Robot

Abstract

To provide a robot that can convert rotating motion at a tip part of a robot body to motion of a robot hand.SOLUTION: A robot 100 comprises: a support part 70 that generates first rotating motion R1 that rotates with a first shaft a1 as a center; a rotating part 80 that rotates with the first shaft a1 as a center accompanying the first rotating motion R1; a fixed part 20 fixed to the support part 70; and a motion converting part 40 that is connected to each of the rotating part 80 and the fixed part 20. The motion converting part 40 receives the first rotating motion R1 through the rotating part 80, and performs at least either of converting the first rotating motion R1 to translational motion M1 (1) and converting the first rotating motion R1 to the other rotating motion R2 that rotates with the other shaft different from the first shaft a1 as a center (2).SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a robot equipped with a robot hand. [Background technology]

[0002] Patent Document 1 discloses an industrial robot in which a single electric motor drives a plurality of types of tools that can be attached and detached by ATC.

[0003] Non-Patent Document 1 discloses a robot hand connected to a robot body. This robot hand has a motor as a drive source, and is configured to open and close the fingers by the motor and rotate the wrist. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-184099 A [Non-patent literature]

[0005] [Non-Patent Document 1] Nishimura, Norihiro and 3 others, "Development of a 1-DOF Robot Gripper with Wrist Rotation Mechanism," Robotics and Mechatronics Conference 2022, June 2022, Japan Society of Mechanical Engineers Summary of the Invention [Problem to be solved by the invention]

[0006] The robot disclosed in Patent Document 1 can only perform actions corresponding to each tool, and it is difficult to open and close the fingers of the robot hand or rotate the wrist, for example.

[0007] The robot hand disclosed in Non-Patent Document 1 is capable of opening and closing its fingers and rotating its wrist. However, since a motor is provided inside the robot hand, the number of motors is increased by one when viewed as the robot as a whole.

[0008] For example, if a robot body such as a manipulator has a rotational movement function at its tip, if the rotational movement function of the robot body can be used to open and close the fingers and rotate the wrist, the number of motors in the robot as a whole can be reduced.

[0009] The present invention provides a robot that can convert a rotational motion at the tip of the robot body into a motion of a robot hand. [Means for solving the problem]

[0010] In order to achieve the above-mentioned object, a robot in one embodiment of the present invention includes a support unit that generates a first rotational motion that rotates around a first axis, a rotating unit that rotates around the first axis in conjunction with the first rotational motion, a fixed unit fixed to the support unit, and a motion conversion unit connected to each of the rotating unit and the fixed unit, wherein the motion conversion unit receives the first rotational motion via the rotating unit and performs at least one of the following conversions: (1) converting the first rotational motion into a translational motion, and (2) converting the first rotational motion into another rotational motion that rotates around an axis different from the first axis. Effect of the Invention

[0011] According to the robot of the present invention, the rotational movement at the tip of the robot body can be converted into the movement of the robot hand. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of a robot according to the present invention. [Diagram 2] 1A to 1C are diagrams illustrating the structure of a robot hand according to the present invention. [Diagram 3] 1A to 1C are diagrams illustrating the operation of a robot hand according to the present invention. [Figure 4] 1 is a cross-sectional view of a robot according to an embodiment. [Diagram 5] FIG. 1 is a diagram showing a plurality of gears included in a robot hand. [Figure 6] FIG. 2 is a see-through view of the inside of a fixing part of the robot hand. [Figure 7] FIG. 1 is a diagram illustrating a configuration of a robot according to an embodiment. [Figure 8] FIG. 11 is a diagram illustrating an example of an operation of the robot according to the embodiment. [Figure 9] 11A to 11C are diagrams illustrating another example of the operation of the robot according to the embodiment. [Figure 10] FIG. 13 is a diagram illustrating a robot according to a first modified example of the embodiment. [Figure 11] FIG. 11 is a diagram illustrating a robot according to a second modified example of the embodiment. [Figure 12] FIG. 11 is a diagram illustrating a robot according to a third modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Foundation of the Invention) The automation of production systems using industrial robots is accelerating. In production sites where high production efficiency is required, system failures that cause operation stoppages are a problem that must be avoided.

[0014] In a robot system, the motor for driving the robot hand is a component that is prone to failure due to wear and tear caused by high-speed rotation. In addition, the cable of the robot hand is an element that is detrimental to improving the reliability of the system. Therefore, for example, if it is possible to realize a robot hand that does not require a motor and a cable by using the highly reliable components that are originally equipped in the robot manipulator body (hereinafter referred to as the robot body), it will lead to high reliability of the production system and greatly reduce the risk of system downtime. In addition, the robot hand can be made smaller and lighter by making it motorless, and the interference area of ​​the robot can be reduced by making it cableless, which is expected to improve the ease of teaching the robot. Another advantage of using a motor in the robot body is that the performance (grasping force) of the robot hand can be improved because the motor in the robot body has a higher output than the motors generally used in robot hands.

[0015] Even if the robot hand is motorless and cableless, to realize a robot hand that can be used for industrial purposes, it needs a structure that can operate actively without being affected by the surrounding environment. Therefore, we developed a motorless robot hand that opens and closes by rotating the wrist rotation axis of the robot body (the sixth axis in the case of a six-axis robot).

[0016] When driving a robot hand using the motion of the robot body, if the rotation of the wrist is used directly to drive the robot hand, the wrist motion of the body will be impaired. Therefore, this technical problem is solved by using, for example, a load-sensitive motion switching mechanism. A load-sensitive motion switching mechanism is a structure that switches motion depending on the load applied to the output part of the mechanism. Here, we explain a structure that switches between gripping motion and wrist rotation motion using an external load that changes depending on contact with an object as a trigger.

[0017] Fig. 1 is a perspective view of a robot according to the present invention. Fig. 2 is a diagram for explaining the structure of a robot hand according to the present invention. Fig. 3 is a diagram for explaining the operation of a robot hand according to the present invention. In the following, the base side of the wrist rotation part of the robot main body (hereinafter referred to as the main body wrist) is called the fifth link, and the hand tip side is called the sixth link.

[0018] The motorless robot hand shown in Figures 1 and 2 is composed of a fixed unit and a rotating unit. The fixed unit and rotating unit are fixed to the fifth and sixth links, respectively, and the two units are structured to be capable of relative rotation via bearings. The rotating unit includes gears 1 to 4, a gear box that holds them, and fingers.

[0019] The robot is equipped with a preloader. The preloader is attached to the fixed unit and applies a pressing force to the rotating unit from a presser inside the preloader. This pressing force keeps the fixed unit and the rotating unit in a frictionally fixed state to prevent relative rotation.

[0020] When the load on the fingertips is small and the wrist rotates, the torque is transmitted to the opening and closing of the fingers via gears 1 to 4 (see Fig. 3(a)). At this time, gears 1 to 4 can rotate freely and the load on the gear box is small. Therefore, the friction fixing part of the preloader does not slip, and the fingers can open and close in the same way as a conventional parallel gripper.

[0021] On the other hand, when the fingertip comes into contact with the object and the finger movement is stopped, the rotation of gears 1 to 4 also stops. Therefore, the rotational torque of the main wrist is transmitted to the gearbox via the gears (see Figure 3 (b)). The friction torque in the preloader balances the rotational torque applied to the gearbox. If the input torque of the main wrist is increased even after it comes into contact with the object, the friction torque at the friction fixing part also increases, and when it exceeds the friction torque that can be generated (maximum static friction torque), slippage occurs at the friction fixing part. In other words, a relative rotation occurs between the fixed unit and the rotating unit, generating the wrist rotation motion of the robot.

[0022] In this way, by switching the action depending on the load applied to the fingertips, the rotational action at the tip of the robot body can be converted into the action of the robot hand, making it possible to realize grasping action and wrist rotation action even with a motorless and cableless robot hand.

[0023] The specific configuration of the robot according to the embodiment will be described below with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present invention. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components shown in the following embodiment are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiment, components that are not described in an independent claim showing an embodiment according to the present invention will be described as optional components.

[0024] Note that each figure is a schematic diagram and is not necessarily a precise illustration. In addition, in each figure, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified. In addition, each figure shows an X-axis, a Y-axis, and a Z-axis, which represent three mutually orthogonal directions. Each axis does not limit the direction and posture in which the robot is used.

[0025] (Embodiment) The robot according to the embodiment will be described with reference to FIGS.

[0026] Fig. 4 is a cross-sectional view of the robot 100 according to the embodiment. Fig. 5 is a diagram showing a plurality of gears included in the robot hand 10. Fig. 6 is a see-through view of the inside of the fixed part 20 of the robot hand 10. Fig. 7 is a diagram showing a schematic configuration of the robot 100.

[0027] Fig. 4 shows a cross section of the robot 100 taken along line IV-IV in Fig. 1. Fig. 5 shows a perspective view of the robot hand 10 with the fixed part 20 and the housing case 42a removed. In Fig. 6, a part of the fixed part 20 is shown by a two-dot chain line. Note that the arrangement of parts such as gears is different in Figs. 4 to 6 from that in Figs. 2 and 3.

[0028] The robot 100 shown in FIGS. 4 to 7 is composed of a robot body 60 and a robot hand 10 connected to the robot body 60.

[0029] The robot body 60 is, for example, a manipulator such as an articulated robot. The robot body 60 in the embodiment is a six-axis articulated robot, but is not limited thereto. The robot body 60 may be a vertical articulated robot or a horizontal articulated robot, or a two-axis Cartesian robot or a parallel link robot. In this case, the horizontal articulated robot, the two-axis Cartesian robot or the parallel link robot is a robot having a rotation function around an axis perpendicular to the robot hand mounting surface.

[0030] The robot hand 10 is a mechanical device for work that is connected to the tip (movable tip region) of the robot body 60. The robot hand 10 performs various actions and tasks such as gripping, lifting, aligning, and sensing on a workpiece that is to be worked on. The robot hand 10 is also called an end effector.

[0031] 4 and 7, the robot 100 includes a support unit 70, a rotating unit 80, a fixed unit 20, and a motion converter 40. The robot 100 also includes a finger 50 attached to the motion converter 40. The support unit 70 and the rotating unit 80 are provided on the robot body 60, and the fixed unit 20, the motion converter 40, and the finger 50 are provided on the robot hand 10. Each of the components of the robot 100 will be described below.

[0032] 7 is a composite part provided at the tip of the robot body 60. The support part 70 includes a rotation shaft 72 that rotates about a first axis a1, and a base part 71 that rotatably supports the rotation shaft 72.

[0033] The base unit 71 refers to all of the parts located on the outside of the rotating shaft 72. The base unit 71 has a motor unit and a bearing mechanism for rotating the rotating shaft 72, and a housing for fixing the motor unit and the bearing mechanism. The housing includes a frame and a cover. The motor unit may include an encoder, a reducer, and the like in addition to the motor 71a. The support unit 70 uses the motor 71a to generate a first rotational motion R1 that rotates around a first axis a1.

[0034] The rotating shaft 72 is a cylindrical member extending in the axial direction of the first axis a1. A part of the rotating shaft 72 is rotatably supported by the base part 71, and the tip part of the rotating shaft 72 except for a part of the tip part protrudes to the outside of the base part 71.

[0035] The rotating unit 80 is a member that rotates around the first axis a1 in accordance with the first rotational motion R1 generated by the support unit 70. The rotating unit 80 is disk-shaped and attached to the rotating shaft 72 so that the center of rotation of the rotating unit 80 coincides with the first axis a1. The rotating unit 80 is disposed between the base unit 71 of the support unit 70 and the motion conversion unit 40 described later in the axial direction of the first axis a1. The rotating unit 80 is connected to the motion conversion unit 40 and transmits the first rotational motion R1 rotating around the first axis a1 to the motion conversion unit 40. That is, the rotating unit 80 accepts the first rotational motion R1 generated by the support unit 70 and outputs the first rotational motion R1 as it is to the robot hand 10.

[0036] In this way, the robot body 60 is provided with a motor 71a for generating the first rotational motion R1. On the other hand, the robot hand 10 is not provided with a motor for generating the first rotational motion R1. In other words, the robot hand 10 is not provided with a power source for generating power. The robot hand 10 of this embodiment performs various movements and tasks by utilizing the first rotational motion R1 generated by the robot body 60.

[0037] The robot hand 10 shown in FIGS. 4 and 7 includes a fixed part 20, a motion converter 40, and a pair of fingers 50.

[0038] The fixed part 20 has a cylindrical shape extending along the first axis a1. The fixed part 20 has one end 20a and the other end 20b, and the one end 20a is fixed to the base part 71 of the support part 70. Specifically, a clamp part 21 that contacts the support part 70 is provided at the one end 20a of the fixed part 20, and the fixed part 20 is fixed to the support part 70 by tightening the outer circumferential part of the base part 71 using the clamp part 21 (see FIG. 6). Note that the method of fixing the fixed part 20 to the support part 70 is not limited to a clamp, and it may be fixed using a fastening member or the like.

[0039] The fixed part 20 is fixed to the base part 71 of the support part 70 while covering the outer periphery of the rotating part 80 without contacting the rotating part 80. The rotating part 80 and a part of the motion conversion part 40 are disposed in the inner region of the cylindrical fixed part 20. The other end 20b of the fixed part 20 is connected to the motion conversion part 40 via a first bearing 47.

[0040] The motion conversion unit 40 includes a transmission unit 41 , a gear box 42 , a pair of link mechanisms 44 , and a rotation limiting unit 45 .

[0041] The gear box 42 (specifically, the housing case 42a) of the motion converter 40 is connected to the other end 20b of the fixed part 20 via a first bearing 47. In other words, the motion converter 40 is rotatable relative to the fixed part 20.

[0042] Moreover, the transmission unit 41 of the motion conversion unit 40 is connected to the rotation unit 80. That is, the motion conversion unit 40 is capable of rotating together with the rotation unit 80. The motion conversion unit 40 of the present embodiment selectively receives a first rotational motion R1 from the rotation unit 80 and converts the first rotational motion R1 into a translational motion M1, or outputs the first rotational motion R1 without converting the first rotational motion R1 into the translational motion M1.

[0043] The transmission unit 41 is cylindrical and rotatable about a first axis a1. One end of the transmission unit 41 is connected to the rotating unit 80. The other end of the transmission unit 41 is provided with a first gear 41a, which is a bevel gear. The transmission unit 41 transmits a first rotational motion R1 of the rotating unit 80 to the gear box 42 via the first gear 41a.

[0044] The gear box 42 has a pair of second gears 42b, a pair of third gears 42c, and a housing case 42a that houses these gears.

[0045] The housing case 42a is connected to the fixed part 20 via a first bearing 47 and is rotatable relative to the fixed part 20. The housing case 42a is also connected to the transmission part 41 via a second bearing 48. In other words, the transmission part 41 is rotatable relative to the housing case 42a via the second bearing 48. The rotation centers of the first bearing 47 and the second bearing 48 are each located on the first axis a1.

[0046] 5, the pair of second gears 42b and the pair of third gears 42c are rotatable about a second axis a2 perpendicular to the first axis a1. The rotation axis of the pair of second gears 42b is supported by the housing case 42a via a third bearing 49 (see FIG. 4).

[0047] 5, the pair of second gears 42b are bevel gears and mesh with the first gear 41a of the transmission part 41. The pair of second gears 42b receive the first rotational motion R1 of the first gear 41a and rotate in opposite directions about the second axis a2.

[0048] The pair of third gears 42c are spur gears and are provided inside the pair of second gears 42b. One third gear and one second gear are connected by one rotation shaft, and one third gear rotates with the rotation of one second gear. The other third gear and the other second gear are connected by the other rotation shaft, and the other third gear rotates with the rotation of the other second gear.

[0049] The pair of link mechanisms 44 are mechanisms that convert the rotational motion of the pair of third gears 42c into translational motion M1. The link mechanism 44 has an inner link member 44a and an outer link member 44b. A fourth gear 44d, which is a spur gear, is provided at one end of the inner link member 44a. The fourth gear 44d meshes with the third gear 42c. The other end of the inner link member 44a is connected to one of the fingers 50 via a joint (see FIG. 6). One end of the outer link member 44b is connected to the housing case 42a via a joint, and the other end is connected to one of the fingers 50 via another joint.

[0050] The inner link member 44a rotates about the fourth gear 44d as a result of the rotation of the third gear 42c. As the inner link member 44a rotates, the finger 50 performs a translational movement M1 while its position is restricted by the outer link member 44b.

[0051] In this manner, the pair of fingers 50 move in parallel while moving obliquely in a direction approaching or separating from each other as the first gear 41a, the pair of second gears 42b, the pair of third gears 42c, and the pair of fourth gears 44d rotate. The robot hand 10 grips a workpiece when the pair of fingers 50 approach each other, and releases the grip of the workpiece when the fingers move away from each other.

[0052] Furthermore, the motion conversion unit 40 performs the following rotation restriction operation. When the translational motion M1 is not restricted, the motion conversion unit 40 converts the first rotational motion R1 into the translational motion M1, and when the translational motion M1 is restricted, the motion conversion unit 40 does not convert the first rotational motion R1 into the translational motion M1, but performs the first rotational motion R1 itself. To selectively perform such operations, the robot hand 10 is provided with a rotation restriction unit 45.

[0053] 4 is a member that limits the rotation of the gear box 42. The rotation limiting part 45 is attached to the fixed part 20, and limits the rotation of the gear box 42 by pressing a part of the gear box 42. The rotation limiting part 45 is also called a preloader.

[0054] The rotation limiting part 45 has a presser 45a and a fixture 45b. The presser 45a is a component that presses the housing case 42a of the gear box 42 with a predetermined force. The housing case 42a has a flat surface perpendicular to the first axis a1, and the presser 45a presses the flat surface of the housing case 42a. For example, the pressing part of the presser 45a that contacts the housing case 42a is made of a resin material such as rubber or elastomer. The flat surface of the housing case 42a is made of a metal material so as to be less prone to wear. The presser 45a is inserted into the fixture 45b and fixed by a fastening member such as a set screw. The pressing force that presses the housing case 42a is adjusted depending on the position (position along the first axis a1) at which the presser 45a is fixed. The friction force between the rotation limiting portion 45 and the gear box 42, which is generated by pressing the rotation limiting portion 45, becomes a threshold value when the robot hand 10 switches between the translational motion M1 and the first rotational motion R1.

[0055] FIG. 8 is a diagram showing an example of the operation of the robot 100.

[0056] As shown in (a) of FIG. 8, when the finger 50 is not gripping a workpiece, the load applied to the finger 50 is small. In this case, the rotational force by the first rotational motion R1 of the rotating unit 80 and the transmitting unit 41 is transmitted to the finger 50 via the first gear 41a, the second gear 42b, the third gear 42c, the fourth gear 44d, and the link mechanism unit 44, and is converted into a translational motion M1 that closes the finger 50. Note that the transmitting unit 41 and the housing case 42a are connected via the second bearing 48, and the rotation of the housing case 42a is limited by the pressure of the rotation limiting unit 45. Therefore, the housing case 42a of the motion converting unit 40 does not rotate, but the transmitting unit 41 and the like rotate, and as a result, the finger 50 closes.

[0057] As shown in (b) of FIG. 8, when the finger 50 grips a workpiece, the load applied to the finger 50 increases. In this case, the rotational force by the first rotational motion R1 of the rotating unit 80 and the transmitting unit 41 cannot be transmitted to the finger 50 any more, and this rotational force is transmitted to the housing case 42a as a rotational torque for rotating the gear box 42. Specifically, the rotational force of the transmitting unit 41 is transmitted to the housing case 42a via the second gear 42b and the third bearing 49. When this rotational torque exceeds the friction torque generated by the pressing of the rotation limiting unit 45, the entire gear box 42 rotates while slipping against the rotation limiting unit 45. The link mechanism unit 44 also rotates with this rotation, and as a result, the motion conversion unit 40 and the finger 50 rotate.

[0058] The above describes the operation when closing the finger 50, but below describes the operation when opening the finger 50. When opening the finger 50, the rotation direction of the rotating part 80 and the transmission part 41 is opposite to that described above.

[0059] As shown in (a) of FIG. 9, when the fingers 50 are not completely open, the load applied to the fingers 50 is small. In this case, the reverse rotational force by the first rotational motion R1 of the rotating unit 80 and the transmitting unit 41 is transmitted to the fingers 50 via the first gear 41a, the second gear 42b, the third gear 42c, the fourth gear 44d, and the link mechanism unit 44, and is converted into a translational motion M1 that opens the fingers 50. Note that the transmitting unit 41 and the housing case 42a are connected via the second bearing 48, and the housing case 42a is restricted from reverse rotation by the pressure of the rotation restricting unit 45. Therefore, the housing case 42a of the motion converting unit 40 does not rotate, and the transmitting unit 41 rotates in the reverse direction, resulting in the fingers 50 opening.

[0060] As shown in FIG. 9B, when the finger 50 is fully opened and reaches the stroke end, the load applied to the finger 50 becomes large. In this case, the reverse rotation force caused by the first rotation operation R1 of the rotating unit 80 and the transmitting unit 41 cannot be transmitted to the finger 50 any more, and this reverse rotation force is transmitted to the housing case 42a as a rotation torque for rotating the gear box 42 in the reverse direction. Specifically, the rotation force of the transmitting unit 41 is transmitted to the housing case 42a via the second gear 42b and the third bearing 49. When this rotation torque exceeds the friction torque generated by the pressing of the rotation limiting unit 45, the entire gear box 42 rotates in the reverse direction while slipping against the rotation limiting unit 45. The link mechanism unit 44 also rotates in response to this reverse rotation, and as a result, the motion conversion unit 40 and the finger 50 rotate in the reverse direction.

[0061] In this way, according to the robot 100 of this embodiment, the rotational movement at the tip of the robot body 60 can be converted into the movement of the robot hand 10 in accordance with the load applied to the finger 50.

[0062] (First Modification of the Embodiment) A first modified example of the embodiment will be described below. In the first modified example, an example in which the robot 100 performs a lifting action using the hook 55 instead of a gripping action using the fingers 50 will be described.

[0063] FIG. 10 is a diagram illustrating a robot 100 according to a first modification of the embodiment.

[0064] The robot 100 of the first modification is also composed of a robot body 60 and a robot hand 10. The support unit 70 and the rotating unit 80 are provided in the robot body 60, and the fixed unit 20 and the motion conversion unit 40 are provided in the robot hand 10. The robot body 60 is provided with a motor 71a for generating a first rotational motion R1, but the robot hand 10 is not provided with a motor for generating the first rotational motion R1. The robot hand 10 of the first modification performs a lifting motion (or pick-up motion) using the first rotational motion R1 generated by the robot body 60.

[0065] The robot hand 10 includes a link mechanism (not shown) and a hook 55 that are different from those in the above embodiment. This link mechanism is configured to convert, for example, the rotational movement of the fourth gear 44d into the axial movement of the first axis a1. The hook 55 moves along the axial direction of the first axis a1 by the movement converted by the link mechanism.

[0066] The motion conversion unit 40 of the first modification converts the first rotational motion R1 output from the rotation unit 80 into a translational motion M2 different from the translational motion M1. The robot 100 of the first modification can also convert the rotational motion at the tip of the robot body 60 into the motion of the robot hand 10.

[0067] (Modification 2 of the embodiment) A second modification of the embodiment will be described below. In the second modification, an example will be described in which the robot 100 does not perform a gripping action with the fingers 50, but performs an action to change the orientation of the inspection device 56 such as a camera and a sensor.

[0068] FIG. 11 is a diagram illustrating a robot 100 according to a second modification of the embodiment.

[0069] The robot 100 of the second modification is also composed of a robot body 60 and a robot hand 10. The support unit 70 and the rotating unit 80 are provided in the robot body 60, and the fixed unit 20 and the motion conversion unit 40 are provided in the robot hand 10. The robot body 60 is provided with a motor 71a for generating a first rotational motion R1, but the robot hand 10 is not provided with a motor for generating the first rotational motion R1. The robot hand 10 of the second modification changes the orientation of the inspection device 56 by utilizing the first rotational motion R1 generated by the robot body 60.

[0070] The robot hand 10 includes a link mechanism (not shown) and an inspection device 56 that are different from those in the above embodiment. This link mechanism is configured to convert, for example, the motion of the fourth gear 44d in the rotational direction into another rotational motion R2 that rotates around an axis different from the first axis a1. The inspection device 56 rotates around the other axis by the motion converted by the link mechanism.

[0071] The motion conversion unit 40 of the second modification converts the first rotation motion R1 output from the rotation unit 80 into another rotation motion R2 different from the first rotation motion R1. The robot 100 of the first modification can also convert the rotation motion at the tip of the robot body 60 into the motion of the robot hand 10.

[0072] In this manner, in each of the robots 100 according to the embodiment, the first modification, and the second modification, the motion converter 40 receives the first rotation motion R1 via the rotation unit 80, (1) transforming a first rotational motion R1 into a translational motion M1; and (2) The first rotational motion R1 is converted into another rotational motion R2 that rotates around an axis different from the first axis a1.

[0073] (Third Modification of the Embodiment) A third modification of the embodiment will be described below. In the third modification, an example will be described in which the robot 100 switches between the first rotational motion R1 and the translational motion M1 using a switch.

[0074] FIG. 12 is a diagram illustrating a robot 100 according to a third modification of the embodiment.

[0075] The robot 100 of the third modification is also composed of a robot body 60 and a robot hand 10. The support unit 70 and the rotating unit 80 are provided on the robot body 60, and the fixed unit 20, the motion conversion unit 40, and the fingers 50 are provided on the robot hand 10.

[0076] The robot 100 of the third modification includes a switch 61 for switching between a plurality of operations. The switch 61 may be provided outside the robot body 60, or may be provided in a control device or an operating device of the robot 100.

[0077] The switch 61 switches the operation of the rotation limiting unit 45 of the motion conversion unit 40. For example, the indenter 45a of the rotation limiting unit 45 is configured to be reciprocatable by an electromagnet and a spring. The robot 100 presses the indenter 45a against the gear box 42 by turning on the switch 61, and releases the pressure of the indenter 45a against the gear box 42 by turning off the switch 61. This makes it possible to use the switch 61 to switch between the first rotational motion R1 and the translational motion M1.

[0078] The robot 100 of the third modification can convert the rotational movement of the tip of the robot body 60 into the movement of the robot hand 10 by switching the switch 61 .

[0079] (summary) The robot according to this embodiment will be exemplified below.

[0080] The robot 100 of Example 1 includes a support unit 70 that generates a first rotational motion R1 that rotates around a first axis a1, a rotating unit 80 that rotates around the first axis a1 in association with the first rotational motion R1, a fixed unit 20 fixed to the support unit 70, and a motion conversion unit 40 that is connected to each of the rotating unit 80 and the fixed unit 20. The motion conversion unit 40 receives the first rotational motion R1 via the rotating unit 80, and performs at least one of the following conversions: (1) converting the first rotational motion R1 into a translational motion M1; and (2) converting the first rotational motion R1 into another rotational motion R2 that rotates around an axis different from the first axis a1.

[0081] In this way, the motion conversion unit 40 (1) converts the first rotational motion R1 into a translational motion M1 and / or (2) converts the first rotational motion R1 into another rotational motion R2, thereby making it possible to convert, for example, a rotational motion at the tip of the robot body 60 into a motion of the robot hand 10. This makes it possible to reduce the number of motors provided in the entire robot 100.

[0082] The robot 100 of Example 2 is the robot described in Example 1, and the motion conversion unit 40 may selectively convert the first rotational motion R1 into a translational motion M1, or output the first rotational motion R1 without converting the first rotational motion R1 into the translational motion M1.

[0083] According to this, the rotational motion at the tip of the robot body 60 can be selectively converted into the motion of the robot hand 10. This makes it possible to selectively execute the translational motion M1 and the first rotational motion R1.

[0084] The robot 100 of Example 3 is the robot described in Example 2, and when the movement of the translational movement M1 is restricted, the motion conversion unit 40 may not convert the first rotational movement R1 into the translational movement M1, but may perform the first rotational movement R1 itself.

[0085] According to this, depending on whether the translational motion M1 is restricted or not, the rotational motion at the tip of the robot body 60 can be converted into the motion of the robot hand 10. As an example, depending on whether the robot 100 has grasped a workpiece using the fingers 50 or not, the rotational motion at the tip of the robot body 60 can be converted into the motion of the robot hand 10.

[0086] The robot 100 of Example 4 is the robot described in Example 2 or 3, and may further include a switch 61 for switching between the motion conversion unit 40 converting the first rotational motion R1 into a translational motion M1 and the motion conversion unit 40 performing the first rotational motion R1.

[0087] This allows the translational motion M1 and the first rotational motion R1 of the robot 100 to be switched in accordance with the usage situation of the robot 100.

[0088] A robot 100 of Example 5 is the robot according to any one of Examples 1 to 4, and includes a robot body 60 and a robot hand 10 connected to the robot body 60. A support unit 70 and a rotation unit 80 are provided in the robot body 60. A fixing unit 20 and a motion conversion unit 40 are provided in the robot hand 10. The robot hand 10 may not be provided with a motor for generating the first rotational motion R1, and the support unit 70 may be provided with a motor for generating the first rotational motion R1.

[0089] With this, even if the robot hand 10 does not have a motor, the rotational motion at the tip of the robot body 60 can be converted into the motion of the robot hand 10.

[0090] A robot 100 of Example 6 is the robot according to any one of Examples 1 to 5, in which the support unit 70 has a rotating shaft 72 that rotates about a first axis a1, and a base unit 71 that rotatably supports the rotating shaft 72. The rotating unit 80 is disposed between the base unit 71 and the motion converter 40 in the axial direction of the first axis a1, and is connected to the rotating shaft 72 that extends in the axial direction of the first axis a1. The fixed unit 20 may be fixed to the base unit 71, covering the outer periphery of the rotating unit 80 without coming into contact with the rotating unit 80.

[0091] According to this, the robot hand 10 can be fixed to the robot body 60 using the fixing part 20. This allows the robot hand 10 to be connected to the robot body 60, and allows the rotational motion of the tip of the robot body 60 to be converted into the motion of the robot hand 10.

[0092] The robot 100 of Example 7 is the robot according to any one of Examples 1 to 6, and the fixing part 20 may have a clamp part 21 that contacts the support part 70 and be fixed to the support part 70 by using the clamp part 21.

[0093] According to this, the robot hand 10 can be reliably fixed to the support part 70 using the clamp part 21. This allows the robot hand 10 to be connected to the robot body 60, and allows the rotational movement of the tip part of the robot body 60 to be converted into the movement of the robot hand 10.

[0094] The robot 100 of Example 8 is the robot according to any one of Examples 2 to 4, in which the fixed part 20 is cylindrical, one end 20a is fixed to the support part 70, and the other end 20b is connected to the motion conversion part 40 via a bearing 47. At least a part of the motion conversion part 40 may be rotatable with respect to the fixed part 20 via the bearing 47.

[0095] According to this, the motion conversion unit 40 can be rotatably connected to the fixed unit 20 and the support unit 70. This makes it possible to output the rotational motion at the tip of the robot body 60 as it is without being converted by the motion conversion unit 40.

[0096] A robot 100 of Example 9 is the robot described in Example 8, and the motion conversion unit 40 has a transmission unit 41 connected to the rotation unit 80 and transmitting a first rotational motion R1, a gear box 42 connected to the transmission unit 41 and rotatable in accordance with the first rotational motion R1, and a rotation limiting unit 45 that limits the rotation of the gear box 42. The rotation limiting unit 45 may be attached to the fixed unit 20 and limit the rotation of the gear box 42 by pressing the gear box 42.

[0097] In this way, it is possible to selectively execute the first rotational motion R1 and the translational motion M1 by limiting the rotation of the gear box 42 using the rotation limiting unit 45. This allows the rotational motion at the tip of the robot body 60 to be switched using the rotation limiting unit 45.

[0098] (Other embodiments) Although the embodiment (including the various modifications) has been described above, the present invention is not limited to the above embodiment.

[0099] The present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present invention. [Industrial Applicability]

[0100] The present invention can be widely used as a robot equipped with a motorless robot hand. [Explanation of symbols]

[0101] 10 Robot Hand 20 Fixed part 20a one end 20b Other end 21 Clamp section 40 Motion converter 41 Transmission section 41a 1st gear 42 Gearbox 42a Storage case 42b 2nd Gear 42c 3rd gear 44 Link mechanism 44a Inner link member 44b Outer link member 44d 4th gear 45 Rotation limiter 45a indenter 45b Fixture 47, 48, 49 Bearings 50 Finger 55 Hook 56 Inspection Equipment 60 Robot body 61 Switch 70 Support part 71 Base 71a Motor 72 Rotational Axis 80 Rotating section 100 Robots a1 First axis a2 2nd axis M1, M2 translational movement R1 First rotation R2 Other rotational movements

Claims

1. A support that generates a first rotational motion about a first axis; a rotating portion that rotates about the first axis in association with the first rotational motion; A fixing portion fixed to the support portion; a motion conversion unit connected to each of the rotating unit and the fixed unit; Equipped with the motion conversion unit receives the first rotation motion via the rotation unit; (1) converting the first rotational motion into a translational motion; and (2) Converting the first rotational motion into another rotational motion rotating around an axis different from the first axis. Perform at least one of the following conversions: robot.

2. The motion conversion unit selectively converts the first rotational motion into a translational motion, and outputs the first rotational motion without converting the first rotational motion into the translational motion. The robot according to claim 1.

3. The motion conversion unit does not convert the first rotational motion into the translational motion when the translational motion is restricted, and performs the first rotational motion itself. The robot according to claim 2.

4. The motion converter further includes a switch for switching between converting the first rotational motion into a translational motion and the motion converter performing the first rotational motion. The robot according to claim 2.

5. The robot includes a robot body and a robot hand connected to the robot body, the support unit and the rotating unit are provided on the robot body, The fixing unit and the motion conversion unit are provided on the robot hand, The robot hand is not provided with a motor for generating the first rotational motion, The support is provided with a motor for generating the first rotational movement. The robot according to any one of claims 1 to 4.

6. The support portion has a rotation shaft that rotates around the first axis and a base portion that rotatably supports the rotation shaft, The rotating portion is disposed between the base portion and the motion converter portion in the axial direction of the first shaft, and is connected to the rotating shaft extending in the axial direction of the first shaft, The fixed portion covers the outer periphery of the rotating portion without contacting the rotating portion and is fixed to the base portion. The robot according to any one of claims 1 to 4.

7. The fixing portion has a clamp portion that contacts the support portion, and is fixed to the support portion by using the clamp portion. The robot according to any one of claims 1 to 4.

8. The fixed portion is cylindrical, has one end fixed to the support portion, and has the other end connected to the motion conversion portion via a bearing, At least a portion of the motion conversion portion is rotatable relative to the fixed portion via the bearing. The robot according to any one of claims 2 to 4.

9. the motion conversion unit includes a transmission unit connected to the rotation unit and configured to transmit the first rotational motion, a gear box connected to the transmission unit and rotatable in association with the first rotational motion, and a rotation limiting unit configured to limit rotation of the gear box, The rotation limiting portion is attached to the fixed portion and presses the gear box to limit the rotation of the gear box. The robot according to claim 8.

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