Articulated robot and mobile robot

Abstract

To provide an articulated robot which is configured so that, on the premise that a pivot shaft is provided at a base part, a joint serving as a substantial starting point of operation can be arranged on the distal end side of the second link being a variable position away from the base part in the direction of the pivot shaft; and object manipulation using a starting point can be performed with a structure having joints as few as possible.SOLUTION: An articulated robot according to the present invention comprises: a joint serving as a substantial starting point of operation on a distal end side of a second link that is a variable position away from a base part; and a hand connected via a third link to a third link adjustment portion including a joint on the distal end side of the second link. The third link adjustment portion comprises at least two joints connected in series, of which directions of rotation axes are orthogonal to each other, and can orient the length direction of the third link in an arbitrary direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to articulated robots and mobile robots. [Background technology]

[0002] Patent Document 1 describes a six-axis articulated robot. Specifically, the robot includes a rotating body rotatably supported on a base, a first arm rotatably supported on the rotating body, and a second arm rotatably supported on the first arm. The robot further includes a three-axis wrist unit at the tip of the second arm, and a hand, which is a tool for performing operations such as gripping a workpiece, is attached to the tip of the wrist unit. The wrist unit can be positioned at any three-dimensional position within the operating range by combining the movements of the rotating body relative to the base, the first arm relative to the rotating body, and the second arm relative to the first arm, and the posture of the hand can be moved arbitrarily by operating the three-axis wrist unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-181485 A Summary of the Invention [Problem to be solved by the invention]

[0004] One application of the articulated robot is to operate an object at a certain height above the floor, with the base of the arm at a low position such as on a low cart. The first example of such an operation is to grasp an object placed on a desk and change the position or posture of the object, and the second example is to grasp an object placed at the back of a multi-tiered shelf and pull it out without the object or the arm touching the shelves above or below it or other objects placed next to it on the shelf. In the first example, the position of the joint that is the effective starting point of the operation (the joint equivalent to the shoulder in the human body) must be secured at a position higher than the desk surface, and the part of the hand side of the joint must be able to move freely, which is necessary for the operation of the object. In the second example, the position of the joint that is the effective starting point of the operation must be secured at the height of the shelf on which the object is placed, and the part of the arm close to the hand must be kept in a horizontal posture while moving the joint that is the effective starting point of the operation in a horizontal direction (the direction of pulling out the object). Object manipulation as typified by the first and second examples is called starting point-based object manipulation.

[0005] In the six-axis articulated robot described in Patent Document 1, the joint that can freely adjust the three-dimensional position is the joint at the tip of the second arm, and since the tip of the second arm is only equipped with a three-axis wrist unit, it is not possible to manipulate an object starting from the joint at the tip of the second arm. On the other hand, if the number of joints in the articulated robot is increased sufficiently, operations such as those in the first and second examples become possible, but providing more joints than necessary is disadvantageous in terms of increased costs, weight, and power consumption.

[0006] The present disclosure aims to provide a multi-joint robot capable of object manipulation using a starting point, with a structure that has as few joints as possible, and that allows a joint that is the effective starting point of the operation to be arranged at a variable position away from the base in the direction of the turning axis, on the premise that the base is provided with a turning axis. [Means for solving the problem]

[0007] One aspect of the present disclosure is a multi-joint robot comprising: a first joint connected to a base and having a first rotation axis in a specific direction relative to the base; a second joint connected to the first joint without any other joint therebetween and having a second rotation axis in a direction perpendicular to the first rotation axis; a first link connected at one end to the second joint and having a length in a direction perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link connected at one end to the third joint and having a length in a direction perpendicular to the third rotation axis; a third link adjuster provided at the other end of the second link; a third link connected at one end to the third link; and an end effector connected to the third link adjuster via the third link, wherein the third link adjuster has at least two joints connected in series and whose rotation axes are perpendicular to each other, and the length direction of the third link can be directed in any direction.

[0008] Another aspect of the present disclosure is a mobile robot comprising: a first joint connected to a base and having a first rotation axis in a specific direction relative to the base; a second joint connected to the first joint without any other joint and having a second rotation axis in a direction perpendicular to the first rotation axis; a first link connected at one end to the second joint and having a length in a direction perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link connected at one end to the third joint and having a length in a direction perpendicular to the third rotation axis; a third link adjuster provided at the other end of the second link; a third link having one end connected to the third link adjuster; and an end effector connected to the third link adjuster via the third link, the third link adjuster having at least two joints connected in series and having rotation axes perpendicular to each other, the third link adjuster being capable of directing the length direction of the third link in any direction; and a movement mechanism that moves the multi-joint robot. Effect of the Invention

[0009] According to the present disclosure, assuming that the base is equipped with a pivot axis, it is possible to position a joint that serves as the actual starting point of operation at the tip side of the second link, which is a variable position away from the base in the direction of the pivot axis, and it is possible to perform starting point-based object manipulation with a structure that keeps the total number of joints as small as possible. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing an articulated robot according to a first embodiment. [Figure 2A] FIG. 2A is an explanatory diagram showing the operation of a joint of the articulated robot according to the first embodiment. [Figure 2B] FIG. 2B is an explanatory diagram showing the operation of the joints of the articulated robot according to the first embodiment. [Figure 2C] FIG. 2C is an explanatory diagram showing the operation of the joints of the articulated robot according to the first embodiment. [Diagram 3] FIG. 3 is a schematic side view showing the articulated robot of the first embodiment. [Figure 4] FIG. 4 is a schematic plan view showing the articulated robot of the first embodiment. [Diagram 5] FIG. 5 is a schematic side view showing the operation of the articulated robot of the first embodiment. [Figure 6] FIG. 6 is a schematic side view showing the operation of the articulated robot of the first embodiment. [Figure 7] FIG. 7 is a schematic side view showing the operation of the articulated robot of the first embodiment. [Figure 8] FIG. 8 is a schematic plan view showing the operation of the articulated robot of the first embodiment. [Figure 9A] FIG. 9A is an explanatory diagram showing an example of a combination of links of the articulated robot according to the first embodiment. [Figure 9B] FIG. 9B is an explanatory diagram showing an example of a combination of links of the articulated robot according to the first embodiment. [Figure 10] FIG. 10 is an explanatory diagram showing an example of a combination of joints of the articulated robot according to the first embodiment. [Figure 11] FIG. 11 is a schematic side view showing an articulated robot as a specific example of the first modified example. [Figure 12A] FIG. 12A is an explanatory diagram showing an example of a combination of joints of a multi-joint robot as a specific example of the first modified example. [Figure 12B] FIG. 12B is an explanatory diagram showing an example of a combination of joints of a multi-joint robot as a specific example of the first modified example. [Figure 12C] FIG. 12C is an explanatory diagram showing an example of a combination of joints of a multi-joint robot as a specific example of the first modified example. [Figure 12D] FIG. 12D is an explanatory diagram showing an example of a combination of joints of a multi-joint robot as a specific example of the first modified example. [Figure 12E] FIG. 12E is an explanatory diagram showing an example of a combination of joints of a multi-joint robot as a specific example of the first modified example. [Figure 13] FIG. 13 is a schematic side view showing an articulated robot as a specific example of the second modified example. [Figure 14] FIG. 14 is a schematic side view showing the operation of the articulated robot of the second modified example. [Figure 15] FIG. 15 is a schematic side view showing the operation of the articulated robot of the second modified example. [Figure 16] FIG. 16 is a schematic side view showing the operation of the articulated robot of the second modified example. [Figure 17] FIG. 17 is a schematic side view showing the operation of the articulated robot of the second modified example. [Figure 18A] FIG. 18A is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a second modified example. [Figure 18B] FIG. 18B is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a second modified example. [Figure 19] FIG. 19 is a schematic side view showing the operation of the articulated robot of the second modified example. [Figure 20] FIG. 20 is a schematic plan view showing the operation of the articulated robot of the second modified example. [Figure 21] FIG. 21 is a schematic plan view showing the operation of the articulated robot of the second modified example. [Figure 22] FIG. 22 is a schematic side view showing an example of a combination of joints in a multi-joint robot according to a third modified example. [Figure 23] FIG. 23 is a schematic side view showing the operation of the articulated robot of the third modified example. [Figure 24] FIG. 24 is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a third modified example. [Diagram 25] FIG. 25 is a schematic side view showing the joints of the articulated robot of the first embodiment. [Figure 26] FIG. 26 is a schematic side view showing the operation of the joints of the articulated robot of the first embodiment. [Figure 27] FIG. 27 is a schematic side view showing the operation of the articulated robot of the first embodiment. [Figure 28A] FIG. 28A is an explanatory diagram showing an example of a combination of joints of the articulated robot according to the first embodiment. [Figure 28B] FIG. 28B is an explanatory diagram showing an example of a combination of joints of the articulated robot according to the first embodiment. [Figure 29] FIG. 29 is a schematic side view showing the articulated robot of the first embodiment. [Diagram 30] FIG. 30 is a schematic side view showing an articulated robot according to a fourth modified example. [Diagram 31] FIG. 31 is a schematic side view showing an articulated robot according to a fifth modified example. [Diagram 32] FIG. 32 is a schematic side view showing an articulated robot according to a sixth modified example. [Diagram 33] FIG. 33 is a schematic side view showing the mobile robot of the first embodiment. [Diagram 34] FIG. 34 is a schematic side view showing the mobile robot of the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or substantially equivalent elements, members, and parts are given the same reference numerals. In addition, the dimensions and ratios of the drawings are exaggerated for the convenience of explanation and may differ from the actual ratios.

[0012] As shown in FIG. 1, an articulated robot 20 according to the first embodiment is, as an example, a robot having eight degrees of freedom.

[0013] The articulated robot 20 has a base 22. In the example shown in Fig. 1, the base 22 is a rectangular parallelepiped. In the following, an X-axis, a Y-axis, and a Z-axis are set as a coordinate system of the base 22. The X-axis direction is the front-rear direction of the base 22, the Y-axis is the left-right direction of the base 22, and the Z-axis is the height direction of the base 22. This left-right direction is also the width direction of the base 22.

[0014] The base 22 is provided with a movement mechanism 24. The mobile robot 26 includes the articulated robot 20 and the movement mechanism 24.

[0015] The moving mechanism 24 has two drive wheels 24A and two driven wheels 24B. The two drive wheels 24A are provided on the base 22 spaced apart in the left-right direction, and the two driven wheels 24B are also provided on the base 22 spaced apart in the left-right direction. The drive wheels 24A and driven wheels 24B support the mobile robot 26.

[0016] The driving wheels 24A are rotationally driven by a driving source (not shown). For example, the two driving wheels 24A can be rotated at a constant number of revolutions to cause the base 22 to move linearly. Furthermore, the base 22 can be rotated by making the rotation speeds of the two driving wheels 24A different between the left and right (differential rotation). In contrast, the driven wheels 24B can rotate freely. Furthermore, the rotation axis of the driven wheels 24B can freely change direction within a horizontal plane. In other words, the driven wheels 24B are swivel casters (swivel casters).

[0017] The articulated robot 20 includes a first joint 31, a second joint 32, a third joint 33, a fourth joint 34, a fifth joint 35, a sixth joint 36, a seventh joint 37, and an eighth joint 38. Furthermore, the articulated robot 20 includes a first link 41, a second link 42, a third link 43, a fourth link 44, and an end effector 50.

[0018] The end effector 50 may be a hand or a suction pad, and will be referred to as a hand 50 hereinafter in this disclosure.

[0019] The first joint 31 has a first rotation axis J1 in a specific direction relative to the base 22. In this embodiment, the specific direction is a normal direction to the upper surface 22A of the base 22. In the illustrated example, the upper surface 22A of the base 22 is parallel to the floor surface LF. Therefore, the normal direction to the upper surface 22A of the base 22 is also the normal direction to the floor surface LF. When the floor surface LF is horizontal, the direction of the first rotation axis J1 is the vertical direction.

[0020] The second joint 32 is connected to the first joint 31 without any other joint therebetween. The second joint 32 has a second rotation axis J2 that is perpendicular to the first rotation axis J1.

[0021] One end 41A of the first link 41 is connected to the second joint 32. The first link 41 has a length from the one end 41A in a direction perpendicular to the second rotation axis J2.

[0022] The third joint 33 is provided at the other end 41B of the first link 41. The third joint 33 has a third rotation axis J3 that is parallel to the second rotation axis J2.

[0023] One end 42A of the second link 42 is connected to the third joint 33. The second link 42 has a length from the one end 42A in a direction perpendicular to the third rotation axis J3.

[0024] The fourth joint 34 is connected to the other end 42B of the second link 42. The fourth joint 34 has a fourth rotation axis J4 that is parallel to the third rotation axis J3.

[0025] The fifth joint 35 is connected to the fourth joint 34. The fifth joint 35 has a fifth rotation axis J5 that is perpendicular to the fourth rotation axis J4.

[0026] In the technology of the present disclosure, "orthogonal" includes a case where one or both of the target axes intersect at a right angle when extended, as well as a case where the target axes intersect at a right angle when viewed from a specific direction, such as when the target axes are in a twisted position. The same applies to "perpendicular" in the technology of the present disclosure.

[0027] One end 44A of the fourth link 44 is connected to the fifth joint 35. The fourth link 44 has a length from the one end 44A in a direction parallel to the fifth rotation axis J5.

[0028] The sixth joint 36 is provided at the other end 44B of the fourth link 44. The sixth joint 36 has a sixth rotation axis J6 that is perpendicular to the longitudinal direction of the fourth link. The fourth rotation axis J4 and the sixth rotation axis J6 are spaced apart from each other in the direction of the fifth rotation axis J5. In other words, the fourth rotation axis J4 and the sixth rotation axis J6 are spaced apart from each other in the direction of the fifth rotation axis J5 by a predetermined distance L1.

[0029] The seventh joint 37 and the eighth joint 38 are provided between the third link 43 and the hand 50. The joint closer to the third link 43 is the seventh joint 37, and the joint closer to the hand 50 is the eighth joint 38.

[0030] The seventh rotation axis J7 of the seventh joint 37 and the eighth rotation axis J8 of the eighth joint 38 are perpendicular to each other. In the illustrated example, the seventh rotation axis J7 is parallel to the sixth rotation axis J6.

[0031] The hand 50 is connected to the eighth joint 38. The third link 43 is a link located close to the hand 50. One end 43A of the third link 43 is connected to the sixth joint 36, and the other end 43B of the third link 43 is connected to the seventh joint 37. It can be said that the hand 50 is connected to the third link 43 via the seventh joint 37 and the eighth joint 38.

[0032] 3, the third link adjustment part 46 is a part including the fourth joint 34, the fifth joint 35, the fourth link 44, and the sixth joint 36. The fourth joint 34 is one end of the third link adjustment part 46, and the sixth joint 36 is the other end of the third link adjustment part 46.

[0033] The hand 50 is an element that performs a predetermined operation or processing on the target object TT (see FIGS. 14 and 15). The specific structure of the hand 50 is not limited as long as the hand 50 is capable of performing such a predetermined operation or processing on the target object TT. For example, the hand 50 is configured to be capable of grasping the target object TT.

[0034] Each of the above-mentioned joints is driven by a drive source (not shown) to rotate about its own rotation axis. Similarly, the hand 50 is also driven by a drive source (not shown) to perform a predetermined operation or processing on the target object TT.

[0035] Hereinafter, the "longitudinal angle" of the third link 43 is defined as the angle with respect to the axial direction of the first rotation shaft J1. In the example of Fig. 1, the direction of the first rotation shaft J1 is the vertical direction. In this case, if the "longitudinal angle" is 90 degrees, the position of the third link 43 is horizontal.

[0036] In the following, the "reference plane" is defined as a plane that passes through the first rotation axis J1 and is perpendicular to the second rotation axis J2 (having the second rotation axis J2 as a normal line). The up and down directions of the articulated robot 20 are defined as follows. Upward: A direction away from the base in the axial direction of the first rotation shaft J1 Downward: 180 degrees opposite to upward Furthermore, as shown in FIG. 4, in a state in which the orientation of the third link 43 is parallel to the "reference plane", the forward direction, rearward direction, and left and right directions of the articulated robot 20 are defined as follows. Forward direction: a direction from the first rotation axis J1 toward the position of the hand 50 Backward: The opposite direction to forward. Left-right direction: forward direction and direction that forms 90 degrees with the first rotation axis J1 direction With the fifth rotation axis J5 parallel to the front-rear direction of the base 22, the front, rear, and left-right directions of the articulated robot 20 coincide with the front, rear, and left-right directions of the base 22.

[0037] The articulated robot 20 includes an imaging device 60 (see FIG. 29). The imaging device 60 is provided in the vicinity of the fourth joint .

[0038] Here, the “vicinity” of the fourth joint 34 as the position for installing the imaging device 60 is defined as a position closer to the fourth joint 34 than the fifth joint 35 on the hand 50 side of the fourth joint 34, and a position closer to the fourth joint 34 than the third joint 33 on the base 22 side of the fourth joint 34.

[0039] In the articulated robot 20 of the first embodiment, the imaging device 60 is fixed to a fixed base 62 extending upward from the second link 42. The fixed base 62 is an example of a support member that supports the imaging device 60.

[0040] The imaging device 60 may be a camera that captures still images, or may be a camera that captures moving images.

[0041] Next, the movement and action of the articulated robot 20 (mobile robot 26) of this embodiment will be described. In the drawings explaining the movement of the articulated robot 20 (mobile robot 26), symbols shown in Fig. 2A to Fig. 2C are used. In each of the examples shown in Fig. 2A to Fig. 2C, a joint 30 and a link 40 are illustrated as representative of various joints and links. Each symbol indicates that the link 40 rotates in the direction of arrow R1 around the joint 30.

[0042] In Fig. 3 and Fig. 4, the articulated robot 20 is represented using the figures of the joints and the figures of the links shown in Fig. 2A to Fig. 2C. In Fig. 3 and Fig. 4, the connection order of each joint and each link, the direction of the rotation axis of each joint, and the direction of each link are correctly represented. On the other hand, the three-dimensional position of each joint and each link is not necessarily correctly represented. For example, referring to Fig. 1, it can be seen that the first joint 31 and the second joint 32 are separated from each other in the Y direction, but in Fig. 4, the first joint 31 and the second joint 32 are represented as if they are not separated from each other in the Y direction. In addition, the three-dimensional positional relationship between the fourth joint 34 and the fifth joint 35 in Fig. 3 may be such that the fifth joint 35 is in the X direction, the Y direction, or the Z direction with respect to the fourth joint 34. Regardless of the positional relationship, the direction of the rotation axis J5 of the fifth joint 35 rotates in the XZ plane in accordance with the rotation of the fourth joint 34.

[0043] In addition, in the drawings explaining the operation of the articulated robot 20 (mobile robot 26), joints that are not used in the explanation may be omitted. For example, in Fig. 5, the seventh joint 37 and the eighth joint 38 are omitted.

[0044] As shown in FIG. 5, the articulated robot 20 of this embodiment is equipped with a first joint 31 connected to the base 22 and having a first rotation axis J1 in a specific direction relative to the base 22, a second joint 32 connected to the first joint 31 without any other joint therebetween and having a second rotation axis J2 in a direction perpendicular to the first rotation axis J1, a first link 31 having one end 31A connected to the second joint 32 and having a length in a direction perpendicular to the second rotation axis J2, a third joint 33 provided at the other end 31B of the first link 31 and having a third rotation axis J3 parallel to the second rotation axis J2, a second link 42 having one end 42A connected to the third joint 33 and having a length in a direction perpendicular to the third rotation axis J3, and a third link adjustment unit 46 provided at the other end 42B of the second link 42. Here, the third link adjustment unit 46 includes a fourth joint 34 having a fourth rotation axis J4 perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 provided between the fourth joint 34 and the third link 43 and having a fifth rotation axis J5 perpendicular to the fourth rotation axis J4, and a sixth joint 36 provided between the fifth joint 35 and the third link 43 and having a sixth rotation axis J6 perpendicular to the fifth rotation axis J5, the fourth rotation axis J4 and the sixth rotation axis J6 being spaced apart in a direction parallel to the fifth rotation axis J5. Furthermore, the length direction of the third link 43 is perpendicular to the sixth rotation axis J6.

[0045] According to the structure of the articulated robot 20 of this embodiment, the position of the fourth joint 34 can be freely moved in three-dimensional space by rotating the first joint 31, the second joint 32, and the third joint 33. Moreover, by rotating only the fourth joint 34, the fifth joint 35, and the sixth joint 36 without rotating the first joint 31, the second joint 32, and the third joint 33, the position of the hand 50 can be freely moved in three-dimensional space while keeping the position of the fourth joint 34 fixed.

[0046] 6 to 8 show, as an example, a situation in which a work platform 122 is located in front of the articulated robot 20, and an obstacle ST is located behind the first link 41 and the second link .

[0047] In this situation, the articulated robot 20 has the fourth joint 34 located higher than the surface of the worktable 122, and can move freely to manipulate an object at the portion closer to the hand 50 than the fourth joint 34. This corresponds to a first example of object manipulation using a starting point.

[0048] Furthermore, in this situation, when the articulated robot 20 operates an object with the hand 50, the postures of the first link 41 and the second link 42 do not change, and therefore the third joint 33, the first link 41 or the second link 42 do not come into contact with the obstacle ST.

[0049] 5, the fourth link 44 is provided between the fifth joint 35 and the sixth joint 36, but this is not limited thereto. As another example, as shown in Fig. 9A, a fifth link 45 may be provided between the fourth joint 34 and the fifth joint 35, or as shown in Fig. 9B, only the fifth link 45 may be provided between the fourth joint 34 and the fifth joint 35. In the examples of Figs. 9A and 9B as well, the fourth rotation axis J4 and the sixth rotation axis J6 are spaced apart in a direction parallel to the fifth rotation axis J5.

[0050] The direction of the fourth joint 34 is not limited to the direction shown in Fig. 5, and may be, for example, the direction shown in Fig. 10. The direction of the fourth rotation axis J4 in Fig. 10 is perpendicular to the length direction of the second link 42 and perpendicular to the second rotation axis J2 and the third rotation axis J3. Considering the cases of Fig. 5 and Fig. 10, the direction of the fourth rotation axis J4 may be perpendicular to the length direction of the second link 42 and parallel to or perpendicular to the second rotation axis J2 and the third rotation axis J3.

[0051] As a first modification, the third link adjustment unit 46 may include a fourth joint 34 having a fourth rotation axis J4 perpendicular to the length direction of the second link 42 and parallel or perpendicular to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 provided between the fourth joint 34 and the third link 43 and having a fifth rotation axis J5 perpendicular to the fourth rotation axis J4, a fourth link 44 having one end 44A connected to the fifth joint 35 and having a length perpendicular to the fifth rotation axis J5, and a sixth joint 36 provided at the other end 44B of the fourth link 44 and having a sixth rotation axis J6 perpendicular to the length direction of the fourth link 44 and parallel or perpendicular to the fifth rotation axis J5, in which case the length direction of the third link 43 is perpendicular to the sixth rotation axis J6. The articulated robot 90 of the first modification is also one aspect of the articulated robot of the disclosed technology.

[0052] Fig. 11 shows a specific example of the first modified example. In Fig. 11, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3. The direction of the sixth rotation axis J6 is perpendicular to the length direction of the fourth link 44 and parallel to the fifth rotation axis J5.

[0053] Even in the structure of the multi-joint robot 90 of the first modified example, by rotating only the fourth joint 34, the fifth joint 35, and the sixth joint 36 without rotating the first joint 31, the second joint 32, and the third joint 33, the position of the hand 50 can be freely moved within three-dimensional space while keeping the position of the fourth joint 34 fixed.

[0054] As specific examples of the first modified example other than that of FIG. 11, the directions of the fourth joint 34, the fifth joint 35 and the sixth joint 36 are shown in FIGS. 12A to 12E.

[0055] As a second modified example, the third link adjustment unit 46 may include a fourth joint 34 having a fourth rotation axis J4 parallel to the length direction of the second link 42 or perpendicular to the length direction of the second link 42 and parallel or perpendicular to the second rotation axis J2 and the third rotation axis J3, and a fifth joint 35 provided between the fourth joint 34 and the third link 43 and having a fifth rotation axis J5 perpendicular to the fourth rotation axis J4, in which case the length direction of the third link 43 is perpendicular to the fifth rotation axis J5. The articulated robot 91 of the second modified example is also one aspect of the articulated robot of the disclosed technology.

[0056] Fig. 13 shows a specific example of the second modified example. In Fig. 13, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3.

[0057] In the second modified articulated robot 91, when the first joint 31, the second joint 32, and the third joint 33 are rotated to freely move the position of the fourth joint 34 in three-dimensional space, by setting the fourth joint 34 and the fifth joint 35 to appropriate angles, the “longitudinal angle” of the third link 43, i.e., the posture of the third link 43, can be set to any posture regardless of the position of the hand 50.

[0058] 14 and 15, a multi-joint robot 91 according to a second modified example is shown generally together with an object TT to be operated.

[0059] In the example shown in Fig. 14, an object TT is present in a working space 108 between a bottom plate 102 and a ceiling plate 104. The bottom plate 102 and the ceiling plate 104 are both horizontal and parallel to each other. In the working space 108 between the bottom plate 102 and the ceiling plate 104, an opening 106 is present on the near side as viewed from the articulated robot 91 (on the left side in Figs. 14 and 15). The object TT is present between the bottom plate 102 and the ceiling plate 104, on the far side as viewed from the opening 106 (on the right side in Figs. 14 and 15).

[0060] In this case, in the articulated robot 91, as shown in FIG. 15, by setting the second joint 32 and the third joint 33 at an appropriate angle, the fourth joint 34 can be moved forward while being secured at the height of the working space 108, and the hand 50 can be inserted into the working space 108 from the opening 106 on the front side and moved to the back side. In addition, by appropriately rotating the fourth joint 34 and the fifth joint 35 when moving the hand 50 to the back side, it is possible to keep the "longitudinal angle" of the third link 43 at 90 degrees while moving the hand 50 closer to the object TT, and to maintain the posture of the third link 43 horizontal. By maintaining the posture of the third link 43 horizontal, it is possible to avoid interference with the bottom plate 102 and the ceiling plate 104 regardless of the position of the third link 43 in the working space 108. This "horizontal" includes not only the case where it is strictly horizontal, but also the case where the third link 43 is inclined to such an extent that it does not come into contact with the bottom plate 102 and the ceiling plate 104. This manipulation corresponds to a second example of starting point-based object manipulation.

[0061] In the example shown in Fig. 16, an object TT exists in a working space 118 surrounded by a front plate 112, a rear plate 114, and a bottom plate 116. The front plate 112 and the rear plate 114 are both vertical and parallel to each other. The bottom plate 116 is located below the front plate 112 and the rear plate 114. An opening 120 is provided at the top of the front plate 112 and the rear plate 114. The object TT is placed on the bottom plate 116.

[0062] In this case, in the articulated robot 91, as shown in FIG. 17, by setting the second joint 32 and the third joint 33 at appropriate angles, the fourth joint 34 can be moved downward while being secured at a forward distance to the working space 108, and the hand 50 can be inserted into the working space 118 from the upper opening 120 and moved downward. In addition, by appropriately rotating the fourth joint 34 and the fifth joint 35 when moving the hand 50 downward, it is possible to keep the "longitudinal angle" of the third link 43 at 180 degrees while moving the hand 50 closer to the object TT, and to maintain the posture of the third link 43 vertical. By maintaining the posture of the third link 43 vertical, it is possible to avoid interference with the front plate 112 and the rear plate 114 regardless of the position of the third link 43 in the working space 118. This "vertical" includes not only the case where it is strictly vertical, but also the case where the third link 43 is inclined to such an extent that it does not come into contact with the front plate 112 and the rear plate 114.

[0063] Furthermore, even if the front panel 112 and the rear panel 114 are parallel to each other but inclined with respect to the vertical direction, by appropriately rotating the fourth joint 34 and the fifth joint 35, it is possible to keep the “longitudinal angle” of the third link 43 constant and maintain the posture of the third link 43 parallel to the front panel 112 and the rear panel 114.

[0064] As specific examples of the second modified example other than that shown in FIG. 13, the directions of the fourth joint 34 and the fifth joint 35 are shown in FIGS. 18A and 18B.

[0065] Furthermore, in the articulated robot 91 of the second modified example, the third link 43 can be oriented in any direction without moving the first link 41 and the second link 42. For example, in the example shown by the dashed line in Fig. 19, the direction of the third link 43 with respect to the first rotation axis J1 can be changed by rotating the fourth joint 34.

[0066] 19, the orientation of the third link 43 with respect to the reference plane can be changed by rotating the fifth joint 35. In other words, by rotating only the fourth joint 34 and the fifth joint 35, the third link 43 can be oriented in any direction, and the position of the hand 50 can be moved within the two-dimensional curved surface.

[0067] As a result, the articulated robot 91 of the second modified example can move the position of the hand 50 within three-dimensional space by rotating the second joint 32 and the third joint 33 to move the first link 41 and the second link 42 while maintaining them within the above-mentioned "reference plane," and by rotating the fourth joint 34 and the fifth joint 35 to orient the third link 43 in any direction.

[0068] FIG. 20 shows a situation where the worktable 122 is in front of the articulated robot 91, and an obstacle ST is on the left and right of the first link 41 and the second link 42. In this situation, when the position of the hand 50 is moved left and right on the worktable 122, if the first joint 31 is rotated as shown by the two-dot chain line in FIG. 21, the first link 41 and the second link 42 may swing left and right and hit the obstacle ST. In contrast, in the articulated robot 91 of the first embodiment, the hand 50 can be moved left and right by rotating the fifth joint 35 as shown by the two-dot chain line in FIG. 20 without rotating the first joint 31. Since the first joint 31 is not rotated, the first link 41 and the second link 42 are not swung left and right and there is no risk of hitting the obstacle ST.

[0069] As a third modified example, the third link adjustment unit 46 may include a fourth joint 34 having a fourth rotation axis J4 perpendicular to the length direction of the second link 42 and parallel or perpendicular to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 connected to the fourth joint 34 without a link and having a fifth rotation axis J5 perpendicular to the fourth rotation axis J4, and a sixth joint 36 connected to the fifth joint 35 without a link and having a sixth rotation axis J6 perpendicular to the fifth rotation axis J5, in which case the length direction of the third link 43 is perpendicular to the sixth rotation axis J6. The articulated robot 92 of the third modified example is also one aspect of the articulated robot of the disclosed technology.

[0070] Fig. 22 shows a specific example of the third modified example. In Fig. 22, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3.

[0071] 23 , the third link 43 can be oriented in any direction by rotating the fifth joint 35 and the sixth joint 36, and the hand 50 can be moved on a spherical surface centered on the sixth joint 36. Furthermore, when there is a rotatable range for the fifth joint 35 and the sixth joint 36, there exists a corresponding directional movable range for the third link 43, but the center direction of the directional movable range of the third link 43 can be changed by rotating the fourth joint 34.

[0072] As a specific example of the third modified example other than that shown in Fig. 22, the direction of the fourth joint 34 can be shown in Fig. 24. In Fig. 24, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the reference plane.

[0073] In any of these articulated robots 20, 90, 91, and 92, the third link adjustment unit 46 includes at least two joints connected in series and having mutually orthogonal rotation axis directions, and can orient the length direction of the third link 43 in any direction. However, for the "any direction," there may be directional restrictions due to restrictions on the movable range of each joint.

[0074] 25, the articulated robot 20 of the first embodiment is provided with a seventh joint 37 and an eighth joint 38 between the third link 43 and the hand 50. Since the seventh joint 37 and the eighth joint 38 have rotation axes (seventh rotation axis J7 and eighth rotation axis J8) that are perpendicular to each other, the articulated robot 20 can change the posture of the hand 50 relative to the third link 43 with two degrees of freedom.

[0075] Fig. 26 shows a state in which a cup CT containing liquid is placed on the support plate 124 as an example of the target object TT. As shown in Fig. 27, when the cup CT is grasped by the hand 50 and moved (lifted) on a movement trajectory ML4 on a spherical surface centered on the sixth joint 36, it is possible to move the cup CT with the top side facing up. In other words, when the cup CT is grasped by the hand 50 and moved on a spherical surface, the posture of the hand 50 can be maintained in a constant direction with respect to the direction of the first rotation axis J1 regardless of the position on the spherical surface.

[0076] In addition, when adjusting the posture of the hand 50 in this way, a structure that allows adjustment with three degrees of freedom instead of two degrees of freedom may be used. That is, a structure that includes a joint having a rotation axis perpendicular to both the seventh rotation axis J7 and the eighth rotation axis J8 as the third degree of freedom. This makes it possible to rotate the cup CT around a vertical axis (the center of the cup CT in the vertical direction) when, for example, gripping and lifting the cup CT. However, when actually gripping and lifting the cup CT, if there is no need or low need to rotate it around the vertical axis, two degrees of freedom may be sufficient. The cup CT is an example of an object TT that does not need to be rotated around the vertical axis. By making the posture of the hand 50 adjustable with two degrees of freedom in this way, the structure and control can be simplified while reducing the substantial impact compared to a structure that allows adjustment with three degrees of freedom.

[0077] The directions of the seventh joint 37 and the eighth joint 38 are not limited to those described above, and may be exemplified by the directions shown in Fig. 28A and Fig. 28B. In both of the examples shown in Fig. 28A and Fig. 28B, the seventh rotation axis J7 and the eighth rotation axis J8 are perpendicular to each other.

[0078] Furthermore, the articulated robot 20 of the first embodiment may be configured to not have either one or both of the seventh joint 37 and the eighth joint 38. Even if the articulated robot 20 is configured to not have both the seventh joint 37 and the eighth joint 38, it is possible to grasp the target object TT with the hand 50 and move it to a predetermined location.

[0079] Furthermore, the articulated robot 20 of the first embodiment may be configured not to include the sixth joint 36. That is, even in the case of a configuration not including the sixth joint 36, it is possible to maintain a constant posture of the third link 43 while positioning the hand 50 at a desired position by appropriately moving, for example, the fourth joint 34 and the fifth joint 35.

[0080] As shown in Fig. 29, the articulated robot 20 has an imaging device 60 provided near the fourth joint. It is possible to perform work while photographing the hand 50 or the object TT with the imaging device 60. In this case, if the fourth joint 34 is secured at a position higher than the surface of the work table 122 and the object is manipulated with the part of the object closer to the hand 50 than the fourth joint 34 (a first example of starting point-using object manipulation), the imaging device 60 is provided near the fourth joint 34 and therefore is at a higher position than the object TT on the work table 122. This makes it possible to view the object TT from above (overlooking it).

[0081] In particular, for example, even if multiple objects are placed on the workbench 122 and these multiple objects are located at positions close to and far from the imaging device 60 and are viewed as partially overlapping from the imaging device 60, it is easy to recognize each of the multiple objects by looking down on them.

[0082] In the articulated robot 20 of the first embodiment, it is also possible to capture images of the object TT with the imaging device 60 at multiple positions while moving the hand 50 toward the object TT. In this case, since the imaging device 60 is provided near the fourth joint 34, it moves approximately along the "reference plane". Compared to a configuration in which the imaging device 60 is provided near the hand 50 and the imaging device 60 largely protrudes outside the "reference plane" due to the movement of the hand 50, such as when the imaging device 60 is provided near the hand 50, the change in the imaging position and imaging direction of the imaging device 60 relative to the object TT is small. For this reason, for example, if the imaging device 60 is a type that captures still images, the change in the position of the object TT in the captured multiple images is also small. Also, even if the imaging device 60 is a type that captures moving images, the position of the object TT does not change significantly in the moving images.

[0083] In addition, since the imaging device 60 is provided near the fourth joint 34, it is possible to capture an image from a position close to the base of the third link 43. Therefore, for example, as in the example shown in Figures 14 and 15, when the hand 50 approaches the object TT placed in the working space 108 between the bottom plate 102 and the ceiling plate 104 in a posture nearly parallel to the bottom plate 102 and the ceiling plate 104, the object TT located deep inside the working space 108 can be captured by the imaging device 60 without being blocked by the bottom plate 102 and the ceiling plate 104.

[0084] In a configuration including the imaging device 60, it is also possible to configure the articulated robots 93 to 95 of the various modifications shown in FIGS.

[0085] An articulated robot 93 of a fourth modified example shown in Fig. 30 is provided with a movable base 72 instead of the fixed base 62 (see Fig. 29). An articulated robot 94 of a fifth modified example shown in Fig. 31 is also provided with a movable base 73 instead of the fixed base 62. An articulated robot 95 of a sixth modified example shown in Fig. 32 is provided with an imaging device 60 and a movable base 73 on the hand 50 side relative to the fourth joint 34.

[0086] The movable base 72 shown in FIG. 30 can rotate the imaging device 60 in the tilt direction. This tilt direction is a rotation direction around an axis parallel to the third rotation axis J3, and is a direction in which the imaging direction can be tilted up and down. For example, when the imaging device 60 is provided on the base 22 side from the fourth joint 34, if the hand 50 is moved forward while maintaining the attitude and height of the third link 43 constant, the inclination of the second link 42 gradually becomes gentler (becomes closer to horizontal). In this case, if the imaging device 60 does not rotate in the tilt direction, the imaging direction will change downward with the change in the inclination of the second link 42. In contrast, in the articulated robot 93 of the fourth modified example, the imaging direction of the imaging device 60 can be maintained in a direction parallel to the third link 43 by rotating the imaging device 60 in the tilt direction.

[0087] The movable base 73 shown in Fig. 31 can rotate the imaging device 60 in a pan direction. This pan direction is a rotation direction around an axis (pan axis 74) perpendicular to the optical axis of the imaging device 60 and the third rotation axis J3, and is a direction in which the imaging direction can be swung left and right. For example, when the fifth joint 35 is rotated to move the hand 50 left and right, in the multi-joint robot 94 of the fifth modified example, the imaging device 60 can be rotated in the pan direction to match the imaging direction of the imaging device 60 with the direction in which the hand 50 moves.

[0088] In the fourth and fifth modified examples, a movable stand may be used that allows the imaging device 60 to rotate in both the pan direction and the tilt direction.

[0089] In addition, when the imaging device 60 is provided on the side of the base 22 relative to the fourth joint 34 as in the fourth and fifth modified examples, it is not necessary to rotate the imaging device 60 in the roll direction. The roll direction is the rotation direction around an axis parallel to the optical axis of the imaging device 60. In the fourth and fifth modified examples, when the direction of the first rotation axis J1 is the vertical direction, if the target object is in the center of the field of view of the imaging device 60, the horizontal direction of the target object TT perpendicular to the direction of the optical axis of the imaging device 60 is reflected horizontally within the field of view of the imaging device 60 even if the imaging device 60 is not rotated in the roll direction. By not providing a mechanism for rotating the imaging device 60 in the roll direction, the structures of the movable bases 72 and 73 can be simplified.

[0090] In a multi-joint robot 95 of a sixth modified example shown in Fig. 32, an imaging device 60 is provided on the hand 50 side. In this case, the imaging device 60 is realized by being provided between the fourth joint 34 and the fifth joint 35 by a movable base 73. The movable base 73 shown in Fig. 32 can rotate the imaging device 60 in the pan direction (around a pan axis 74). Furthermore, a fourth rotation axis J4 is parallel to the third rotation axis J3.

[0091] In the articulated robot 95 of the sixth modified example, it is not necessary to rotate the imaging device 60 in the roll direction. When the direction of the first rotation axis is vertical, if the target object is in the center of the field of view of the imaging device 60, the horizontal direction of the target object TT perpendicular to the direction of the optical axis of the imaging device 60 will be reflected horizontally within the field of view of the imaging device 60 even if the imaging device 60 is not rotated in the roll direction. By not providing a mechanism for rotating the imaging device 60 in the roll direction, the structure of the movable base 73 can be simplified.

[0092] Furthermore, in the articulated robot 95 of the sixth modified example, the fourth rotation axis J4 is parallel to the third rotation axis J3, and the imaging device 60 is provided closer to the hand 50 than the fourth joint 34, so that the third link 43 and the hand 50 move up and down due to the rotation of the fourth joint 34, and the imaging range of the imaging device 60 also moves up and down. In other words, if it is acceptable for the up and down change in the imaging direction to be linked to the up and down change in the direction of the third link 43, it is not necessary to provide the movable base 73 with a structure for rotating the imaging range of the imaging device 60 in the tilt direction, and the structure can be simplified.

[0093] In the above-described embodiment and each modified example, it is possible to configure the robot without the moving mechanism 24. That is, in a configuration without the moving mechanism 24, an articulated robot is configured in which the base part 22 does not move.

[0094] 33 and 34 show a mobile robot 26 having a moving mechanism 24. That is, in a configuration having the moving mechanism 24, it is possible to move the base 22, and therefore a mobile robot 26 including an articulated robot is configured. The mobile robot 26 includes the articulated robot 20 as a component, and the concept of an articulated robot in a broad sense includes mobile robots.

[0095] The articulated robot 20 without the moving mechanism 24 may have a structure in which the floor, wall or ceiling of a building serves as the base 22, and the first joint 31 is connected to the floor, wall or ceiling. In this case, the position of the articulated robot is fixed to a mounting position relative to the floor, wall or ceiling of the building. In contrast, when the articulated robot is not fixed to the floor, wall or ceiling of the building, the articulated robot can be installed in any position. Also, the mobile robot 26 with the moving mechanism 24 can move to multiple work locations and perform various tasks using the articulated robot.

[0096] The mobile robot 26 shown in FIG. 34 is equipped with an imaging device 60. Therefore, while the mobile robot 26 is moving, the imaging device 60 can capture images of the surroundings. In particular, the imaging device 60 is provided near the fourth joint 34, which is at a higher position than, for example, the third joint 33. That is, while the mobile robot is moving, the surroundings can be captured by the imaging device 60, which is at a higher position. For example, even if an object higher than the third joint 33 is present around the mobile robot while the mobile robot is moving, the area blocked by the object can be reduced, and the surroundings of the mobile robot can be captured by the imaging device 60.

[0097] From this perspective, in the mobile robot 26 as well, if the imaging device 60 is located near the fourth joint 34, particularly higher than the fourth joint 34, as in the examples shown in Figures 29 to 32, the imaging range blocked by surrounding objects is narrowed, and as a result, a wide range of the surroundings can be imaged.

[0098] The following are additional notes regarding this disclosure. (Appendix 1) a first joint (31) connected to the base (22) and having a first rotation axis (J1) in a specific direction relative to the base (22); a second joint (32) connected to the first joint (31) without any other joint therebetween and having a second rotation axis (J2) perpendicular to the first rotation axis (J1); a first link (41) having one end connected to the second joint (32) and having a length in a direction perpendicular to the second rotation axis (J2); a third joint (32) provided at the other end of the first link (41) and having a third rotation axis (J3) parallel to the second rotation axis (J2); a second link (42) having one end connected to the third joint (32) and having a length in a direction perpendicular to the third rotation axis (J3); a third link adjustment portion (46) provided at the other end of the second link (42); a third link (43) having one end connected to the third link adjustment portion (46); an end effector (50) connected to the third link adjustment portion (46) via the third link (43); Equipped with The third link adjustment unit (46) includes at least two joints (34, 35, 36) connected in series and having rotation axes perpendicular to each other, and the length direction of the third link (43) can be directed in any direction. Articulated robot (20). (Appendix 2) the third link adjustment portion (46) includes a fourth joint (34) having a fourth rotation axis (J4) perpendicular to the longitudinal direction of the second link (42) and parallel to or perpendicular to the second rotation axis (J2) and the third rotation axis (J3), a fifth joint (35) provided between the fourth joint (34) and the third link (43) and having a fifth rotation axis (J5) perpendicular to the fourth rotation axis (J4), and a sixth joint (36) provided between the fifth joint (35) and the third link (43) and having a sixth rotation axis (J6) perpendicular to the fifth rotation axis (J5); the fourth rotation shaft (J4) and the sixth rotation shaft (J6) are spaced apart in a direction of the fifth rotation shaft (J5), The length direction of the third link (43) is perpendicular to the sixth rotation axis (J6). 2. The articulated robot (20) according to claim 1. (Appendix 3) the third link adjustment portion (46) includes a fourth joint (34) having a fourth rotation axis (J4) parallel to the longitudinal direction of the second link (42) or perpendicular to the longitudinal direction of the second link (42) and parallel or perpendicular to the second rotation axis (J2) and the third rotation axis (J3); a fifth joint (35) provided between the fourth joint (34) and the third link (43) and having a fifth rotation axis (J5) perpendicular to the fourth rotation axis (J4); a fourth link (43) having one end connected to the fifth joint (35) and having a length in a direction perpendicular to the fifth rotation axis (J5); and a sixth joint (36) provided at the other end of the fourth link (43) and having a sixth rotation axis (J6) perpendicular to the longitudinal direction of the fourth link (43) and parallel or perpendicular to the fifth rotation axis (J5); The length direction of the third link (43) is perpendicular to the sixth rotation axis (J6). 2. The articulated robot (20) according to claim 1. (Appendix 4) the third link adjustment portion (46) includes a fourth joint (34) having a fourth rotation axis (J4) parallel to a longitudinal direction of the second link (42) or perpendicular to the longitudinal direction of the second link (42) and parallel to or perpendicular to the second rotation axis (J2) and the third rotation axis (J3), and a fifth joint (35) provided between the fourth joint (34) and the third link (43) and having a fifth rotation axis (J5) perpendicular to the fourth rotation axis (J4); The length direction of the third link (43) is perpendicular to the fifth rotation axis (J5). 2. The articulated robot (20) according to claim 1. (Appendix 5) The articulated robot (20) according to any one of Supplementary Note 1 to Supplementary Note 4, further comprising two joints (37, 38) provided between the third link (43) and the end effector (50) and having rotation axes directed perpendicular to each other. (Appendix 6) The articulated robot (20) according to any one of Supplementary Note 1 to Supplementary Note 5, further comprising an imaging device (60) disposed in the vicinity of a joint (34) that is located closest to the second link (42) among the joints of the third link adjustment section (46). (Appendix 7) The articulated robot (20) according to claim 6, further comprising a stand (72, 73, 74) that supports the imaging device (60) rotatably in at least one of a tilt direction and a pan direction. (Appendix 8) the imaging device (60) is provided closer to the base portion (22) than a joint provided at a position closest to the second link (42) among the joints provided in the third link adjustment portion (46); 8. The articulated robot (20) according to claim 7, wherein the mounts (72, 73) do not rotate the imaging device (60) in a roll direction. (Appendix 9) Among the joints included in the third link adjustment portion (46), the joint provided at a position closest to the second link (42) is a fourth joint (34) having a fourth rotation axis (J4) parallel to the second rotation axis (J2) and the third rotation axis (J3), the imaging device (60) is provided on the end effector (50) side relative to the fourth joint (34); 8. The articulated robot (20) according to claim 7, wherein the platform (74) does not rotate the imaging device (60) in a roll direction. (Appendix 10) Among the joints included in the third link adjustment portion (46), the joint provided at a position closest to the second link (42) is a fourth joint (34) having a fourth rotation axis (J4) parallel to the second rotation axis (J2) and the third rotation axis (J3), The imaging device (60) is provided on the end effector (50) side relative to the fourth joint (34). 7. The articulated robot (20) according to claim 6. (Appendix 11) An articulated robot (20) according to any one of appendices 1 to 5; a movement mechanism (24) for moving the articulated robot; A mobile robot having a (Appendix 12) 12. The mobile robot (20) of claim 11, further comprising an imaging device (60) disposed adjacent to a joint of the third link adjustment unit (46) of the articulated robot (20) that is closest to the second link (42). [Explanation of symbols]

[0099] 20 Articulated Robot 22 Base 24 Moving mechanism 26 Mobile Robot 31 First joint 32 Second joint 33 Third joint 34 Fourth joint 35 Fifth joint 36 Sixth joint 37 Seventh joint 38 Eighth joint 41 First Link 41A One end 41B Other end 42 Second Link 42A One end 42B other end 43 Third Link 43A One end 43B Other end 44 Fourth Link 44A One end 44B other end 45 Fifth Link 46 Third link adjustment part 50 Hand (end effector) 60 Imaging Device 62 Fixed stand 72 Movable stand 73 Movable stand 74 Movable stand 90 Articulated Robot 91 Articulated Robot 92 Articulated Robot 93 Articulated Robot 94 Articulated Robot 95 Articulated Robot J1 First rotation axis J2 Second rotation axis J3 Third rotation axis J4 Fourth rotation axis J5 Fifth rotation axis J6 Sixth rotation axis J7 Seventh rotation axis J8 8th rotation axis

Claims

1. a first joint connected to a base and having a first rotation axis in a specific direction relative to the base; A second joint is connected to the first joint without any other joint therebetween and has a second rotation axis perpendicular to the first rotation axis; a first link having one end connected to the second joint and having a length in a direction perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link having one end connected to the third joint and having a length in a direction perpendicular to the third rotation axis; a third link adjustment portion provided at the other end of the second link; a third link having one end connected to the third link adjustment portion; an end effector connected to the third link adjustment portion via the third link; Equipped with The third link adjustment unit includes at least two joints connected in series and having rotation axes perpendicular to each other, and the length direction of the third link can be directed in any direction. Articulated robot.

2. the third link adjustment unit includes a fourth joint having a fourth rotation axis perpendicular to the length direction of the second link and parallel or perpendicular to the second rotation axis and the third rotation axis, a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, and a sixth joint provided between the fifth joint and the third link and having a sixth rotation axis perpendicular to the fifth rotation axis, the fourth rotation shaft and the sixth rotation shaft are spaced apart in a direction of the fifth rotation shaft, The length direction of the third link is perpendicular to the sixth rotation axis. The articulated robot according to claim 1 .

3. The third link adjustment unit includes a fourth joint having a fourth rotation axis parallel to the length direction of the second link or a fourth rotation axis perpendicular to the length direction of the second link and perpendicular to the second rotation axis and the third rotation axis, a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, a fourth link having one end connected to the fifth joint and having a length in a direction perpendicular to the fifth rotation axis, and a sixth joint provided at the other end of the fourth link and having a sixth rotation axis perpendicular to the length direction of the fourth link and perpendicular to the fifth rotation axis, The length direction of the third link is perpendicular to the sixth rotation axis. The articulated robot according to claim 1 .

4. the third link adjustment unit includes a fourth joint having a fourth rotation axis parallel to a longitudinal direction of the second link or a fourth rotation axis perpendicular to the longitudinal direction of the second link and perpendicular to the second rotation axis and the third rotation axis; and a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, The length direction of the third link is perpendicular to the fifth rotation axis. The articulated robot according to claim 1 .

5. The articulated robot according to claim 1 , further comprising two joints provided between the third link and the end effector, the two joints having rotation axes perpendicular to each other.

6. The articulated robot according to claim 1 , further comprising an imaging device disposed near a joint of the third link adjustment section that is closest to the second link.

7. The articulated robot according to claim 6 , further comprising a base that supports the imaging device rotatably in at least one of a tilt direction and a pan direction.

8. the imaging device is provided closer to the base than a joint provided at a position closest to the second link among the joints provided in the third link adjustment part, The articulated robot according to claim 7 , wherein the mount does not rotate the imaging device in a roll direction.

9. Among the joints included in the third link adjustment portion, a joint provided at a position closest to the second link is a fourth joint having a fourth rotation axis parallel to the second rotation axis and the third rotation axis, The imaging device is provided on a side of the end effector relative to the fourth joint, The articulated robot according to claim 7 , wherein the mount does not rotate the imaging device in a roll direction.

10. Among the joints included in the third link adjustment portion, a joint provided at a position closest to the second link is a fourth joint having a fourth rotation axis parallel to the second rotation axis and the third rotation axis, The imaging device is provided on the end effector side of the fourth joint. The articulated robot according to claim 6.

11. A multi-joint robot according to any one of claims 1 to 5, A movement mechanism for moving the articulated robot; A mobile robot having a

12. The mobile robot of claim 11 , further comprising an imaging device disposed adjacent to a joint of the third link adjustment unit of the articulated robot that is closest to the second link.

Images