Robot arm

Abstract

To provide a robot arm which can build a platform for working.SOLUTION: A robot arm includes: a base 1; a first arm 2 rotatably connected at a first joint part to the base 1; and a second arm 3 rotatably connected at a second joint part to the first arm 2. The first arm 2 may move in a length direction of the first arm 2 relative to the first joint part. The second arm 3 may move in a length direction of the second arm 3 relative to the second joint part and may transform between a first posture where the base 1, the first arm 2, and the second arm 3 overlap one another and a second posture where the first arm 2 extends in a vertical direction relative to the base 1 and the second arm 3 is located at a lower end of the first arm 2 and extends horizontally or being inclined.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a robotic arm, and more particularly to a robotic arm that provides a platform for work. [Background technology]

[0002] There have been attempts to use robots to take over work at heights and in dangerous locations. However, robots cannot necessarily be introduced into all work environments. For example, in bridge maintenance, inspection, and repair, there has been a problem that all work must be done manually because it is difficult for a robot to access the underside of the bridge. Patent Document 1 discloses a movable suspended scaffold for workers, and Patent Document 2 discloses a bridge inspection vehicle that can be boarded by a person to inspect the underside of the bridge, both of which are premised on human work.

[0003] If a platform for introducing a work robot into an environment that is normally inaccessible to a work robot can be provided, the work environments in which the robot can be introduced can be expanded. Furthermore, environments that are difficult for a work robot to access are not limited to the underside of a bridge, but include work environments in large structures without scaffolding (large chemical reaction tanks, power plants, etc.). [Patent Document 1] Patent Publication No. 8-68198 [Patent Document 2] Patent Publication No. 2003-128392 DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a robot arm capable of constructing a working platform. [Means for solving the problem]

[0005] The technical means adopted in the present invention are: With the base, a first arm rotatably connected to the base at a first joint; a second arm rotatably connected to the first arm at a second joint portion; Equipped with the first arm is movable in a length direction of the first arm relative to the first joint portion, the second arm is movable relative to the second joint portion in a length direction of the second arm, a first posture in which the base, the first arm, and the second arm are overlapped; a second position in which the first arm extends vertically relative to the base and the second arm is located at an end of the first arm and extends horizontally or inclined; A robotic arm.

[0006] In one embodiment, in the working position, the base is in a horizontal position, and the first arm extends in a vertical direction (typically vertically) relative to the base. The height position of the first arm relative to the base is variable in the height direction. In this specification, the term "vertical direction" means a vertical direction in a typical embodiment, but also includes cases where the vertical direction extends at an angle so long as the vertical direction extends overall. In one embodiment, in the working position, the second arm extends horizontally or obliquely from a lower end of the first arm, and a position of the second arm in the length direction relative to the lower end of the first arm is variable. In one embodiment, in the working posture, the second arm is positioned below and facing the base (underside of a bridge). In one embodiment, in the working position, the second arm is positioned on the opposite side of the base (such as a chemical reaction tank) relative to the first arm. In a typical embodiment, the range of motion of the first joint is from 0 degrees to 90 degrees, and the first arm can take a position in the range of 0 degrees to 90 degrees relative to the longitudinal direction of the base. In a typical embodiment, the range of motion of the second joint is from 0 degrees to 90 degrees, and the second arm can take a position in the range of 0 degrees to 90 degrees relative to the longitudinal direction of the first arm.

[0007] In one embodiment, a first arm drive mechanism including a rotation drive mechanism that rotates the first arm and a sending mechanism that slides the first arm; a second arm drive mechanism including a rotation drive mechanism that rotates the second arm and a sending mechanism that slides the second arm; It is equipped with:

[0008] In one embodiment, The first joint portion includes a first rotation portion provided at a tip end of the base, the first arm is slidable on the first rotation portion with respect to the first rotation portion and rotates integrally with the first rotation portion to be rotatable with respect to the base; the second joint portion includes a second rotation portion provided at a tip end of the first arm, The second arm is slidable on the second rotation portion relative to the second rotation portion, and rotates integrally with the second rotation portion, thereby being rotatable relative to the second arm.

[0009] In one embodiment, the base includes a rotation drive mechanism for the first rotation unit, The first arm includes a rotation drive mechanism for the second rotation portion. In one embodiment, the first rotation portion is rotatable between a first position along a length direction of the base and a second position perpendicular to the length direction of the base. In one embodiment, the first rotating portion includes a locking means for maintaining the first position and / or the second position. In one embodiment, the first rotation portion may be capable of being fixed at an inclined position between a first position and a second position. In one embodiment, the second rotation portion is rotatable between a first position along a length direction of the first arm and a second position perpendicular to the length direction of the second arm. In one embodiment, the second rotating portion includes a locking means for maintaining the first position and / or the second position. In one embodiment, the second rotation portion may be capable of being fixed at an inclined position between a first position and a second position.

[0010] In one embodiment, the first rotation portion includes a first element of a first guide mechanism and a first element of a first arm sending-out mechanism; the first arm includes a second element of a first guide mechanism and a second element of a first arm feed mechanism; the second rotation portion includes a first element of a second guide mechanism and a first element of a second arm sending mechanism; The second arm includes a second element of a second guide mechanism and a second element of a second arm feed mechanism. In one embodiment, the first element of the guide mechanism is a guide roller and the second element is a guide rail. In one embodiment, the first element of the arm delivery mechanism is a gear and the second element is a rack.

[0011] In one embodiment, at least the second arm is provided with a rail for running of the working robot. In one embodiment, the traveling robot includes a guide roller, and the guide roller runs on the rail (guide rail). In one embodiment, the second arm includes a rack parallel to the rail and the traveling robot includes a gear. In one embodiment, the first arm further includes a rail along which the working robot runs.

[0012] In one embodiment, either one or both of the first arm and the second arm are formed by detachably connecting a plurality of modules in the length direction. In one embodiment, the second arm includes a plurality of modules and a second base connected to the tip module, The second rotation portion is provided on the second base.

[0013] In one embodiment, the module comprises a rectangular parallelepiped main body, and rail units and rack units provided on at least two surfaces.

[0014] In one embodiment, the base is movable along a temporary rail extending in a direction perpendicular to the length of the base. This allows the robot arm in a working position to move along the temporary rails.

[0015] In one embodiment, the robot comprises a pair of said robot arms, In the working posture, the tip of the second arm of one robot arm in a horizontal posture is connected to the tip of the second arm of the other robot arm in a horizontal posture. In one embodiment, the base is disposed on a bridge; A running section of a working robot is formed from the connected second arm across the entire width of the underside of the bridge.

[0016] The technical means adopted in the present invention are: A first arm having a rotating part at a tip thereof; A second arm that is slidable on the rotating part and is rotatable integrally with the rotating part; A robot arm consisting of:

[0017] In one embodiment, the first arm includes a rotation drive mechanism for the rotation portion, The rotating portion includes a first element of a guide mechanism and a first element of an arm sending mechanism, The second arm includes a second element of a guide mechanism and a second element of an arm delivery mechanism. In one embodiment, the first element of the guide mechanism is a guide roller and the second element is a guide rail. In one embodiment, the first element of the drive mechanism is a gear and the second element is a rack. Effect of the Invention

[0018] The robotic arm of the present invention provides a platform that allows for the introduction of work robots into environments that would otherwise be inaccessible to work robots. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a diagram showing a stored state of the robot arm according to the embodiment. [Diagram 2] 2 is a diagram showing a state in which the first arm and the second arm have rotated from the state in FIG. 1 to a vertical position. FIG. [Diagram 3] 3 is a diagram showing a state in which the first arm and the second arm have slid downward from the state in FIG. 2. FIG. [Figure 4] FIG. 2 is a diagram showing a deployed state of the robot arm according to the present embodiment. [Diagram 5] FIG. 2 is a perspective view of a track module according to the present embodiment. [Figure 6] FIG. 2 is a top view of the track module according to the embodiment. [Figure 7] The upper figure is a view of the track module according to this embodiment as seen from the first end side, and the lower figure is a view of the track module according to this embodiment as seen from the second end side. [Figure 8] 1 is a cross-sectional view of a track module according to the embodiment, showing an engagement state with a guide roller. FIG. [Figure 9A] 2 is a perspective view of a base (first position) according to the present embodiment. FIG. [Figure 9B] 2 is a perspective view of a base (first position) according to the present embodiment. FIG. [Figure 10A] 4 is a perspective view of the base (second position) according to the embodiment. FIG. [Figure 10B]4 is a perspective view of the base (second position) according to the embodiment. FIG. [Figure 11A] 4 is a perspective view of a second base (first position) according to the embodiment. FIG. [Figure 11B] The left figure is a side view of the second base (first position) according to this embodiment, and the right figure is a view seen in the direction of the arrow in the left figure. [Figure 12A] FIG. 4 is a perspective view of a second base (second position) according to the embodiment. [Figure 12B] The left figure is a side view of the base (second position) according to this embodiment, and the right figure is a view seen in the direction of the arrow in the left figure. [Figure 13] 5A to 5C are diagrams illustrating a first rotation drive mechanism of a first rotation portion according to the present embodiment. [Figure 14] 5A to 5C are diagrams illustrating a second rotation drive mechanism of a second rotation portion according to the present embodiment. [Figure 15] 15 is a diagram for explaining the locking mechanism of the rotating part according to the present embodiment, with the left diagram showing the unlocked state and the right diagram showing the locked state. Note that in Fig. 15, the linear actuator is cut away. [Figure 16] 5A to 5C are diagrams illustrating a second arm sending-out mechanism according to the embodiment. [Figure 17] 1 is a diagram for explaining a second arm sending-out mechanism according to the present embodiment, and for convenience, a pin rack is shown only on the upper surface of second arm 3. FIG. [Figure 18] FIG. 1 is a perspective view of two track modules connected in the left-right direction. [Figure 19] 1 is a diagram showing an overall configuration of a bridge maintenance work support system. [Figure 20] FIG. 13 is a diagram showing an example of application of a robot arm according to the present embodiment to a chemical reaction tank. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] [A] Overall configuration of the robot arm The overall configuration of the robot arm according to this embodiment will be described with reference to Figures 1 to 4. The robot arm according to this embodiment comprises a base 1, a first arm 2 that is slidable and rotatable relative to the base 1, and a second arm 3 that is slidable and rotatable relative to the first arm 2, and can be transformed between a first position (see Figure 1) in which the first arm 2 and the second arm 3 are superimposed on the base 1, and a second position (see Figure 4) in which the first arm 2 hangs down vertically from the base 1 and the second arm 3 is located at the lower end of the first arm 2 and extends horizontally.

[0021] The first arm 2 according to this embodiment is formed by connecting a plurality of orbital modules 4 in a detachable manner in the length direction, and the orbital module 4 located at the tip is provided with a second base 5, which is a base separate from the base 1. The second arm 3 according to this embodiment is formed by connecting a plurality of orbital modules 4 in a detachable manner in the length direction. By selecting the number of orbital modules 4 constituting the first arm 2 and the number of orbital modules 4 constituting the second arm 3, it is possible to select the length dimensions of the first arm 2 and the second arm 3 according to the work site. For example, when the length of the orbital module 4 is 600 mm, the second arm 3 having a length of 12 m may be composed of 20 orbital modules 4.

[0022] A first rotation part 6 (first joint part) is provided at the tip of the base 1 according to this embodiment, and the first arm 2 is supported slidably on the first rotation part 6. The base 1 is provided with a first rotation drive mechanism for rotating the first rotation part 6. The first rotation part 6 is rotatable between a first position (horizontal position) extending in the longitudinal direction of the base 1 and a second position (vertical position) perpendicular to the longitudinal direction of the base 1. When the first rotation part 6 is in the first position, the first arm 2 is in a position superimposed on the base 1 (FIG. 1), and when the first rotation part 6 is in the second position, the first arm 2 is in a vertical position relative to the base 1 (FIGS. 2 to 4). The center of the first joint part provided by the first rotation part 6 is indicated by 6''.

[0023] In this embodiment, a second base 5 provided at the tip of the first arm 2 is provided with a second rotation unit 7 (second joint unit) at its tip, and the second arm 3 is supported slidably on the second rotation unit 7. The second base 5 is provided with a second rotation drive mechanism for rotating the second rotation unit 7. The second rotation unit 7 is rotatable between a first position (horizontal position in FIG. 1, vertical position in FIG. 2 and FIG. 3) extending in the length direction of the first arm 2 and a second position (horizontal position in FIG. 4) perpendicular to the length direction of the first arm 2. When the second rotation unit 7 is in the first position, the second arm 3 is in a position superimposed on the first arm 2 (horizontal position in FIG. 1, vertical position in FIG. 2 and FIG. 3), and when the second rotation unit 7 is in the second position, the second arm 3 is in a position perpendicular to the first arm 2 (horizontal position in FIG. 4). The center of the second joint provided by the second rotation unit 7 is indicated by 7''.

[0024] The first arm 2 according to this embodiment is slidable on the first rotation section 6 of the base 1 by the first guide mechanism and the first arm feed mechanism. The second arm 3 according to this embodiment is slidable on the second rotation section 7 of the first arm 2 by the second guide mechanism and the second arm feed mechanism. In this embodiment, the first guide mechanism and the second guide mechanism are configured by a combination of a guide roller 8 provided on the first rotation section 6 and the second rotation section 7, respectively, and a rail (formed of a plurality of rail units 45) provided on the first arm 2 and the second arm 3, respectively. In this embodiment, the first arm feed mechanism and the second arm feed mechanism are configured by a combination of a sprocket 9 provided on the first rotation section 6 and the second rotation section 7, respectively, and a pin rack (formed of a plurality of pin rack units 46) provided on the first arm 2 and the second arm 3, respectively.

[0025] Fig. 2 shows a state in which the first rotation part 6 has rotated from the state shown in Fig. 1 to the second position (vertical position), i.e., the first arm 2 and the second arm 3, which are in the overlapping position, have rotated from the horizontal position to the vertical position while maintaining the overlapping position. Fig. 3 shows a state in which the first arm 2 has slid downward relative to the first rotation part 6 and the second arm 3 has slid downward relative to the second rotation part 7 from the state shown in Fig. 2. When the second rotation part 7 rotates from the state shown in Fig. 3 to the second position and the second arm 3 has slid downward relative to the second rotation part 7, the state shown in Fig. 4 is obtained.

[0026] More specifically, in the state of Fig. 2, the first arm 2 in the vertical position is movable vertically (height direction) as a result of the rails extending vertically up and down engaging with the guide rollers 8 of the first rotating part 6 in the vertical position, and by driving and rotating the sprocket 9 of the first rotating part 6, the pin rack is sent downward and the first arm 2 moves downward to the state of Fig. 3. The gripping position of the first arm 2 by the base 1 (first rotating part 6) moves in the length direction of the first arm 2.

[0027] Similarly, in the state of Fig. 2, the second arm 3 in the vertical position is movable vertically (height direction) as a result of the rails extending vertically up and down engaging with guide rollers 8 of the second rotating part 7 in the vertical position, and by driving and rotating sprocket 9 of the second rotating part 7, the pin rack is sent downward and the second arm 3 moves downward to the state of Fig. 3. The gripping position of the second arm 3 by the first arm 2 (second rotating part 7) moves in the length direction of the second arm 3.

[0028] 4, in the working posture, the first arm 2 is in a vertical posture and the second arm 3 is in a horizontal posture, but the angle of the first arm 2 relative to the base 1 is variable between 0 degrees and 90 degrees, and the angle of the second arm 3 relative to the first arm 2 is variable between 0 degrees and 90 degrees. In one embodiment, the postures of the first arm 2 and the second arm 3 can be fixed at any angle. That is, in the robot arm according to this embodiment, the angle range of the first joint portion and the second joint portion is 90 degrees.

[0029] The robot arm according to this embodiment includes a base 1, a first arm 2 rotatably connected to the base 1 at a first joint (first rotation section 6), and a second arm 3 rotatably connected to the first arm 2 at a second joint (second rotation section 7), where the first arm 2 is movable in its length direction relative to the first joint, and the second arm 3 is movable in its length direction relative to the second joint. The robot arm can be transformed between a stored position in which the base 1, the first arm 2, and the second arm 3 are superimposed, and a working position in which the first arm 2 extends in the vertical direction relative to the base 1, and the second arm 3 is located at the lower end of the first arm 2 and extends horizontally or inclined.

[0030] The first arm 2 is made rotatable and slidable with respect to the base 1 by the first arm drive mechanism. The first arm drive mechanism is made up of a first rotation drive mechanism and a first arm feed-out mechanism, and the sliding movement of the first arm 2 by the first arm feed-out mechanism is guided by a first guide mechanism. The second arm 3 is made rotatable and slidable with respect to the first arm 2 by the second arm drive mechanism. The second arm drive mechanism is made up of a second rotation drive mechanism and a second arm feed-out mechanism, and the sliding movement of the second arm 3 by the second arm feed-out mechanism is guided by a second guide mechanism. In the embodiment described later, the first arm feed-out mechanism and the second arm feed-out mechanism are common, and the first guide mechanism and the second guide mechanism are common. The first rotation drive mechanism and the second rotation drive mechanism may be common.

[0031] In the robot arm according to this embodiment, the first arm 2 can move with two degrees of freedom relative to the base 1 by the first arm drive mechanism, and the second arm 3 can move with two degrees of freedom relative to the first arm 2 by the second arm drive mechanism. Therefore, the robot arm can take different work postures depending on the work site, that is, different platforms can be constructed depending on the work site. For example, in the embodiment shown in FIG. 4, the first arm 2 is in a vertical posture, and the second arm 3 is located below the base 1 relative to the first arm 2 and is in a horizontal posture. In the embodiment shown in FIG. 20, the first arm 2 is in a vertical posture, and the second arm 3 is located on the opposite side of the base 1 relative to the first arm 2 and is in a downward inclined posture.

[0032] The robot arm according to this embodiment provides a system that realizes robot-based work support by constructing a track structure for the robot to work and move (in a typical embodiment, the second arm 3 provides rails for the robot to travel on) in an environment where it is difficult to introduce a robot. In one embodiment, the maintenance robot is composed of a movement mechanism (guide rollers, sprockets, and motor) that moves on rails, a six-axis robot arm, and an attachment according to the work. The robot may be remotely controlled wirelessly, or may perform work automatically according to a predetermined program.

[0033] In the robot arm according to this embodiment, the first arm 2 is movable in the length direction of the first arm 2 with respect to the first joint portion, and the second arm 3 is movable in the length direction of the second arm 3 with respect to the second joint portion, that is, the grip position of the first arm 2 by the base 1 is variable in the length direction of the first arm 2, and the grip position of the second arm 3 by the first arm 2 is variable in the length direction of the second arm 3. Therefore, the robot arm according to this embodiment can transform while taking an appropriate posture, taking into consideration the surrounding environment (space) and the center of gravity, even in the posture in the process from the folded posture to the deployed posture.

[0034] In this embodiment, the first arm 2 and the second arm 3 are formed by detachably connecting a plurality of track modules 4. By selecting the number of track modules 4 constituting the first arm 2 and the second arm 3 of the robot arm, a track structure or platform of a size and shape suitable for the work site can be constructed. By configuring the first arm 2 and the second arm 3, which are components of the robot arm, from a plurality of track modules so that they can be assembled and disassembled, it is possible to increase the ease of transportation to the site, the possibility of mass production, and the possibility of replacement in the event of a breakdown.

[0035] [B] Orbital Module The first arm 2 and the second arm 3 according to this embodiment are formed so as to be assembled and disassembled by connecting a plurality of track modules 4. The configuration of the track module 4 will be described with reference to Figs. 5 to 8. The track module 4 according to this embodiment has a main body 40 made of a hollow square pipe having a square cross section. The main body is formed of a square pipe-shaped aluminum material having a first surface 41, a second surface 42, a third surface 43, and a fourth surface 44 having an elongated rectangular shape. One end edge in the length direction of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44 of the main body 40 forms a first end surface of the track module 4, and the other end edge in the length direction forms a second end surface of the track module 4.

[0036] The track module 4 includes a rail unit 45, which is the second element of the first guide mechanism and the second guide mechanism, and a pin rack unit 46, which is the second element of the first arm feed-out mechanism and the second arm feed-out mechanism. The rail units 45 extending over the entire length of the main body 40 are provided at the corners of the main body 40. The pin rack units 46 extending over the entire length of the main body 40 are provided on three surfaces (the first surface 41, the second surface 42, and the third surface 43) of the main body 40. When a plurality of track modules 4 are connected to each other in the length direction to form the first arm 2 and the second arm 3, the rail units 45 match up to form a continuous rail, and the pin rack units 46 match up to form a continuous pin rack.

[0037] 5 to 8, a pin rack unit 46 and a pair of guide rail units 45 are provided on three surfaces, namely, the first surface 41 (upper surface in the illustrated position), the second surface 42 (left surface in the illustrated position), and the third surface 43 (right surface in the illustrated position), but a pin rack unit and a pair of guide rail units may be provided on a fourth surface 44 (lower surface in the illustrated position). Alternatively, a pin rack unit and a pair of guide rail units may be provided on only two surfaces, namely, the first surface 41 and either the second surface 42 or the third surface 43.

[0038] Assuming that FIG. 8 is a cross-sectional view of the track module 4 constituting the second arm 3, the first surface 41 is a surface guided by the second rotation unit 7 (guide surface unit 70), and the rail unit 45 of the first surface 41 becomes a rail for the movement of the second arm 3 itself. The second surface 42 and / or the third surface 43 is a surface on which the maintenance robot moves, and the rail unit 45 of the second surface 42 and / or the third surface 43 becomes a rail for the movement of the maintenance robot. In this case, the guide roller 8 of the maintenance robot slides on the rail unit 45, and the maintenance robot moves on the pin rack unit 46 of the second surface 42 and / or the third surface 43 by the rotation of a sprocket (not shown) provided on the maintenance robot. As shown in FIG. 8, the guide roller, which is the first element of the first guide mechanism and the second guide mechanism according to this embodiment, is a V-shaped guide wheel, and the rail unit 45 has a cross-sectional shape corresponding to the V-shaped guide wheel.

[0039] A first brace 47 extending diagonally is provided at a first end in the length direction of the main body 40, and a second brace 48 extending diagonally is provided at a second end in the length direction. In the track module 4 according to this embodiment, the first brace 47 and the second brace 48 extend in directions perpendicular to each other (see FIG. 7). The first brace 47 has two positioning pins 470 protruding therefrom, and the positioning pins 470 protrude beyond the first end face of the first end. The second brace 48 has two positioning holes 480 formed therein.

[0040] At the first end of the main body 40, plate-shaped connecting pieces 410, 420, 430, 440 are respectively protruding from the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44. The connecting pieces 410, 420, 430, 440 are formed from rectangular plates, and the outer surfaces of the base end halves of the plates are abutted against and connected to the inner surfaces of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44, and the tip end halves of the plates protrude beyond the first end surface to form the connecting pieces 410, 420, 430, 440. The outer surfaces of the connecting pieces 410, 420, 430, 440 are aligned with the inner surfaces of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44. Two screw holes 411, 421, 431, 441 are formed in each of the connecting pieces 410, 420, 430, 440. Two insertion holes 49 (see FIG. 6) are formed in second side portions of the first surface 41, the second surface 42, the third surface 43, and the fourth surface 44 of the track module 4.

[0041] When connecting multiple track modules 4, when the first end face of the first end of one track module 4A is brought into contact with the second end face of the second end of the other track module 4B, the positioning pin 470 of the first brace 47 of the first end of the track module 4A is inserted into the positioning hole 480 of the second brace 48 of the second end of the track module 4B, thereby positioning the adjacent track modules 4A and 4B (see FIG. 17). The outer surfaces of the tip half of each connecting piece 410, 420, 430, 440 protruding from the first end of one track module 4A abut against the inner surfaces of the second side portions of the first surface 41, second surface 42, third surface 43, and fourth surface 44 of the other track module 4B, and at this time, the screw holes 411, 421, 431, 441 and the insertion hole 49 are aligned, and the connection is detachable with a bolt.

[0042] In one track module 4A and the other track module 4B, the postures of the first brace 47 and the second brace 48 are reversed. That is, the track module 4A and the track module 4B to be connected are two types of track modules 4 in which the postures of the first brace 47 and the second brace 48 are different. Therefore, the first brace 47 of one track module 4A and the second brace 48 of the other track module 4B are in the same posture, and the positioning pin 470 of the first brace 47 of one track module 4A is received in the positioning hole 480 of the second brace 48 of the other track module 4B, so that the positioning of the two track modules when connected is performed. The track module 4A and the track module 4B are alternately connected to form an arm.

[0043] [C] Bass As shown in Figs. 9A, 9B, 10A and 10B, the base 1 according to this embodiment comprises a vertically rising support column 10, a long support section 11 extending horizontally at the upper end of the support column 10, and a first rotation section 6 rotatably provided at the tip of the support section 11. In the base 1, a first rotation drive mechanism for rotating the first rotation section 6 relative to the support section 11 is provided between the support section 11 and the first rotation section 6. The first rotation drive mechanism allows the first rotation section 6 to rotate relative to the support section 11 between a first position or horizontal position (Figs. 9A and 9B) in which the first rotation section 6 extends in the same direction as the length direction of the support section 11, and a second position or vertical position (Figs. 10A and 10B) perpendicular to the length direction of the support section 11.

[0044] The first rotation drive mechanism according to this embodiment includes a motor M1 provided on a support portion 11, a wire winding portion (pulley) 12 that rotates by the rotation of the motor M1, and a wire 13 whose base end is connected to the wire winding portion (pulley) 12 and whose tip end is connected to the first rotation portion 6 (see FIG. 13). In this embodiment, the first rotation portion 6 is in the second position (vertical position) due to its own weight, and by driving the motor M1 to wind up the wire 13, the first rotation portion 6 from the vertical position rotates to the first position, which is a horizontal position.

[0045] The support part 11 has an upper surface part 110, a lower surface part 111, and a pair of side surfaces 112, and the lower surface part 111 is placed and fixed on the upper end of the support part 10. The width dimension of the lower surface part 111 is larger than the width dimension of the upper surface part 110, and the lower surface part 111 has an extension part extending horizontally from the lower end of the side surface part 112, and a motor M1 is provided at a corner formed by one of the extension parts and one of the side surfaces 112. The tip side parts of the pair of side surfaces 112 form a pair of extension parts 113 (Figs. 10A and 13) that extend beyond the upper surface part 110.

[0046] The first rotating part 6 has a guide surface part 60, a first side part 61, and a second side part 62, and has a generally U-shaped cross section, and a rectangular parallelepiped storage part 63 is provided at the tip side. The tip side of the second side part 62 forms one side part of the storage part 63. The extension part 113 of the side part 112 of the support part 11 is located between the first side part 61 and the second side part 62 of the first rotating part 6, and is connected by a first rotating shaft 64. The first rotating part 6 can rotate within a range of 90 degrees with respect to the support part 11, centering on the first rotating shaft 64. The first rotating shaft 64 is the center 6'' of the first joint part between the base 1 and the first arm 2.

[0047] The tip of the wire 13 is connected to the back surface of the base end portion of the guide surface portion 60 of the first rotating portion 6. When the motor M1 is rotated, the wire winding portion (pulley) 12 located between the pair of side portions 112 rotates to wind or unwind the wire 13. When the first rotating portion 6 is in the first position (horizontal position), unwinding the wire 13 causes the first rotating portion 6 to rotate downward under its own weight and assume the second position (vertical position). When the rotating portion 6 is in the second position (vertical position), winding the wire 13 causes the first rotating portion 6 to rotate upward and assume the first position (horizontal position).

[0048] In this embodiment, when the first rotating part 6 is in a horizontal position, the guide surface 60 of the first rotating part 6 and the upper surface 110 of the support part 11 form substantially the same horizontal plane, forming a mounting surface for the first arm 2 in the horizontal position. The surface of the upper surface 110 of the support part 11 is formed from a material with good slipperiness (resin with a low friction coefficient). Note that a guide roller may be provided on the upper surface 110 (FIG. 13).

[0049] The first arm 2 according to this embodiment is capable of sliding on the guide surface 60 of the first pivoting part 6 of the base 1 by the first guide mechanism and the first arm sending-out mechanism. The first pivoting part 6 includes a guide roller 8 which is the first element of the first guide mechanism, and a sprocket 9 which is the first element of the first arm sending-out mechanism. The guide surface 60 of the first pivoting part 6 is provided with a plurality of guide rollers 8 which are the first element of the first guide mechanism. In this embodiment, the guide surface 60 of the first pivoting part 6 is provided with three sets of pairs of guide rollers 8 spaced apart in the longitudinal direction.

[0050] The first rotating part 6 is provided with a sprocket 9, which is a first element of the first arm sending mechanism. More specifically, as shown in Figs. 9A, 9B, 10B, and 13, a portion of the sprocket 9 protrudes from the guide surface part 60 of the first rotating part 6 at the center in the width direction. The sprocket 9 is rotated by a motor M2. Specifically, a drive mechanism for rotating the sprocket 9 of the first arm sending mechanism is provided in the storage part 63 on the tip side of the first rotating part 6. This drive mechanism is composed of the motor M2, which is a rotation drive source of the sprocket 9, and a transmission mechanism 90 that transmits the rotational force of the motor M2 as the rotation of the sprocket 9. The transmission mechanism 90 includes a gear box 91, and the rotation of the motor shaft of the motor M2 is transmitted to the rotation of the input shaft of the gear box 91, and the rotation of the output shaft of the gear box 91 is transmitted to the sprocket 9, so that the sprocket 9 rotates. The gear box 91 according to this embodiment includes a worm gear. By incorporating a worm gear box into the first arm delivery mechanism, it acts as a mechanical brake when no torque is being applied to motor M2.

[0051] [D] Second Base A second base 5 is provided at the tip of the first arm 2 according to this embodiment. As shown in Figs. 11A, 11B, 12A and 12B, the second base 5 according to this embodiment is composed of a support section 50 extending in the length direction of the first arm 2 and a second rotation section 7 provided at the tip of the support section 50. A second rotation drive mechanism for rotating the second rotation section 7 relative to the support section 50 is provided between the support section 50 and the second rotation section 7 in the second base 5. The second rotation drive mechanism allows the second rotation section 7 to rotate relative to the support section 50 between a first position (Figs. 11A and 11B) in which the second rotation section 7 extends in the same direction as the length direction of the support section 50, and a second position (Figs. 12A and 12B) perpendicular to the length direction of the support section 50.

[0052] The second rotation drive mechanism according to this embodiment is composed of a motor M3 provided on the support part 50 and a linear actuator 51 operated by the motor M3. The linear actuator 51 is attached to the support part 50 in an inclined position with respect to the longitudinal direction of the support part 50, and the tip of an extendable rod 510 is connected (rotatably) to the second rotation part 7. In this embodiment, when the rod 510 is in the extended position, the second rotation part 7 is in the first position, and when the rod 510 is in the retracted position, the second rotation part 7 is in the second position.

[0053] The support section 50 includes a pair of side sections 500, and a first plate 501 and a second plate 502 are fixed to the base end sides of the pair of side sections 500 in an opposing manner so as to connect the pair of side sections 500. A linear actuator 51 is located at the tip end side of the first plate 501 (lower side in the vertical position of the support section 50) and protrudes from between the pair of side sections 500, and a motor M3 is located at the tip end side of the second plate 502 (lower side in the vertical position of the support section 50) and protrudes from between the pair of side sections 500. A hollow section having a rectangular cross section is formed at the base end portion of the support section 50, and is composed of the base end side portions of the pair of side sections 500, the first plate 501, and the second plate 502. A plate-shaped connecting piece 503 is protruded from the base end side of the support section 50. The shape and dimensions of the connecting piece 503 are the same as those of the connecting pieces 410, 420, 430, and 440 of the track module 4, and the descriptions of the connecting pieces 410, 420, 430, and 440 can be used. The second base 5 is detachably connected to the end of the track module 4 located at the tip of the track module 4 constituting the first arm 2. The connection structure between the support part 50 of the second base 5 and the track module 4 is the same as the connection structure between the track modules 4.

[0054] The second rotating part 7 has a guide surface part 70, a first side surface part 71, and a second side surface part 72, and has a rectangular parallelepiped storage part 73 at the tip side. The tip side of the second side surface part 72 forms one side surface part of the storage part 73. The tip part of the side surface part 500 of the support part 50 is located between the first side surface part 71 and the second side surface part 72 of the second rotating part 7, and is connected by a second rotating shaft 74. The second rotating part 7 can rotate within a range of 90 degrees with respect to the support part 50 around the second rotating shaft 74. The second rotating shaft 74 is the center 7'' of the second joint part between the first arm 2 and the second arm 3. The tip part of the rod 510 of the linear actuator 51 is connected to the back surface of the base end side part of the guide surface part 70 of the second rotating part 7.

[0055] The second arm 3 according to this embodiment is capable of sliding on a guide surface 70 of the second rotation portion 7 of the first arm 3 by the second guide mechanism and the second arm sending out mechanism. The second rotation portion 7 includes a guide roller 8 which is a first element of the second guide mechanism, and a sprocket 9 which is a first element of the second arm sending out mechanism. A plurality of guide rollers 8 which are the first element of the second guide mechanism are provided on the guide surface 70 of the second rotation portion 7. In this embodiment, three sets of pairs of guide rollers 8 are provided on the guide surface 70 of the second rotation portion 7 at intervals in the longitudinal direction.

[0056] The second rotating section 7 is provided with a sprocket 9, which is a first element of the second arm sending mechanism. More specifically, the guide surface section 70 of the second rotating section 7 is located in the center in the width direction, and a portion of the sprocket 9 protrudes. The sprocket 9 is rotated by a motor M4. Specifically, a drive mechanism for rotating the sprocket 9 of the second arm sending mechanism is provided in the storage section 73 on the tip side of the second rotating section 7. This drive mechanism is composed of the motor M4, which is a rotation drive source of the sprocket 9, and a transmission mechanism 90 that transmits the rotational force of the motor M4 as the rotation of the sprocket 9. The transmission mechanism 90 includes a gear box 91, and the rotation of the motor shaft of the motor M4 is transmitted to the rotation of the input shaft of the gear box 91, and the rotation of the output shaft of the gear box 91 is transmitted to the sprocket 9, so that the sprocket 9 rotates. The gear box 91 according to this embodiment includes a worm gear. By incorporating a worm gear box into the second arm sending mechanism, it acts as a mechanical brake when no torque is being applied to motor M4.

[0057] [E] Arm drive mechanism The arm drive mechanism has a function of rotating the arm, a function of sending out the arm in the length direction of the arm, and a function of fixing the position of the arm in the length direction. In this embodiment, the arm drive mechanism is composed of a rotation drive mechanism that rotates the arm (first arm 2, second arm 3) at the joint portion (first joint portion, second joint portion), and an arm sending mechanism that moves the arm (first arm 2, second arm 3) in the arm length direction relative to the joint portion (first joint portion, second joint portion). The arm (first arm 2, second arm 3) is slidable and positionally fixed on the rotation portion (first rotation portion 6, second rotation portion 7), and rotates integrally with the rotation portion (first rotation portion 6, second rotation portion 7).

[0058] In this embodiment, a first rotation drive mechanism that rotates the first arm 2 (first rotation part 6) is made up of a motor M1, a wire winding part (pulley) 12, and a wire 13. A second rotation drive mechanism that rotates the second arm 3 (second rotation part 7) is made up of a motor M3 and a linear actuator 51.

[0059] In this embodiment, the first arm sending-out mechanism that moves the first arm 2 in the arm length direction and the second arm sending-out mechanism that moves the second arm 3 in the arm length direction are common. Also, the first guide mechanism that guides the first arm 2 in one axial direction (arm length direction) and the second guide mechanism that guides the second arm 3 in one axial direction (arm length direction) are common. The first guide mechanism and the second guide mechanism are composed of a guide roller 8 and a rail (comprised of a plurality of rail units 45). The first arm sending-out mechanism and the second arm sending-out mechanism are composed of a sprocket 9 and a pin rack (comprised of a plurality of pin rack units 46).

[0060] The arm is restricted from moving in one axial direction by the guide mechanism (V guide rail and wheel), and the arm feed mechanism of the arm drive mechanism is movable in one axial direction and can be fixed at any position. The first arm 2 according to this embodiment is slidable on the guide surface 60 of the first rotation part 6 of the base 1 by the first guide mechanism (guide roller 8 and rail) and the first arm feed mechanism (sprocket 9 and pin rack). The guide surface 60 of the first rotation part 6 is provided with three sets of pairs of guide rollers 8 spaced apart in the length direction. In a state where the pair of guide rollers 8 are engaged with the pair of rails of the first arm 2 (gripping state), the guide rollers 8 are restricted in a state where they can slide only relative to the rails (can move only in the first axial direction, which is the length direction of the first arm 2).

[0061] Guide surface portion 60 of first rotating portion 6 is equipped with a guide roller (V guide wheel) 8 and a sprocket 9, and the guide roller 8 grips first arm 2 while the sprocket 9 sends out first arm 2. Guide surface portion 70 of second rotating portion 7 is equipped with a guide roller (V guide wheel) 8 and a sprocket 9, and the guide roller 8 grips second arm 3 while the sprocket 9 sends out second arm 3.

[0062] The sprocket 9 provided on the guide surface portion 60 of the first rotating portion 6 is engaged with the pin rack of the first arm 2, and the first arm 2 can slide in the arm length direction by rotating the sprocket 9 with the motor M2 to send out the pin rack. By restricting the rotation of the sprocket 9, the position (gripping position) of the first arm 2 in the arm length direction relative to the first rotating portion 6 (sprocket 9) can be fixed. The sprocket 9 provided on the guide surface portion 70 of the second rotating portion 7 is engaged with the pin rack of the first arm 2, and the second arm 3 can slide in the arm length direction by rotating the sprocket 9 with the motor M4 to send out the pin rack. By restricting the rotation of the sprocket 9, the position (gripping position) of the second arm 3 in the arm length direction relative to the second rotating portion 7 (sprocket 9) can be fixed. In this embodiment, the gripping position of the arm is maintained by the self-locking of the worm gear.

[0063] The robot arm according to this embodiment includes an angle detection means for detecting the angles of the first rotation unit 6 (first joint) and the second rotation unit 7 (second joint). In this embodiment, the angle of the first rotation unit 6 (first joint) and the angle of the second rotation unit 7 (second joint) are obtained by measuring the rotation of the rotation shafts using potentiometers 67 and 77 provided near the first rotation shaft 64 and the second rotation shaft 74, respectively. The robot arm according to this embodiment includes a position detection means for detecting the position of the first arm 2 in the length direction relative to the first joint and the position of the second arm 3 in the length direction relative to the second joint. In one aspect, the number of rotations of the sprocket 9 is measured to obtain the feed amount per rotation and detect the position. The operation of the first arm drive mechanism and the second arm drive mechanism can be controlled based on the information obtained by the angle detection means and the position detection means.

[0064] [F] Joint lock mechanism The base 1 is provided with a first locking mechanism that fixes the first and second positions of the first pivot part 6, and the second base 5 is provided with a second locking mechanism that fixes the first and second positions of the second pivot part 7. The first and second locking mechanisms have a common basic configuration, and the configuration of the second locking mechanism will be described first.

[0065] As shown in Fig. 15, the first side surface portion 71 and the second side surface portion 72 of the second rotating portion 7 have an arc-shaped edge portion, and a first groove 75 is formed on a first end side in the circumferential direction of the edge portion, and a second groove 76 is formed on a second end side. The first groove 75 and the second groove 76 extend in a perpendicular direction, and when the second rotating portion 7 is in the first position, the first groove 75 extends vertically and the second groove 76 extends horizontally (see Figs. 11A and 11B), and when the second rotating portion 7 is in the second position, the first groove 75 extends horizontally and the second groove 76 extends vertically (see Figs. 12A, 12B, and 15).

[0066] A pair of rotatable blades 14 are provided on the tip side of the support part 50 of the second base 5 so as to be rotatable in the length direction of the support part 50, and an opening 15 is formed on the side part 500 of the support part 50, through which the tip side part of each blade 14 protrudes. In the unlocked position, the tip side part of the blade 14 is located within the opening 15, and in the locked position, the tip side part protrudes beyond the opening 15 and is engaged with the first groove 75 or the second groove 76. In this embodiment, the pair of blades 14 is rotated by a servo motor M5 (see Figs. 11A and 12A). A resin guide block 150 is provided detachably on the edge of the opening 15. By making the guide block 150 detachable, it is easy to replace it when it deteriorates due to wear or the like.

[0067] As shown in the left diagram of FIG. 15, when the second rotating part 7 is in the second position (horizontal position in FIG. 15), the second groove 76 of the second rotating part 7 is in the vertical position, and the tip side portion of the blade 14 is located above the second groove 76. When the pair of blades 14 rotate downward from the state shown in the left diagram of FIG. 15, the tip side portion of the blade 14 engages with the second groove 76 and is in a locked state (right diagram of FIG. 15, FIGS. 12A, 12B, and 16). When the second rotating part 7 is in the first position (horizontal position in the illustrated embodiment), the first groove 75 of the second rotating part 7 is in the vertical position, and the tip side portion of the blade 14 engages with the first groove 75 and is in a locked state (FIGS. 11A and 11B).

[0068] The configuration of the first lock mechanism that fixes the first and second postures of the first pivot part 6 is substantially the same as the configuration of the second lock mechanism. The first side surface part 61 and the second side surface part 62 of the first pivot part 6 have arc-shaped edges, and a first groove 65 is formed on a first end side in the circumferential direction of the edges, and a second groove 66 is formed on a second end side. The first groove 65 and the second groove 66 extend in a perpendicular direction, and when the first pivot part 6 is in the first posture (horizontal posture), the first groove 65 extends horizontally and the second groove 66 extends vertically, and when the first pivot part 6 is in the second posture (vertical posture), the first groove 65 extends vertically and the second groove 66 extends horizontally.

[0069] A pair of rotatable blades 14 are provided on the tip side of the support part 11 of the base 1 so as to be rotatable in the length direction of the support part 11, and an opening 15 is formed in the extension part 113 of the side part 112 of the support part 11, through which the tip side parts of the blades 14 protrude when locked, and a guide block 15 is detachably provided on the edge of the opening 15. When the first rotating part 6 is in the second position (vertical position), the second groove 66 of the first rotating part 6 is in the horizontal position, and the tip side parts of the blades 14 are engaged with the second groove 66 to enter the locked state (Figs. 10A and 13). When the first rotating part 6 is in the first position (horizontal position), the first groove 65 of the first rotating part 6 is in the horizontal position, and the tip side parts of the blades 14 are engaged with the first groove 65 to enter the locked state (Fig. 9A).

[0070] In this embodiment, the first lock mechanism mechanically fixes the first posture or the second posture of the first rotation part 6, and the second lock mechanism mechanically fixes the first posture or the second posture of the second rotation part 7, so that the first joint part and the second joint part are maintained in the same posture for a long time without operating the actuator. By providing the first lock mechanism and the second lock mechanism, after the robot arm according to this embodiment is completed in a predetermined working posture, it is possible to maintain the joints in the same posture for a long time without operating the actuator.

[0071] The first and second locking mechanisms operate based on information detected by the angle detection means. When the angle detection means detects a preset angle, it sends a signal to the control unit. The control unit receives this signal and sends a command to operate the motor M5, causing the blade 14 to rotate from the unlocked position to the locked position.

[0072] [G] Example 1: Bridge maintenance work support system Example 1 relates to the creation of a work environment for bridge maintenance work by a robot. Until now, repair work in bridge maintenance has had the problem of being all done manually by humans because it is difficult for a robot to access the underside of a bridge. In Example 1, a work environment for introducing a robot into an environment that would normally be inaccessible is created from a track structure for bridge maintenance consisting of a robot arm formed by connecting multiple track modules, and by making the track structure for bridge maintenance movable in the length direction of the bridge, a platform is realized that allows a robot to work over a wide range and for long periods of time in a space that is difficult to access, such as the underside of a bridge.

[0073] The bridge maintenance track structure according to the first embodiment is composed of a pair of robot arms, and is movable in the longitudinal direction of the bridge along two temporary rails 1A installed on the bridge. Each robot arm is the same as the above robot arm in that it is composed of a base 1, a first arm 2, a second arm 3, a first joint unit 6', and a second joint unit 7', and the above description can be used for details of the base 1, the first arm 2, the second arm 3, the track module 4, the second base 5, the first rotation unit 6, the second rotation unit 7, the first arm drive mechanism, and the second arm drive mechanism.

[0074] The bridge maintenance track structure according to the first embodiment is adapted to move on a temporary rail 1A extending in the longitudinal direction of the bridge, and differs from the base 1 shown in Figs. 9A, 9B, 10A, and 10B in that the base 1 is provided with a running section 1B. In this specification, the base 1 provided with the running section 1B is referred to as a support mechanism. The temporary rail 1A is, for example, a rail reinforced with an I-beam steel material, and is fixed to the bridge with anchor bolts. The running section 1B is provided with a guide roller that is driven to rotate by a motor (not shown), and the guide roller rolls along the temporary rail 1A, enabling the pair of robot arms, i.e., the bridge maintenance track structure, to move on the bridge.

[0075] In order to improve the workability of transportation, construction, and removal when constructing the track structure according to this embodiment, the first arm 2 and the second arm 3 constituting the track structure are formed so that they can be assembled and disassembled from multiple track modules 4. By combining the track modules 4 according to the dimensions of the target bridge, a track structure that can be adapted to various shapes can be constructed.

[0076] In the robot arm according to this embodiment, the first arm 2 and the arm 3 can be deployed from the base 1 on the bridge, and the second arm 3 (work rail) can be deployed from the top surface of the bridge to the underside of the bridge. By operating the first arm drive mechanism and the second arm drive mechanism, the first arm 2 and the second arm 3 are deployed from above the bridge to the side and below the bridge by sending out and rotating the first arm 2 and the second arm 3, and a track structure is constructed that provides a work rail (second arm 3) that extends horizontally below the underside of the bridge. When constructing the track structure, it is desirable to grasp and operate the center of gravity of the arm to avoid a large moment acting on the arm, and in this embodiment, the arm drive mechanism can move the arm in the arm length direction relative to the joint position, so that the grip position can be changed so that the arm can be rotated stably.

[0077] Fig. 18 shows the construction and dismantling procedure of the robot arm (track structure), and Fig. 19 shows the overall configuration of the bridge maintenance work support system. The construction procedure of the track structure for bridge maintenance according to the first embodiment will be described with reference to Figs. 18 and 19. (1) A temporary rail 1A is constructed on the bridge, a support structure is placed on top of it, and the robot arm is assembled. The temporary rail 1A and the support mechanism are installed within, for example, 1.5 m from the edge of the bridge so as not to occupy the bridge during work. (2) In a first position in which the base 1, the first arm 2, and the second arm 3 are overlapped, the first rotating part 6 is rotated from the first position to a second position, and the overlapped first arm 2 and second arm 3 are rotated from a horizontal position to a vertical position. (3) The second arm 3 is moved downward by the second arm sending mechanism, and the second rotating part 7 is rotated from the first position to the second position, so that the second arm 3 is positioned at the lower end of the first arm 2 which is in the vertical position and extends horizontally. A counterweight 31 may be attached to the base end side of the second arm 3 (see FIG. 19). (4) After similarly deploying the robot arm from the opposite side of the bridge, the tips of the two second arms 3 are joined to construct a work rail across the entire width of the underside of the bridge. After completing the track structure (where the second arms 3 function as work arms), the joint angle is maintained with the first and second locking mechanisms, making it possible to maintain the joint in the same position for long periods of time without operating the actuator. (5) The maintenance robot is lowered from the bridge and boarded.

[0078] Example 1 provides a mobile environment in which multiple maintenance robots 30 can operate simultaneously on the underside of a bridge. The maintenance robot is dropped by a small crane and introduced by engaging a V-guide wheel (held by the maintenance robot) with a V-guide rail provided on the second arm 3. The maintenance robot performs appropriate repair work on the previously determined repair points while moving on the rail of the second arm 3. Specific examples of work include scraping concrete with a disc grinder, applying paint to wall surfaces using a roller, and applying sealant along cracks. The maintenance robot 30 is remotely controlled wirelessly. Alternatively, the maintenance robot 30 performs work automatically according to a predetermined program.

[0079] After completing the track structure for bridge maintenance, the first and second locking mechanisms can be locked, making it possible to maintain the joint in the same position for a long period of time without operating the actuator. The track structure for bridge maintenance can cover the underside of the bridge by moving along the length of the bridge on rails 1A temporarily installed on the bridge. By making the assembled track structure movable on the bridge, a wide range of work can be provided with a minimum amount of track structure.

[0080] [H] Example 2: Large Chemical Reactor Cleaning System The robot arm according to the second embodiment is applied to a system for cleaning the inside of a large chemical reaction tank. As shown in Fig. 20, the large reaction tank 16 has a bottom wall 160, a side wall 161, and an upper wall 162, and an opening 163 is formed in the upper wall 162. Inside the reaction tank, there are provided an agitator blade (a wooden structure in the center) 164 that rotates to agitate the solvent, and a baffle 165 as an obstacle that generates turbulence to promote agitation.

[0081] In the working posture of the robot arm shown in FIG. 20, the first arm 2 hangs down from the tip of the base 1, and the second arm 3 extends obliquely from the lower end of the first arm 2. A moving unit equipped with a jetter 32 that ejects cleaning liquid is movable on the rail of the second arm 3 (and the rail of the first arm 2), and a hose 33 that supplies cleaning liquid is connected to the jetter 32, and the base end side of the hose 33 extends to the outside from an opening 163 in the upper wall and is connected to a source of cleaning liquid. In one embodiment, a camera and a light are mounted on the moving unit. The camera and the light may be fixed to a predetermined position of the arm (including those whose orientation is movable). When the robot arm is deployed, the first arm 2 and the second arm 3 hang down from the opening 163 into the inside of the reaction tank in a vertical posture in which they are overlapped, and the second arm 3 is rotated inside the reaction tank.

[0082] The illustrated large-scale chemical reaction tank is exemplified as a large-scale structure without scaffolding. The robot arm according to this embodiment can be applied to high places of large buildings where it is difficult to introduce a robot. For example, a work environment can be created on the wall surface by constructing a track on the wall surface of a structure without scaffolding and moving up and down. In addition, a wide-range work environment can be secured by inserting a rail structure into a narrow space and then deforming the rail structure by the arm drive mechanism. [Explanation of symbols]

[0083] 1 Base 2. First Arm 3. Second Arm 4. Orbital Module 45 Rail unit (guide rail) 46 pin rack unit (pin rack) 5. Second Base 6 First Rotating Part 7 Second Rotating Part 8 Guide roller 9 Sprockets

Claims

1. With the base, a first arm rotatably connected to the base at a first joint; a second arm rotatably connected to the first arm at a second joint; Equipped with the first arm is movable relative to the first joint portion in a length direction of the first arm, the second arm is movable relative to the second joint portion in a length direction of the second arm, a first posture in which the base, the first arm, and the second arm are overlapped; a second posture in which the first arm extends in a vertical direction relative to the base and the second arm is located at an end of the first arm and extends horizontally or inclinedly; Robot arm.

2. a first arm drive mechanism including a rotation drive mechanism that rotates the first arm and a sending mechanism that slides the first arm; a second arm drive mechanism including a rotation drive mechanism that rotates the second arm and a sending mechanism that slides the second arm; Equipped with 2. The robot arm of claim 1.

3. the first joint portion includes a first rotation portion provided at a tip end of the base, the first arm is slidable on the first rotation portion with respect to the first rotation portion and rotates integrally with the first rotation portion to be rotatable with respect to the base; the second joint portion includes a second rotation portion provided at a tip end of the first arm, the second arm is slidable on the second rotation portion with respect to the second rotation portion, and is rotated integrally with the second rotation portion to be rotatable with respect to the second arm; 2. The robot arm of claim 1.

4. The base includes a rotation drive mechanism for the first rotation portion, The first arm includes a rotation drive mechanism for the second rotation portion.

4. The robot arm of claim 3.

5. the first rotation portion includes a first element of a first guide mechanism and a first element of a first arm sending-out mechanism; the first arm includes a second element of a first guide mechanism and a second element of a first arm feed mechanism; the second rotation portion includes a first element of a second guide mechanism and a first element of a second arm sending mechanism; the second arm includes a second element of a second guide mechanism and a second element of a second arm delivery mechanism; 4. The robot arm of claim 3.

6. At least the second arm is provided with a rail for running the working robot. A robot arm according to any one of claims 1 to 5.

7. Either one or both of the first arm and the second arm are formed by detachably connecting a plurality of modules in a longitudinal direction.

7. A robotic arm according to claim 6.

8. the second arm includes a plurality of modules and a second base connected to a tip module; The second rotation portion is provided on the second base.

8. A robotic arm as claimed in claim 7.

9. The module comprises a rectangular parallelepiped main body and rail units and rack units provided on at least two surfaces.

8. A robotic arm as claimed in claim 7.

10. The base is movable along a temporary rail extending in a direction perpendicular to the longitudinal direction of the base. A robot arm according to any one of claims 1 to 5.

11. A pair of the robot arms, In the working posture, a tip of a second arm in a horizontal posture of one robot arm is connected to a tip of a second arm in a horizontal posture of the other robot arm.

11. A robotic arm as claimed in claim 10.

12. The base is disposed on a bridge, A running part of a working robot is formed from the connected second arm across the entire width of the underside of the bridge.

12. A robotic arm as claimed in claim 11.

13. A first arm having a rotating part at a tip thereof; a second arm that is slidable on the rotating portion and that is rotatable integrally with the rotating portion; A robot arm consisting of:

14. the first arm includes a rotation drive mechanism for the rotation portion, The rotating portion includes a first element of a guide mechanism and a first element of an arm delivery mechanism, The second arm includes a second element of a guide mechanism and a second element of an arm delivery mechanism.

14. A robotic arm as claimed in claim 13.

Images