Rotational oscillating mechanism

Abstract

A linkage mechanism that allows for easy sealing enables simultaneous rotation and oscillating motion. [Solution] The system comprises a first rotor 3 rotatable around a main rotation axis ax1, a bracket 4 rotatable with the first rotor 3, a swing arm 5 supported by the bracket 4 so as to swing around a swing axis ax2, a second rotor 6 rotatable independently of the first rotor 3 around the main rotation axis ax1, a drive link 7 rotatable with the second rotor 6, and an intermediate link 8 whose base end 8a is supported by the drive link 7 so as to be rotatable around a drive link axis ax3 passing through the rotating portion 7a of the drive link 7, and whose tip 8b is supported by the swing arm 5 so as to be rotatable around a driven link axis ax4 passing through the swing portion 5b of the swing arm 5, wherein the main rotation axis ax1, swing axis ax2, drive link axis ax3, and driven link axis ax4 intersect at a single point P0 in space.

Description

Technical Field

[0001] The present disclosure relates to a rotational rocking mechanism using a link attached to the tip of a robotic arm.

Background Art

[0002] In recent years, in factory production lines, logistics warehouses, etc., the movements required of robots have become diversified. For example, in picking where an article is taken out of a container or the like and transferred to a subsequent process, an operation is performed to take out an article irregularly loaded and supplied on a conveyor or the like, change the posture, and transfer it to a subsequent container or the like. Therefore, a rotational rocking function that performs a rotational motion and a rocking motion in parallel is required for the drive mechanism of the end effector, which is the operating part of the robot.

[0003] On the other hand, for example, in Patent Document 1, a wrist mechanism of a robot that realizes a rotational rocking motion by using a pair of bevel gears for power transmission between a drive shaft of a robot arm part and a driven shaft of a wrist part has been proposed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional rotational rocking mechanism described in Patent Document 1, a configuration using a pair of bevel gears that require lubrication is adopted for the power transmission mechanism from the drive shaft on the arm side to the driven shaft. Therefore, since the gap between parts changes with the rocking at the base part of the rocking arm, etc., there is a problem that the structure of the sealing for sealing the lubricant becomes complicated. There is also a problem that wear powder of the gear part, lubricant, etc. become sources of foreign matter.

[0006] This disclosure has been made in view of the above-mentioned problems, and aims to provide a rotational oscillating mechanism using a link mechanism that does not have gear meshing parts that can be a source of foreign matter, and that can be easily sealed. [Means for solving the problem]

[0007] A rotational oscillating mechanism according to one aspect of the present disclosure is a rotational oscillating mechanism using links, comprising: a first rotor extending in a first direction and supported so as to be rotatable around a main rotation axis; a bracket supported by the first rotor and rotatable together with the first rotor; an oscillating arm to which an end effector can be attached and supported by the bracket so as to be oscillating around an oscillating axis; a second rotor extending in the first direction and supported so as to be rotatable independently of the first rotor around a main rotation axis; a drive link supported by the second rotor and rotatable together with the second rotor; and an intermediate link, the first portion of which is supported by the drive link so as to be rotatable around a drive link axis passing through the rotating portion of the drive link, and the second portion of which is supported by the oscillating arm so as to be rotatable around a driven link axis passing through the oscillating portion of the oscillating arm, wherein the main rotation axis, oscillating axis, drive link axis, and driven link axis intersect at a single point in space. [Effects of the Invention]

[0008] According to this disclosure, it is possible to provide a rotational and oscillating mechanism that uses a link mechanism to perform rotational and oscillating movements in parallel, without gear meshing parts that can be a source of foreign matter, and which can be easily sealed. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic perspective view illustrating a robot mechanism including a rotational oscillating mechanism 1 according to an embodiment. [Figure 2] This is a schematic perspective view of the rotational oscillating mechanism 1, viewed from the front and slightly above. [Figure 3] This is a schematic perspective view of the rotational oscillating mechanism 1, viewed from the rear and diagonally downwards. [Figure 4]This is a schematic front view showing the configuration of the rotational oscillating mechanism 1. [Figure 5] This is a schematic rear view showing the configuration of the rotational oscillating mechanism 1. [Figure 6] This is a schematic cross-sectional view from the rear showing the internal structure of the rotational oscillating mechanism 1. [Figure 7] (a) is a schematic left side view showing the configuration of the rotational oscillating mechanism 1, and (b) is a schematic right side view. [Figure 8] This is a schematic diagram illustrating the operation of the rotational oscillating mechanism 1. [Figure 9] This is a schematic diagram illustrating the operation of the rotational oscillating mechanism 1. [Figure 10] This is a schematic diagram illustrating the operation of the rotational oscillating mechanism 1. [Modes for carrying out the invention]

[0010] Summary of Embodiments for Carrying Out the Invention A rotational oscillating mechanism using links according to an embodiment of the present disclosure, comprising: a first rotor extending in a first direction and supported so as to be rotatable around a main rotation axis; a bracket supported by the first rotor and rotatable together with the first rotor; an oscillating arm to which an end effector can be attached and supported by the bracket so as to be oscillating around an oscillating axis; a second rotor extending in the first direction and supported so as to be rotatable independently of the first rotor around a main rotation axis; a drive link supported by the second rotor and rotatable together with the second rotor; and an intermediate link, the first portion of which is supported by the drive link so as to be rotatable around a drive link axis passing through the rotating portion of the drive link, and the second portion of which is supported by the oscillating arm so as to be rotatable around a driven link axis passing through the oscillating portion of the oscillating arm, wherein the main rotation axis, oscillating axis, drive link axis, and driven link axis intersect at a single point in space.

[0011] In another aspect, in any of the aspects described above, due to the rotation of the first rotor, the swing arm rotates around the main rotation axis, and the second rotor rotates relative to the first rotor, so that the swing arm may be configured to swing around the swing axis.

[0012] In another aspect, in any of the aspects described above, when the second rotor rotates relative to the first rotor, the drive link rotates around the main rotation axis along with the rotation of the second rotor, the intermediate link rotates around the drive link axis and around the driven link axis as the drive link rotates, and the swing arm may be configured to rotate around the swing axis as the intermediate link rotates.

[0013] In another aspect, in any of the aspects described above, the angle by which the swing arm swings may be determined based on the difference in the rotation angles between the second rotor and the first rotor.

[0014] ≪Embodiment≫ The configuration of the rotary swing mechanism 1 according to the embodiment will be described with reference to the drawings. Here, in this specification, the X direction, Y direction, and Z direction in each figure may be the width direction, depth direction, and height direction, respectively, and the positive direction of the height direction may be the "up" direction and the negative direction may be the "down" direction. Also, the positive direction of the direction close to the working part of the robot may be the "tip" direction and the negative direction may be the "base" direction.

[0015] In addition, since each drawing is a schematic diagram, the scale of the members in each drawing is not necessarily the same as the actual one. Also, for ease of understanding, illustration may be omitted. Also, the shape of the members etc. may be illustrated schematically or approximately. Also, in this specification, the symbol "~" used when indicating a numerical range includes the numerical values at both ends. Also, the materials, numerical values, etc. described in this embodiment are merely examples of preferable ones and are not limited thereto. Also, appropriate changes can be made without departing from the scope of the technical idea of the present disclosure.

[0016] <Configuration of the Rotary Oscillation Mechanism 1> The configuration of the rotary oscillation mechanism 1 will be described with reference to the drawings. FIG. 1 is a schematic perspective view schematically showing a robot mechanism including the rotary oscillation mechanism 1 according to the embodiment, and is a schematic diagram showing the usage state of the rotary oscillation mechanism 1.

[0017] The rotary oscillation mechanism 1 (hereinafter sometimes referred to as "mechanism 1") is an end effector drive mechanism included in a robot mechanism RO that picks up an article OB such as a member, a workpiece, an intermediate product, a product, a package, etc. supplied to a process from a conveyor TM related to supply conveyance in a manufacturing process or the like, and transfers it to a subsequent container (not shown). As shown in FIG. 1, the mechanism 1 is attached to the tip RA1 of the robot arm RA, and performs the rotation operation (arrow R1 in FIG. 1) and the oscillation operation (arrow R2 in FIG. 1) of the end effector E which is the operating part in parallel.

[0018] According to this mechanism 1, for example, based on the control from the control unit CT, the article OB loaded on the conveyor TM and irregularly conveyed (arrow T1 in FIG. 1) is picked up, the rotation angle of the article OB in the three-dimensional space is changed, and the operation of transferring the article OB to a surface at an angle different from that of the conveyor TM is performed.

[0019] (Overall Configuration of the Rotary Oscillation Mechanism 1) FIG. 2 is a schematic perspective view of the mechanism 1 viewed obliquely from above in the front, FIG. 3 is a schematic perspective view of the mechanism 1 viewed obliquely from below in the front. FIGS. 4 and 5 are schematic front views and schematic rear views, FIG. 6 is a schematic cross-sectional view in the rear view, and FIGS. 7(a) and (b) are schematic left side views and schematic right side views.

[0020] As shown in FIGS. 2 to 7(a) and (b), the mechanism 1 includes a main body 2, an outer rotor 3, a bracket 4, a swing arm 5, an inner rotor 6, a drive link 7, and an intermediate link 8. Further, the mechanism 1 may be configured to include, for example, a suction head 10 as the end effector E.

[0021] (Overview of the structure of each section) The following describes the general configuration of each part in mechanism 1. The main body 2 is a structural member that serves as the support base for each component of the mechanism 1, and is mainly composed of a base 21 and a frame 22.

[0022] The base 21 is a plate-shaped member that serves as a base and is connected to the tip of the robot arm. For example, as shown in Figure 1, it may be configured to be connected to the tip RA1 of a robot arm RA, such as a parallel link type. Motors 24 and 25 capable of independently driving the outer rotor 3 and inner rotor 6 are mounted on the base 21. An electromagnetic air valve (not shown) for opening / closing the piping may also be provided on the base 21.

[0023] The frame 22 is a structural member erected from the base 21, and contains a support mechanism and a drive mechanism that directly or indirectly pivotally support the outer rotor 3 and the inner rotor 6.

[0024] The outer rotor 3 (first rotor) is a cylindrical rotating body for rotating the end effector E, which is the working part of the robot RO, around a main rotation axis ax1 that extends in a first direction perpendicular to the base 21 (hereinafter sometimes referred to as "rotation"). The outer rotor 3 has a rotor section 31 that is pivotally supported on the frame 22 so as to be rotatable around the main rotation axis ax1 via a bearing 23, and a gear 32 that is externally fitted to the rotor section 31. The gear 32 meshes with a gear 241 attached to the output shaft 24a of the motor 24, and the rotor section 31 is driven and rotated in both directions by the motor 24. The rotor section 31 has a hollow cylindrical shape, and an inner rotor 6 is fitted inside the cylindrical space 31a.

[0025] Furthermore, as shown in Figure 6, the rotor portion 31 has a piping passage 31p formed inside that communicates with the piping passage 61p of the inner rotor 6 and the piping passage 4p of the bracket 4.

[0026] Bracket 4 is a structural member that pivotally supports the oscillating arm 5. Bracket 4 is fixed to the tip of the rotor section 31 and is configured to rotate together with the outer rotor 3 as the outer rotor 3 rotates. The oscillating arm 5 is pivotally supported on bracket 4, with the oscillating axis ax2 being the central axis of the pivot point 4x located on bracket 4. This oscillating axis ax2 is positioned in space at an angle that intersects with the main rotation axis ax1.

[0027] Furthermore, as shown in Figure 6, the bracket 4 has a piping passage 4p formed inside that communicates with the piping passage 31p of the outer rotor 3 and the piping passage 51p of the swing arm 5.

[0028] The oscillating arm 5 is a mechanism equivalent to a robot hand, mounted on the bracket 4 and capable of attaching the suction head 10, which is the end effector E. The oscillating arm 5 has an arm portion 51 and a fixing device 52. The arm portion 51 is pivotally supported at the pivot point 4x of the bracket 4 at the pivot center 5a located near the base end of the arm portion 51, allowing it to swing around the pivot axis ax2. The arm portion 51 is also configured to be capable of attaching the suction head 10 by clamping the fixing device 52 to its tip. Furthermore, the oscillating arm 5 has a pivot point 5x of the driven link axis ax4 at a pivot portion 5b that swings around the pivot axis ax2, for example, in the middle portion of the arm portion 51.

[0029] Furthermore, the swing arm 5 has a pivot point 5x formed on the swing portion 5b of the arm section 51, to which the tip 8b of the intermediate link 8, described later, is pivotally supported. Here, the swing portion 5b refers to the part of the member of the swing arm 5 that is located at a predetermined distance from the axis of the swing axis ax2. In this example, the swing portion 5b is positioned in the longitudinal direction on a surface (side surface) of the member of the arm section 51 that is parallel to the swing axis ax2, at the same position as the swing center 5a of the arm section 51.

[0030] Furthermore, as shown in Figure 6, the arm portion 51 has a piping passage 51p formed inside that communicates with the piping passage 4p of the bracket 4 and the piping passage 11p of the suction head 10.

[0031] The inner rotor 6 (second rotor) is a rotating shaft that supplies the driving force to oscillate the end effector E around the pivot axis ax2. As shown in Figure 6, in this example, the inner rotor 6 is inserted into the cylindrical space 31a of the rotor portion 31 of the outer rotor 3. It has a rotor portion 61 that is pivotally supported on the rotor portion 31 so as to be able to rotate independently of the outer rotor 3 around the main rotation axis ax1 via a ball bearing 33, and a gear 62 that is externally fitted to the rotor portion 61. The gear 62 meshes with a gear 251 attached to the output shaft 25a of the motor 25, and the rotor portion 61 is driven and rotated in both directions by the motor 24.

[0032] Furthermore, as shown in Figure 6, the rotor section 61 has a piping passage 61p formed inside that communicates with an external suction pump (not shown) through the piping passage 31p of the outer rotor 3 and an electromagnetic air valve (not shown) located in the main body 2.

[0033] The drive link 7 is a drive-side link mechanism for transmitting the driving force related to the oscillation to the oscillating arm 5. The drive link 7 is fixed to the tip of the rotor section 61 and is configured to rotate together with the inner rotor 6 as the inner rotor 6 rotates. The drive link 7 also has a pivot point 7x for the drive link shaft ax3 on a rotating portion 7a, such as the outer circumference of the drive link 7, which is centered on the main rotation axis ax1. An intermediate link 8 is rotatably supported around this drive link shaft ax3.

[0034] The intermediate link 8 is a driven link mechanism for transmitting the driving force related to the swinging motion to the swing arm 5. The intermediate link 8 is pivotally supported on the drive link 7 at its base end 8a (hereinafter sometimes referred to as the "first part") so as to be rotatable around the drive link shaft ax3, which is the central axis of the pivot point 7x located on the rotating part 7a of the drive link 7. Here, the rotating part 7 refers to the part of the member of the drive link 7 that is located at a predetermined distance from the axis of the drive link shaft ax3.

[0035] Furthermore, as described above, the intermediate link 8 is pivotally supported on the rocking arm 5 at its tip portion 8b (hereinafter sometimes referred to as the "second portion") so as to be rotatable around the driven link axis ax4, which is the central axis of the pivot point 5x located on the rocking portion 5b of the arm portion 51 of the rocking arm 5.

[0036] In the above configuration, in mechanism 1, the positional relationship between each element is configured such that the main rotation axis ax1, the oscillation axis ax2, the drive link axis ax3, and the driven link axis ax4 intersect at a single point P0 in space, as shown in Figure 3. Furthermore, in mechanism 1, one or more of the following may be orthogonal: the main rotation axis ax1 and the oscillation axis ax2, the main rotation axis ax1 and the driven link axis ax4, the oscillation axis ax2 and the driven link axis ax4, and the drive link axis ax3 and the driven link axis ax4.

[0037] With the above configuration, the suction head 10, which is the end effector E, can rotate together with the outer rotor 3 as the outer rotor 3 rotates.

[0038] Furthermore, the rotation of the inner rotor 6 relative to the outer rotor 3 allows the oscillating arm 5 to oscillate around the oscillating axis ax2. In this case, the angle of oscillation of the oscillating arm 5 is determined based on the difference in rotation angles between the inner rotor 6 and the outer rotor 3. The range of angles in which the oscillating arm 5 can oscillate may be, for example, from the vertical to the horizontal.

[0039] Furthermore, mechanism 1 may be configured to include a suction head 10 as an end effector E.

[0040] The suction head 10 is supported at the lower end of the oscillating arm 5 and has a frame portion 11 and a suction portion 12, and has the function of adsorbing and holding the article OB from above. The suction portion 12 has an air intake hole 12a on its lower surface. The frame portion 11 has a piping passage 11p formed inside that communicates with the piping passage 51p of the oscillating arm 5, and the air intake hole 12a is connected to a suction pump or the like (not shown) through the piping passage 11p. By applying negative pressure through the air intake hole 12a while the lower surface of the suction portion 12 is in contact with the upper surface of the article OB loaded on the conveyor TM, the article OB can be adsorbed and held.

[0041] The control unit CT shown in Figure 1 is electrically connected to the motor and solenoid valve of mechanism 1 and is implemented as a computer equipped with, for example, a general CPU (Central Processing Unit), RAM (Random Access Memory), and a program to be executed on them. The control unit CT realizes the functions of mechanism 1 by reading the control program related to mechanism 1 from a storage device or the like into RAM and executing it. For example, it may output a control signal calculated based on an image of the item OB related to picking acquired by an imaging means (not shown) to pick up the item OB that is loaded onto the conveyor and transported irregularly, change the rotation angle of the item OB in three-dimensional space, and perform an operation to transfer the item OB to a plane at a different angle from the conveyor.

[0042] <Operation of the rotational oscillating mechanism 1> The operation of the rotational oscillating mechanism 1, which has the above configuration, will be described below. Figures 8 to 10 are schematic diagrams illustrating the operation of the mechanism 1.

[0043] (Rotation) Figures 8-10 are schematic diagrams showing how the end effector E rotates. According to mechanism 1, as shown in Figures 8-10, the outer rotor 3 rotates around the main rotation axis ax1 (arrow R3 in Figures 8-10), and as the outer rotor 3 rotates, the end effector E rotates together with the outer rotor 3 (arrow R1 in Figure 8).

[0044] (rocking motion) Figures 8-10 are schematic diagrams showing how the angle of oscillation of the end effector E increases in that order. In mechanism 1, as described above, the main rotation axis ax1, the oscillation axis ax2, the drive link axis ax3, and the driven link axis ax4 are configured to intersect at a single point P0 in space, as shown in Figures 8-10.

[0045] According to this mechanism 1, when the inner rotor 6 rotates counterclockwise relative to the outer rotor 3 in a field of view facing P0 with respect to the outer rotor 3, driven by motors 24 and 25, the drive link 7 rotates together with the rotation of the inner rotor 6 around the main rotation axis ax1 (arrow R7 in Figures 9 and 10), and the pivot point 7x located on the rotating portion 7a of the drive link 7 rotates in the same direction.

[0046] At this time, as described above, the intermediate link 8 is rotatably supported at its base end 8a on the pivot point 7x of the drive link 7, and at its tip end 8b on the pivot point 5x of the swing arm 5.

[0047] Therefore, as the drive link 7 rotates R7, the intermediate link 8 rotates counterclockwise around the drive link axis ax3 in a field of view facing P0, with the pivot point 7x of the drive link 7 and the pivot point 5x of the swing arm 5 as points of application (arrow R in Figures 9 and 10). 81 ), the intermediate link 8 rotates counterclockwise around the driven link axis ax4 with the pivot point 7x of the drive link 7 as the point of application, in a field of view facing the direction of P0 (arrow R in Figures 9 and 10). 82 ).

[0048] Simultaneously, the oscillating arm 5 rotates counterclockwise around the oscillating axis ax2 in a field of view facing P0, with the tip 8b (pivot point 5x) of the intermediate link 8 as the intermediate link 8 rotates (arrow R5 in Figures 9 and 10), and the end effector E attached to the oscillating arm 5 rotates in the same direction around the oscillating axis ax2 (arrow R2 in Figures 9 and 10). At this time, as shown in Figures 8 to 10, the oscillating angle of the oscillating arm 5 increases continuously as the relative amount of rotation of the inner rotor 6 with respect to the outer rotor 3 increases.

[0049] Through the above operations, the rotational oscillating mechanism 1 can achieve operation in which rotational and oscillating motions are performed in parallel using a link mechanism.

[0050] <Summary> As explained above, the rotational oscillating mechanism 1 is a rotational oscillating mechanism using links, comprising: a main body 2; a first rotor 3 extending in a first direction and supported by the main body 2 so as to be rotatable around the main rotation axis ax1; a bracket 4 supported by the first rotor 3 and rotatable together with the first rotor 3; a swing arm 5 to which an end effector E can be attached and supported by the bracket 4 so as to be swingable around the swing axis ax2; and a second oscillating mechanism extending in a first direction and supported by the main body 2 so as to be rotatable independently of the first rotor 3 around the main rotation axis ax1. The rotor 6, the drive link 7 supported by the second rotor 6 and rotatable together with the second rotor 6, and the intermediate link 8 in which a first portion 8a is supported by the drive link 7 so as to be rotatable around a drive link axis ax3 passing through the rotating portion 7a of the drive link 7, and a second portion 8b is supported by the rocking arm 5 so as to be rotatable around a driven link axis ax4 passing through the rocking portion 5b of the rocking arm 5, wherein the main rotation axis ax1, the rocking axis ax2, the drive link axis ax3, and the driven link axis ax4 intersect at a single point P0 in space.

[0051] With this configuration, the rotation of the first rotor 3 causes the oscillating arm 5 to rotate around the main rotation axis ax1, and the rotation of the second rotor 6 relative to the first rotor 3 causes the oscillating arm 5 to oscillate around the oscillation axis ax2. This makes it possible to realize a rotational-oscillating mechanism that performs rotational and oscillating movements in parallel using a link mechanism that does not have gear meshing parts that can be a source of foreign matter and that can be easily sealed.

[0052] Furthermore, the angle at which the oscillating arm 5 swings may be determined based on the difference in rotation angles between the second rotor 6 and the first rotor 3.

[0053] In another embodiment, the second rotor 6 rotates relative to the first rotor 3, causing the drive link 7 to rotate around the main rotation axis ax1 along with the rotation of the second rotor 6, the intermediate link 8 to rotate around the drive link axis ax3 in conjunction with the rotation of the drive link 7, and the intermediate link 8 to rotate around the driven link axis ax4, and the oscillating arm 5 to rotate around the oscillating axis ax2 in conjunction with the rotation of the intermediate link 8.

[0054] This configuration makes it possible to achieve rotational and oscillating motion by performing rotational and oscillating motions in parallel using a link mechanism.

[0055] ≪Variations≫ Although a rotational oscillating mechanism 1 according to an embodiment has been described, this disclosure is not limited in any way to the above-described embodiment, except for its essential characteristic components. Below, a modification will be described as an example of such a form.

[0056] (1) In the mechanism 1 according to the embodiment, the inner rotor 6, which is the second rotor that drives the oscillation of the oscillation arm 5, is fitted into the cylindrical space 31a of the rotor portion 31 of the outer rotor 3, which is the first rotor that drives the oscillation of the oscillation arm 5. However, the second rotor and the first rotor only need to be able to rotate independently around the main rotation axis, and for example, the first rotor that drives the oscillation of the oscillation arm 5 may be fitted into the cylindrical space of the second rotor that drives the oscillation of the oscillation arm 5.

[0057] (2) Although the mechanism 1 according to the embodiment is shown as an example in which it is suspended at the tip of a parallel link type robot arm, it may also be configured to be attached to the working part of a vertical or horizontal articulated robot or a Cartesian robot.

[0058] ≪Additional Information≫ The embodiments described above are all preferred examples of the present invention. The numerical values, shapes, materials, components, arrangement positions and connection configurations of the components, processes, and order of processes shown in the embodiments are examples only and are not intended to limit the present invention.

[0059] Furthermore, the order in which the above methods are performed is illustrative for the purpose of specifically illustrating the present invention, and may be performed in a different order. Also, some of the above methods may be performed simultaneously (in parallel) with other methods. [Industrial applicability]

[0060] A rotational oscillating mechanism using a link according to one aspect of this disclosure can be suitably used as an automated picking means in factory production lines, logistics warehouses, etc., for picking up objects such as products, intermediate products, and components supplied to a process from conveyors, containers, etc., and transferring them to a later stage. [Explanation of Symbols]

[0061] 1. Rotational oscillating mechanism 2 Main unit 21 Base 22 frames 23 Bearings 24, 25 motors 24a, 25a output shaft 241, 251 gear 3. Outer rotor (first rotor) 31 Rotor section 31a Cylinder space 31p Piping path 31p 32 gears 33 Ball bearings 4 brackets 4x pivot points 4p pipe line 5. Swivel Arm 5a Oscillation center 5b Oscillating part 5x pivot point 51 Arm section 51p Pipeline 52 Fixtures 6. Inner rotor (second rotor) 61 Rotor section 61p Pipeline 62 gears 7 Drive link 7a Rotating part 7x pivot point 8 Intermediate Links 8a Proximal end (first portion) 8b Tip (second part) 10 Suction Heads 11 frames 11p Piping path 12 Adsorption part 12a Intake port ax1 Main axis of rotation (first direction) ax2 oscillating axis ax3 drive link shaft ax4 Driven link shaft

Claims

1. A rotational oscillating mechanism using links, A first rotor extending in a first direction and supported so as to be rotatable around a main rotation axis, A bracket supported by the first rotor and rotatable together with the first rotor, An end effector can be attached, and a pivot arm supported by the bracket so as to be able to pivot around a pivot axis, A second rotor extends in the first direction and is supported to be rotatable independently of the first rotor around the main rotation axis, A drive link supported by the second rotor and rotatable together with the second rotor, The device comprises a first part supported by the drive link so as to be rotatable around a drive link shaft passing through the rotating portion of the drive link, and a second part supported by the rocking arm so as to be rotatable around a driven link shaft passing through the rocking portion of the rocking arm, The main rotation axis, the pivot axis, the drive link axis, and the driven link axis intersect at a single point in space. Rotational oscillating mechanism.

2. The rotation of the first rotor causes the oscillating arm to rotate around the main rotation axis, As the second rotor rotates relative to the first rotor, the oscillating arm oscillates around the oscillating axis. The rotational oscillating mechanism according to claim 1.

3. As the second rotor rotates relative to the first rotor, The drive link rotates around the main rotation shaft together with the rotation of the second rotor. The intermediate link rotates around the drive link shaft in conjunction with the rotation of the drive link, and also rotates around the driven link shaft. The swing arm rotates around the swing axis in conjunction with the rotation of the intermediate link. The rotational oscillating mechanism according to claim 1.

4. The angle at which the swinging arm swings is determined based on the difference in rotation angles between the second rotor and the first rotor. The rotational oscillating mechanism according to claim 1.

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