axis and the joint axis of the sixth axis in the robot arm section 20, respectively.

[0021] The robot arm unit 30 is a horizontally articulated robot arm. As a horizontally articulated robot arm, the robot arm unit 30 includes at least one arm unit that rotates around a rotation axis C1 of a first axis relative to the main body base unit 10. In the first embodiment, the robot arm unit 30 has two arms that rotate around a rotation axis C1. Specifically, the robot arm unit 30 includes an arm unit 31, an arm unit 32, and a wrist unit 33. The arm unit 31, the arm unit 32, and the wrist unit 33 are connected in this order from the base end to the tip of the robot arm unit 30. An end effector is connected to the wrist unit 33. Each of the arm unit 31 and the arm unit 32 is a rod-shaped link member that extends linearly from the base end to the tip. The arm unit 31 is an example of a horizontally articulated base end arm unit. The arm unit 32 is an example of a horizontally articulated tip arm unit.

[0022] In the robot arm unit 30, the arm unit 31 is connected at one end on the base end side to the main body base unit 10 so as to rotate around the rotation axis C1. That is, the arm unit 31 is connected to the main body base unit 10 and rotates around the rotation axis C1. The base end side of the arm unit 32 is connected to the tip side of the arm unit 31 so as to rotate around the rotation axis C32. That is, the arm unit 32 is connected to the arm unit 31 and rotates around the rotation axis C32. And the wrist unit 33 is connected to the tip side of the arm unit 32 so as to rotate around the rotation axis C33. The rotation axis C32 and the rotation axis C33 are arranged so as to be parallel to the rotation axis C1. Therefore, the tip of the robot arm unit 30 is positioned in the horizontal plane by rotational movement around each of the horizontal rotation axes C1, C32, and C33. In other words, the robot arm unit 30 has three joint axes parallel to each other along a direction perpendicular to the horizontal plane. The rotation axis C1, the rotation axis C32, and the rotation axis C33 correspond to the first, second, and third joint axes of the robot arm unit 30, respectively. That is, in the first embodiment, the first axes of the multiple joint axes are common to each other in the robot arm unit 20 and the robot arm unit 30. The wrist unit 33 may also include a vertical movement mechanism that changes the position of the end effector in the vertical direction, which is a direction perpendicular to the horizontal plane. For example, a servo motor, an encoder, and a reducer are arranged as the vertical movement mechanism.

[0023] In the first embodiment, the robot arm unit 30 is connected to the main body base unit 10 so as to rotate about the rotation axis C1 and overlap above the robot arm unit 20. Specifically, the robot arm unit 30 is disposed at a position on the rotation axis C1 where it overlaps above the robot arm unit 20. The base unit 21 of the robot arm unit 20 is disposed above the main body base unit 10 along the rotation axis C1, and the arm unit 31 of the robot arm unit 30 is disposed above the base unit 21 so as to overlap.

[0024] <Arm length> As shown in FIG. 2, in the first embodiment, the length L23 of the arm section 23 of the robot arm section 20 is equal to or shorter than the length L22 of the arm section 22. Specifically, the total length of the length L23 of the arm section 23 plus the length to the tip of the wrist section 24 is equal to or shorter than the length L22 of the arm section 22. Also, the length from the rotation axis C23 of the arm section 23 to the tip of the robot arm section 20 is equal to or shorter than the distance between the rotation axis C22 and the rotation axis C23 of the arm section 22. That is, the robot arm section 20 is arranged so that the wrist section 24 does not come into contact with the arm section 31 of the robot arm section 30 even when the arm section 22 is arranged to extend upward in parallel with the rotation axis C1 and both the rotation axis C24 of the arm section 23 and the rotation axis C26 of the wrist section 24 are arranged to coincide with the rotation axis C1. That is, by driving the robot arm unit 20, the arm unit 23 is disposed so as to overlap the arm unit 22 when viewed from the outside of the rotation axis C1.

[0025] The arm section 32 of the robot arm section 30 is arranged so as to overlap the upper side of the arm section 31, and the wrist section 33 is arranged so as to overlap the upper part of the arm section 32. In the first embodiment, the length L32 of the arm section 32 is equal to or less than the length L31 of the arm section 31. The arm section 32 rotates so as to overlap the arm section 31 when viewed from above in the direction in which the rotation axis C1 extends. The arm section 32 overlaps the arm section 31 by rotating about the rotation axis C32. The operating range of the arm section 32 of the robot arm section 30 is set so that the arm section 32 rotates to a position where the extending direction of the arm section 31 and the extending direction of the arm section 32 coincide with each other when viewed from above. That is, even when the arm section 32 is arranged so as to overlap the upper part of the arm section 31, the arm section 32 and the wrist section 33 are arranged so as not to come into contact with the robot arm section 20.

[0026] (Configuration of drive unit and control unit) As shown in FIG. 3, the robot 100 includes a driving unit 40 that drives the robot arm unit 20 and the robot arm unit 30. The driving unit 40 includes a servo motor and an encoder for detecting the rotation angle of the servo motor. The driving unit 40 also includes a gear that transmits the rotation of the servo motor and a reducer. Each of the driving units 40 including the servo motor and the encoder is disposed for each of the multiple joint axes in the robot arm unit 20 and the robot arm unit 30. Specifically, six driving units 40 are disposed in the robot arm unit 20, which is a six-axis vertical multi-joint robot arm. In the robot arm unit 30, three driving units 40 are disposed so as to correspond to the three horizontal axes, separate from the vertical movement mechanism of the wrist unit 33. The driving units 40 are disposed in each of the robot arm unit 20 and the robot arm unit 30 and in the main body base unit 10.

[0027] For example, the driving unit 40 for rotating the base unit 21 of the robot arm unit 20 around the rotation axis C1 is disposed on the main body base unit 10 so that the rotation axis of the servo motor is parallel to the rotation axis C1. On the other hand, the driving unit 40 for rotating the arm unit 31 of the robot arm unit 30 around the rotation axis C1 is disposed inside the arm unit 31 so that the rotation axis of the servo motor is perpendicular to the rotation axis C1. That is, in the driving unit 40 for rotating the robot arm unit 20 around the rotation axis C1, the rotation axis of the servo motor is parallel to the shaft member of the drive mechanism 11. And, in the driving unit 40 for rotating the robot arm unit 30 around the rotation axis C1, the rotation axis of the servo motor is perpendicular to the shaft member of the drive mechanism 11. Also, in the driving unit 40 for rotating the arm unit 22 of the robot arm unit 20 around the rotation axis C22, the servo motor is disposed on the outside of the arm unit 22. Here, "outside" means the outer circumferential side when the rotation axis C1 is the central axis. Similarly, the driving unit 40 for rotating the portion 23a of the arm unit 23 around the rotation axis C23 relative to the arm unit 22 is a servo motor arranged outside the arm unit 22. In addition, the driving units 40 for each joint axis of the robot arm unit 20 and the robot arm unit 30 are arranged inside or outside the robot arm unit 20 and the robot arm unit 30. Also, wiring members for supplying driving power to the driving units 40 are arranged inside the robot arm unit 20 and the robot arm unit 30. For example, in the robot arm unit 20, in the portion 21a along the horizontal surface of the base unit 21, in order to facilitate the handling of the wiring members, the wiring members are arranged to pass through an area that is more outer with respect to the rotation axis C1 than the portion 21b extending upward.

[0028] As shown in FIG. 1, the robot 100 includes a control unit 50 that controls the operation of each part of the robot 100. The control unit 50 is a robot controller disposed inside the main body base unit 10. The control unit 50 controls the operation of the robot arm unit 20 and the robot arm unit 30 by controlling the driving of the driving unit 40. The control unit 50 includes, for example, a calculation device such as a CPU (Central Processing Unit). The control unit 50 also includes memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and a storage device such as a hard disk. The control unit 50 executes control processing by the calculation device based on programs and parameters stored in the storage device. The control unit 50 also includes a communication module. The control unit 50 controls the operation of each part of the robot 100 based on signals from the outside acquired via the communication module. For example, the control unit 50 switches between controlling the operation of the robot arm unit 20 and the robot arm unit 30 based on programs and parameters that have been set in advance and stored in a storage device, and controlling the operation of the robot arm unit 20 and the robot arm unit 30 based on signals acquired via a communication module.

[0029] [Effects of the first embodiment] As described above, the robot 100 includes a main body base 10 that supports the robot arm section 20 as a vertical robot arm section and the robot arm section 30 as a horizontal robot arm section in a state where the robot arm section 20 and the robot arm section 30 each rotate around a common rotation axis C1. As a result, compared to a case where the robot arm section 20 and the robot arm section 30 are each connected to different positions on the main body base 10, the robot arm section 20 and the robot arm section 30 are supported in a state where they each rotate around a common rotation axis C1, and therefore it is possible to prevent the device configuration from becoming large. As a result, even when a plurality of arms are provided, it is possible to prevent the device configuration from becoming large.

[0030] In the first embodiment, the robot arm 20 as a vertical robot arm includes a base 21 as a vertical articulated base unit connected to the main body base 10 and rotating around a common rotation axis C1, and an arm 22 as a vertical articulated proximal arm unit connected to the base 21 and rotating around a rotation axis C22 perpendicular to the common rotation axis C1. Here, the vertical articulated robot arm can easily perform three-dimensional movements and can easily perform twisting movements to change the angle using an end effector. In addition, the horizontal articulated robot arm can easily and accurately move the arm tip to which the end effector is attached in the horizontal plane. Therefore, since the vertically articulated robot arm section 20 to which the arm section 22 is connected so as to rotate about a rotation axis C22 perpendicular to the common rotation axis C1, and the horizontally articulated robot arm section 30 which rotates about the common rotation axis C1 are connected to the main body base section 10, both the operation by the vertically articulated robot arm section 20 and the operation by the horizontally articulated robot arm section 30 can be easily performed in accordance with the type of work performed by the robot 100. As a result, since the rotation axis C1 is common, it is possible to prevent the device configuration from becoming large, and multiple types of work can be easily performed.

[0031] In the first embodiment, the robot arm 20 as a vertical robot arm includes an arm 23 as a vertical multi-joint tip arm connected to an arm 22 as a vertical multi-joint base arm. The arm 23 rotates around the direction in which the arm 23 extends, and is disposed at a position where a plane is formed by the direction in which the arm 23 extends and a common rotation axis C1. Here, if a plane is not formed by the common rotation axis C1, which is the rotation axis of the base 21 relative to the main body base 10, and the rotation axis C24 of the arm 23, the kinematic calculation for controlling the attitude of the robot arm 20 becomes complicated. In contrast, in the first embodiment, the arm 23 is disposed at a position where a plane is formed by the common rotation axis C1 and the rotation axis C24 of the arm 23, so that the rotation axis C24 of the arm 23 can be disposed so as to coincide with the common rotation axis C1. Therefore, the calculation for controlling the operation of the robot arm 20 can be prevented from becoming complicated, and an increase in the processing load of the control unit 50 that processes the operation of the robot 100 can be prevented.

[0032] In the first embodiment, the length L23 of the arm section 23 as the vertical articulated distal arm section is equal to or less than the length L22 of the arm section 22 as the vertical articulated proximal arm section. The arm section 23 is disposed closer to the common rotation axis C1 than the arm section 22. As a result, since the length L23 of the arm section 23 is equal to or less than the length L22 of the arm section 22, the arm section 23 can be disposed so as to overlap with the inside of the arm section 22 with respect to the common rotation axis C1. Therefore, the robot 100 can be disposed so that the robot arm section 20 is folded along the rotation axis C1, and therefore the range of the space occupied by the robot 100 can be made smaller and more compact during periods when the operation of the robot 100 is stopped.

[0033] In the first embodiment, the robot arm 30 as a horizontal robot arm includes an arm 31 as a horizontal multi-joint base end arm connected to the main body base 10 and rotating around a common rotation axis C1, and an arm 32 as a horizontal multi-joint tip arm connected to the arm 31 and rotating around a rotation axis C32 parallel to the common rotation axis C1. The length L32 of the arm 32 is equal to or less than the length L31 of the arm 31. The arm 32 overlaps with the arm 31 by rotating around the rotation axis C32 parallel to the common rotation axis C1. This allows the arm 32 to be positioned so as to overlap with the arm 31, so that the robot 100 can be positioned so that the robot arm 30 is in a folded position. Therefore, the range of the space occupied by the robot 100 can be made smaller and more compact during periods when the operation of the robot 100 is stopped.

[0034] In the first embodiment, the robot arm section 30 as the horizontal robot arm section is arranged at a position overlapping the robot arm section 20 as the vertical robot arm section on the common rotation axis C1. Here, when the vertical articulated robot arm section 20 is arranged so as to overlap the horizontal articulated robot arm section 30, the length of the robot arm section 30 is reduced and the operating range is reduced in order to prevent the horizontal articulated robot arm section 30 from contacting the base section 21 as the vertical articulated base section of the robot arm section 20. In contrast, in the first embodiment, the horizontal articulated robot arm section 30 is arranged at a position overlapping the vertical articulated robot arm section 20 on the rotation axis C1, so that when the vertical articulated robot arm section 20 and the horizontal articulated robot arm section 30 are arranged so as to rotate around the common rotation axis C1, the operating range of the horizontal articulated robot arm section 30 can be prevented from being reduced.

[0035] [Second embodiment] Next, the configuration of a robot 200 according to a second embodiment will be described with reference to Figures 4 and 5. In the second embodiment, the robot 200 has an additional axis disposed on an arm unit 231 of a horizontally articulated robot arm unit 230. Note that the same components as those in the first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0036] As shown in FIG. 4, the robot 200 according to the second embodiment includes a robot arm unit 230. The robot arm unit 230 is a horizontally articulated robot arm, similar to the robot arm unit 30 of the first embodiment. The robot arm unit 230 is connected to the main body base unit 10 so as to rotate around a rotation axis C1 common to the vertically articulated robot arm unit 20. The robot arm unit 230 includes an arm unit 231, an arm unit 32, and a wrist unit 33. The arm unit 231, the arm unit 32, and the wrist unit 33 are connected in this order from the base end of the robot arm unit 30 to the tip end, similar to the first embodiment. The arm unit 32 is connected to the tip side of the arm unit 231 so as to rotate around a rotation axis C32 parallel to the rotation axis C1, similar to the arm unit 31 of the first embodiment. In the second embodiment, the arm unit 231 includes a first member 231a and a second member 231b. The first member 231a is connected to the main body base unit 10. The second member 231b is connected to the arm unit 32. The robot arm unit 230 is an example of a horizontal robot arm unit. The arm unit 231 is an example of a horizontal articulated base end arm unit.

[0037] As shown in FIG. 5, the second member 231b is connected to the first member 231a so as to be folded by rotating upward in a direction along the rotation axis C1 from a state in which the second member 231b extends along the extension direction of the first member 231a. That is, the second member 231b is connected to the first member 231a and rotates in the direction of the rotation axis C1 from a state in which the second member 231b extends along the extension direction of the first member 231a to a state in which the second member 231b is folded with respect to the first member 231a. Specifically, in the second embodiment, a joint portion 234 is disposed in the arm portion 231. The first member 231a and the second member 231b are connected to each other via the joint portion 234. The joint portion 234 rotates the second member 231b so that the arm portion 231 is bent 90 degrees upward along the rotation axis C1 from a direction along the horizontal plane, which is the direction in which the arm portion 231 extends. The joint section 234 switches the position of the arm section 231 between a state in which the first member 231a and the second member 231b extend linearly along a horizontal plane and a state in which the second member 231b is bent upward. No driving mechanism such as an actuator is disposed in the joint section 234. For example, during a period in which the robot 200 is not moving, such as when the robot 200 is stored, the arm section 231 is folded by the joint section 234, thereby reducing the range of the space occupied by the robot 200 and making it compact. The other configurations of the second embodiment are similar to those of the first embodiment.

[0038] [Effects of the second embodiment] In the robot 200 according to the second embodiment, as described above, the arm unit 231 as the horizontally articulated base end arm unit has the first member 231a connected to the main body base unit 10 and the second member 231b connected to the arm unit 32 as the horizontally articulated tip arm unit. The second member 231b is connected to the first member 231a and rotates toward the common rotation axis C1 from a state in which it extends along the extension direction of the first member 231a to a state in which it is folded with respect to the first member 231a. This allows the arm unit 231 to be folded, so that the range of space occupied by the robot 200 can be made even smaller and more compact during periods when the operation of the robot 200 is stopped. Other effects of the second embodiment are the same as those of the first embodiment.

[0039] [Third embodiment] Next, the configuration of a robot 300 according to a third embodiment will be described with reference to Fig. 6. In the robot 300 according to the third embodiment, a vertically articulated robot arm unit 320 is disposed above a horizontally articulated robot arm unit 330. Note that the same components as those in the first embodiment are denoted by the same reference numerals and will not be described.

[0040] As shown in FIG. 6, the robot 300 according to the third embodiment includes a vertically articulated robot arm unit 320 and a horizontally articulated robot arm unit 330. The robot arm unit 320 is a six-axis vertically articulated robot arm similar to the robot arm unit 20 of the first embodiment. The robot arm unit 320 includes a base unit 321, an arm unit 22, an arm unit 23, and a wrist unit 24. The base unit 321 is connected to the main body base unit 10 similar to the base unit 21 of the first embodiment. The connections between the base unit 321, the arm unit 22, the arm unit 23, and the wrist unit 24 are similar to those of the first embodiment. The robot arm unit 330 includes an arm unit 331, an arm unit 32, and a wrist unit 33 similar to the robot arm unit 30 of the first embodiment. The arm unit 331 is connected to the main body base unit 10 similar to the arm unit 31 of the first embodiment. The connections between the arm unit 331, the arm unit 32, and the wrist unit 33 are similar to those in the first embodiment. The robot arm unit 320 is an example of a vertical robot arm unit. The base unit 321 is an example of a vertical articulated base unit. The robot arm unit 330 is an example of a horizontal robot arm unit. The arm unit 331 is an example of a horizontal articulated base end arm unit.

[0041] Each of the robot arm section 320 and the robot arm section 330 is connected to the main body base section 10 so as to rotate around a common rotation axis C1, similar to the first embodiment. In the third embodiment, the robot arm section 320 is connected to the main body base section 10 so as to rotate around the rotation axis C1 so as to overlap above the robot arm section 330. The robot arm section 320 is disposed at a position overlapping above the robot arm section 330 on the rotation axis C1. The arm section 331 of the robot arm section 330 is connected to the main body base section 10 so as to rotate around the rotation axis C1 at the base end side, similar to the arm section 31 of the first embodiment. Then, the base section 321 of the robot arm section 320 is disposed so as to overlap above the arm section 331 along the rotation axis C1. In the third embodiment, the robot 300 includes a drive section 340 that drives the robot arm section 320 and the robot arm section 330, similar to the drive section 40 of the first embodiment. The driving unit 340 includes a servo motor, an encoder, a gear, and a reducer, similar to the driving unit 40 of the first embodiment. For example, the driving unit 340 for rotating the arm unit 331 of the robot arm unit 330 around the rotation axis C1 is disposed inside the arm unit 331, similar to the first embodiment.

[0042] In the third embodiment, the driving unit 340 for rotating the base unit 321 of the robot arm unit 320 around the rotation axis C1 is disposed inside the base unit 321. For example, the driving unit 340 is disposed inside the base unit 321 so that the rotation axis of the servo motor is parallel to the rotation axis C1 along the shaft member of the drive mechanism 11. A reducer is disposed below the servo motor, and a gear disposed at the lower end of the reducer is engaged with a gear disposed at the shaft member of the drive mechanism 11, so that the base unit 321 rotates around the rotation axis C1 by driving the driving unit 340. Also, in the third embodiment, the driving unit 340 for rotating the arm unit 22 around the rotation axis C22 is disposed in the base unit 321. For example, the arm unit 22 is connected to a portion of the base unit 321 that is disposed so as to protrude upward from a portion where the driving unit 340 for rotating the base unit 321 around the rotation axis C1 is disposed. The driving unit 240 for rotating the arm unit 22 about the rotation axis C22 is disposed on the opposite side to the arm unit 22, in a portion that protrudes upward from the base unit 321. In other words, the arm unit 22 and the driving unit 240 for rotating the arm unit 22 about the rotation axis C22 are disposed so as to sandwich the base unit 321 therebetween.

[0043] [Effects of the third embodiment] In the third embodiment, as described above, the robot arm section 320 as the vertical robot arm section is disposed at a position overlapping the robot arm section 330 as the horizontal robot arm section on the common rotation axis C1. This allows the multiple link members of the robot arm section 320 to be disposed closer to the rotation axis C1, which is the first axis, than when the horizontally articulated robot arm section 330 is overlapped above the vertically articulated robot arm section 320. Therefore, the multiple rotation axes in the robot arm section 320 can be easily disposed so as to intersect with the rotation axis C1, which is the first axis. That is, the multiple rotation axes in the vertically articulated robot arm section 320 can be easily disposed so as to coincide with the rotation axis C1, which is the first axis. As a result, it is possible to easily suppress the complication of the calculation process in controlling the operation of the robot arm section 320 caused by the multiple rotation axes not coinciding with each other, and therefore it is possible to easily suppress the increase in the processing load of the control process of the operation of the robot arm section 320.

[0044] In the third embodiment, a drive unit 340 for rotating the robot arm unit 320 around a common rotation axis C1 is disposed inside a base unit 321 as a vertical articulated base unit in a robot arm unit 320 as a vertical robot arm unit. The servo motor included in the drive unit 340 disposed inside the base unit 321 is disposed so that the output shaft is parallel to the rotation axis C1. This allows the size of the base unit 321 in the horizontal plane to be smaller than when the servo motor is disposed so that the output shaft is perpendicular to the rotation axis C1. Therefore, when the vertical articulated robot arm unit 320 is disposed so as to be stacked above the robot arm unit 330 as a horizontal robot arm unit of a horizontal articulated robot arm, the limitation of the operating range of the robot arm unit 330 due to the size of the base unit 321 in the horizontal plane can be reduced. Other effects of the third embodiment are similar to those of the first embodiment.

[0045] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0046] For example, in the first and second embodiments, in the robot arm unit 20, 320 as the vertical robot arm unit, the base unit 21 as the vertical articulated base unit connected to the main body base unit 10 has an inverted T shape, but the present disclosure is not limited to this. In the present disclosure, the vertical articulated base unit may have a shape other than an inverted T shape. For example, like the base unit 421a as the vertical articulated base unit according to the first modified example shown in FIG. 7, the vertical articulated base unit may have an L shape. That is, the base unit 421a may be L-shaped so as to include a portion extending along a horizontal plane so as to be perpendicular to the rotation axis C1 above the top surface of the main body base unit 10, and a portion extending so as to bend upward from the portion extending along the horizontal plane. With this configuration, the range of motion around the rotation axis C22, which is the second axis of the vertical articulated base end arm unit connected to the base unit 421a, can be made larger. Also, like the base part 421b as the vertical multi-joint base part according to the second modification shown in FIG. 8, the vertical multi-joint base part may have an L-shape extending downward. That is, the base part 421b may be L-shaped opposite to the base part 421a of the first modification so as to include a part extending downward from a part extending along a horizontal plane above the top surface of the main body base part 10. With this configuration, the center of gravity of the entire robot can be kept low even when the length of the vertical multi-joint base end arm part and the vertical multi-joint tip arm part are increased. Also, like the base part 421c as the vertical multi-joint base part according to the third modification shown in FIG. 9, the vertical multi-joint base part may support the vertical multi-joint base end arm part at both ends. That is, the vertical multi-joint base end arm part may be supported so as to be sandwiched from both one side and the other side of the rotation axis C22. With this configuration, the strength of the vertical robot arm part can be improved and the internal wiring can be easily arranged.

[0047] In the above first, second, and third embodiments, an example has been shown in which the fourth axis of the robot arm unit 20 as the vertical robot arm unit, which is the extension direction of the arm unit 23 as the vertical multi-joint tip arm unit, forms a plane with the rotation axis C1 as the first axis, but the present disclosure is not limited to this. In the present disclosure, the fourth axis and the first axis of the vertical robot arm unit of the vertical multi-joint may not form a plane. Also, the vertical multi-joint tip arm unit may be disposed outside the rotation axis C1 of the vertical multi-joint base arm unit.

[0048] In the above first, second, and third embodiments, an example was shown in which the length L23 of the arm section 23 as the vertical multi-joint tip arm section is equal to or less than the length L22 of the arm section 22 as the vertical multi-joint base arm section, and the length L32 of the arm section 32 as the horizontal multi-joint tip arm section is equal to or less than the length L31 of the arm sections 31, 231, and 331 as the horizontal multi-joint base arm section, but the present disclosure is not limited to this. In the present disclosure, the length of the vertical multi-joint tip arm section may be greater than the length of the vertical multi-joint base arm section. Also, the length of the horizontal multi-joint tip arm section may be greater than the length of the horizontal multi-joint base arm section.

[0049] In the above first, second, and third embodiments, the main body base 10 is placed on a floor surface, but the present disclosure is not limited to this. In the present disclosure, the main body base 10 may be placed on a wall surface or an inclined surface. The main body base may be moved by arranging a driving unit such as a motor and a moving unit such as wheels on the main body base.

[0050] In the first, second, and third embodiments, the robot arm unit 20 as the vertical robot arm unit is a six-axis vertical articulated robot arm, and includes the base unit 21, 321 as the vertical articulated base unit, the arm unit 22 as the vertical articulated base arm unit, and the arm unit 23 as the vertical articulated tip arm unit. However, the present disclosure is not limited to this. In the present disclosure, the vertical robot arm unit may be a five-axis or less vertical articulated arm, or a seven-axis or more vertical articulated arm. Even when the vertical robot arm unit is a six-axis vertical articulated arm, the combination of the directions of the multiple joint axes may be a combination different from that of the first, second, and third embodiments. Each of the multiple drive units including a servo motor for driving the joint axes may be arranged differently from that of the first, second, and third embodiments. For example, a drive unit for rotating the vertical articulated base arm unit around the rotation axis of the second axis may be arranged in the vertical articulated base unit. A drive unit for rotating the horizontally articulated base-end arm about the rotation axis of the first shaft may be disposed on the main body base.

[0051] In the third embodiment, the arm 22 as the vertical articulated base end arm and the drive unit 340 for rotating the arm 22 around the rotation axis C22 are arranged to sandwich the base unit 321 as the vertical articulated base unit, but the present disclosure is not limited to this. In the present disclosure, the vertical articulated base end arm and the drive unit may be arranged in the same direction with respect to the vertical articulated base unit. With this configuration, the vertical articulated base end arm and the drive unit can be arranged in the same direction so as to be closer to one side with respect to the rotation axis common to the horizontal robot arm unit of the horizontal articulated. Therefore, contact between the vertical robot arm unit of the vertical articulated vertical robot arm arranged above along the common rotation axis and the horizontal robot arm unit of the horizontal articulated horizontal robot arm arranged below can be easily avoided.

[0052] In the third embodiment, the driving unit 340 that rotates the base unit 321 as the vertical articulated base unit around the rotation axis C1 is disposed so that the rotation axis of the servo motor is parallel to the rotation axis C1, but the present disclosure is not limited to this. In the present disclosure, the driving unit that rotates the vertical articulated base unit around the rotation axis may be disposed so that the rotation axis of the servo motor is perpendicular to the rotation axis.

[0053] In the above first, second, and third embodiments, the robot arm unit 30 as the horizontal robot arm unit includes the arm units 31, 231, and 331 as the horizontal multi-joint base end arm unit and the arm unit 32 as the horizontal multi-joint tip arm unit, and has three joint axes that operate in the horizontal direction, but the present disclosure is not limited to this. In the present disclosure, the horizontal robot arm unit may have joint axes other than three axes. The horizontal robot arm unit may also have three or more arms. The horizontal robot arm unit may also include a movement axis in the up-down direction that intersects with the horizontal direction. For example, in the above first, second, and third embodiments, an example is shown in which a vertical movement mechanism is disposed in the wrist unit on the tip side of the horizontal robot arm unit as a movement axis that moves the end effector in the up-down direction, but a movement axis that moves the entire horizontal robot arm in the up-down direction may be provided in the main body base unit on the base end side.

[0054] In the above first, second, and third embodiments, examples have been shown in which the robot arm units 20 and 320 as the vertical robot arm unit and the robot arm unit 30 as the horizontal robot arm unit are connected to the main body base unit 10, but the present disclosure is not limited to this. In the present disclosure, the vertical robot arm unit and the horizontal robot arm unit may be indirectly connected to the main body base unit so as to be supported on the main body base unit. For example, the vertical robot arm unit may be connected to the main body base unit, and the horizontal robot arm unit may be connected to the vertical robot arm unit connected to the main body base unit so as to be supported on the main body base unit so as to rotate around a common rotation axis. In addition, the horizontal robot arm unit may be connected to the main body base unit, and the vertical robot arm unit may be connected to the horizontal robot arm unit connected to the main body base unit so as to be supported on the main body base unit so as to rotate around a common rotation axis.

[0055] In the above-mentioned first, second and third embodiments, the robot 100, 200, 300 includes the robot arm unit 20, 320 as a vertical robot arm unit with one vertical joint as the right arm, and the robot arm unit 30, 230, 330 as a horizontal robot arm unit with one horizontal joint as the left arm, but the present disclosure is not limited to this. In the present disclosure, the horizontal robot arm unit with the horizontal joint may be the right arm of the robot, and the vertical robot arm unit with the vertical joint may be the left arm of the robot. Also, the right arm and the left arm may be interchanged by exchanging program parameters without changing the structure of the robot. That is, the right arm and the left arm may be interchanged by exchanging the drive direction of the joint unit in each of the horizontal robot arm unit and the vertical robot arm unit to the opposite direction. Also, two or more horizontal robot arm units may be arranged, and two or more vertical robot arm units may be arranged.

[0056] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0057] (Item 1) A vertical robot arm having a vertical articulated structure; A horizontal robot arm having a horizontal articulated structure; a main body base portion supporting the vertical robot arm portion and the horizontal robot arm portion in a state in which each of the vertical robot arm portion and the horizontal robot arm portion rotates around a common rotation axis.

[0058] (Item 2) The robot described in item 1, wherein the vertical robot arm section includes a vertical multi-joint base section connected to the main body base section and rotating around the common rotation axis, and a vertical multi-joint base arm section connected to the vertical multi-joint base section and rotating around a rotation axis perpendicular to the common rotation axis.

[0059] (Item 3) the vertical robot arm section includes a vertical multi-joint tip arm section connected to the vertical multi-joint base arm section, 3. The robot according to item 2, wherein the vertically multi-jointed end arm rotates around a direction in which the vertically multi-jointed end arm extends and is disposed at a position where a plane is formed by the direction in which the vertically multi-jointed end arm extends and the common axis of rotation.

[0060] (Item 4) a length of the vertical articulated tip arm portion is equal to or less than a length of the vertical articulated base arm portion, 4. The robot according to item 3, wherein the vertically articulated tip arm is disposed closer to the common axis of rotation than the vertically articulated base arm.

[0061] (Item 5) the horizontal robot arm unit includes a horizontal multi-joint base end arm unit that is connected to the main body base unit and rotates around the common rotation axis, and a horizontal multi-joint tip arm unit that is connected to the horizontal multi-joint base end arm unit and rotates around a rotation axis parallel to the common rotation axis, a length of the horizontally articulated tip arm section is equal to or less than a length of the horizontally articulated base arm section, 5. The robot according to any one of items 1 to 4, wherein the horizontally articulated tip arm overlaps with the horizontally articulated base arm by rotating about a rotation axis parallel to the common rotation axis.

[0062] (Item 6) the horizontally articulated base end arm section has a first member connected to the main body base section and a second member connected to the horizontally articulated tip arm section, The robot according to item 5, wherein the second member is connected to the first member and rotates toward the common rotation axis direction from a state in which the second member extends along the extension direction of the first member to a state in which the second member is folded relative to the first member.

[0063] (Item 7) 7. The robot according to any one of items 1 to 6, wherein the horizontal robot arm section is disposed above and overlaps the vertical robot arm section on the common axis of rotation.

[0064] (Item 8) 8. The robot according to any one of items 1 to 7, wherein the vertical robot arm section is disposed above and overlaps the horizontal robot arm section on the common axis of rotation. [Explanation of symbols]

[0065] 10 Main body base 20, 320 Vertical robot arm section 21, 321, 421a, 421b, 421c Base part (vertical multi-joint base part) 22 Arm section (vertical multi-joint base end arm section) 23 Arm section (vertical articulated end arm section) 30, 230, 330 Horizontal robot arm section 31, 231, 331 Arm section (horizontal multi-joint base end arm section) 32 Arm section (horizontal multi-jointed tip arm section) 100, 200, 300 Robots 231a First member 231b Second member C1 Rotation axis (common rotation axis)

Claims

1. A vertical robot arm having a vertical articulated structure; A horizontal robot arm having a horizontal articulated structure; a main body base portion supporting the vertical robot arm portion and the horizontal robot arm portion in a state in which each of the vertical robot arm portion and the horizontal robot arm portion rotates around a common rotation axis.

2. 2. The robot of claim 1, wherein the vertical robot arm section includes a vertical multi-joint base section connected to the main body base section and rotating about the common rotation axis, and a vertical multi-joint base arm section connected to the vertical multi-joint base section and rotating about a rotation axis perpendicular to the common rotation axis.

3. the vertical robot arm section includes a vertical multi-joint tip arm section connected to the vertical multi-joint base arm section, 3. The robot according to claim 2, wherein the vertically multi-jointed tip arm rotates around a direction in which the vertically multi-jointed tip arm extends, and is disposed at a position where a plane is formed by the direction in which the vertically multi-jointed tip arm extends and the common axis of rotation.

4. a length of the vertical articulated tip arm portion is equal to or less than a length of the vertical articulated base arm portion, The robot according to claim 3 , wherein the vertically articulated distal arm is disposed closer to the common axis of rotation than the vertically articulated proximal arm.

5. the horizontal robot arm unit includes a horizontal multi-joint base end arm unit that is connected to the main body base unit and rotates around the common rotation axis, and a horizontal multi-joint tip arm unit that is connected to the horizontal multi-joint base end arm unit and rotates around a rotation axis parallel to the common rotation axis, a length of the horizontally articulated tip arm section is equal to or less than a length of the horizontally articulated base arm section, 5. The robot according to claim 1, wherein the horizontally articulated tip arm overlaps with the horizontally articulated base arm by rotating about a rotation axis parallel to the common rotation axis.

6. the horizontally articulated base end arm section has a first member connected to the main body base section and a second member connected to the horizontally articulated tip arm section, 6. The robot according to claim 5, wherein the second member is connected to the first member and rotates toward the common rotation axis direction from a state in which the second member extends along an extension direction of the first member to a state in which the second member is folded relative to the first member.

7. 5. The robot according to claim 1, wherein the horizontal robot arm section is disposed above and overlaps the vertical robot arm section on the common axis of rotation.

8. 5. The robot according to claim 1, wherein the vertical robot arm section is disposed above and overlaps the horizontal robot arm section on the common axis of rotation.

Images