robot

Abstract

To provide a robot capable of generating relative rotation between first and second members, with smaller torque.SOLUTION: A robot 10 comprises: a first member 11; a second member 12; a joint part 13; a linear motion motor 21 which has a long piece 21a extending in one direction and a short piece 21b movable along the long piece 21a; and a link member 29 which has a second end part 29b coupled to the second member 12 rotatably, and a first end part 29a coupled to the short piece 21b rotatably. The robot 10 moves the short piece 21b by supply of power to the linear motion motor 21, for generating moment around the joint part 13 on the second member 12, via the link member 29, and generates relative rotation motion between the first and second members 11, 12.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, as disclosed in the following Patent Document 1, there is known a robot that includes a first member (e.g., an upper arm), a second member (e.g., a forearm), and a joint that connects both members. A motor and a reducer are provided in the joint, and the driving force generated by the motor causes the second member to rotate relative to the first member via the reducer. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2020-508035 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robot disclosed in Patent Document 1, a motor that generates a driving force that rotates the first member and the second member is provided in a joint, so when the motor is driven with a load applied to the tip of the second member, which is the forearm, a large torque needs to be generated. In other words, a large torque needs to be generated in order to generate torque near the rotation center of the first member and the second member. Therefore, in the robot disclosed in Patent Document 1, a motor that generates a large torque needs to be used, assuming the load applied to the tip of the forearm.

[0005] Therefore, the present invention has been made in consideration of the above-mentioned conventional technology, and an object of the present invention is to generate relative rotation between a first member and a second member with a smaller torque. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a joint portion that connects the first member and the second member to each other so as to be rotatable, and a joint portion that is shaped to extend along the extension direction of the first member and is disposed on the first member. No. 1 Long shakuchi and said No. 1 Can be moved along the long element No. 1 A short member and No. 1 a linear motor, one end portion rotatably connected directly or indirectly to the second member, No. 1 and the other end portion is rotatably connected to the short member. No. 1 A link member, a fixing member having a shape extending in one direction is fixed to the second member, No. 1 The one end of the link member is rotatably connected to the fixed member, and the fixed member is constituted by the second long element of a second linear motor having a second long element and a second short element, or by a second long element member fixed to the second long element, and the second long element is formed in a shape extending along the extension direction of the second member, and one end is rotatably connected to the second short element; No. 1 long shakuzu or the above No. 1 A second link member is provided having a second end rotatably connected to the first long member fixed to the long member, No. 1 The power supply to the linear motor No. 1 For long elements No. 1 By moving the short element, No. 1 The robot generates a moment around the joint in the second member via a link member, causing a relative rotational movement between the first member and the second member, and by supplying power to the second linear motor, the second short member is moved along the second long member, causing a moment around the joint in the first member via the second link member, thereby causing a relative rotational movement between the first member and the second member.

[0007] In the present invention, by supplying power to a linear motor having a long element arranged on a first member, a moment is generated around the joint in the second member via the link member, causing relative rotation between the first member and the second member. Therefore, compared to a configuration in which a rotational torque is generated near the joint, it is possible to cause relative rotation between the first member and the second member with a smaller torque. Moreover, since the linear motor is arranged on the first member and is not housed in the joint, it is possible to avoid an increase in the size of the joint.

[0009] Also Since the link member is rotatably connected to the fixed member having a shape extending in one direction, the second member is suitable for a robot configured as an arm, for example.

[0011] Also Since the relative rotational movement between the first member and the second member is caused by using a linear motor and a second linear motor, the torque of each linear motor can be reduced, and the linear motors can be made smaller.

[0012] The present invention relates to a joint portion that connects a first member and a second member so as to be rotatable with respect to each other, and a joint portion that is shaped to extend in one direction and is disposed on the first member. No. 1 Long shakuchi and said No. 1 Can be moved along the long element No. 1 A short member and No. 1 a linear motor, one end portion rotatably connected directly or indirectly to the second member, No. 1 and the other end portion is rotatably connected to the short member. No. 1 A link member, a fixing member having a shape extending in one direction is fixed to the second member, No. 1 The one end of the link member is rotatably connected to the fixed member, and the fixed member is constituted by the second long element of a second linear motor having a second long element and a second short element, or is constituted by a second long element member fixed to the second long element, and the one end is rotatably connected to the second short element, No. 1 long shakuzu or the above No. 1A second link member is provided having a second end rotatably connected to the first long member fixed to the long member, No. 1 By supplying power to the linear motor, No. 1 The short length is No. 1 By moving the long element along the No. 1 A moment is generated around the joint in the second member via a link member, and the second short element is moved along the second long element by supplying power to the second linear motor, thereby generating a moment around the joint in the first member via the second link member, thereby generating a relative rotational movement between the first member and the second member, No. 1 The timing at which the short element passes the dead point is set to be shifted from the timing at which the second short element passes the dead point.

[0013] In the present invention, by supplying power to a linear motor having a long element arranged on a first member, a moment is generated around the joint in the second member via the link member, causing relative rotation between the first member and the second member. Therefore, compared to a configuration in which a rotational torque is generated near the joint, it is possible to cause relative rotation between the first member and the second member with a smaller torque. Moreover, since the linear motor is arranged on the first member and is not housed in the joint, it is possible to avoid an increase in the size of the joint. In addition, the timing at which the short element passes the dead point is set to be shifted from the timing at which the second short element passes the dead point. At the timing when the short member passes the dead point, the second short member is not at the dead point. Also, at the timing when the second short member passes the dead point, the short member is not at the dead point. Therefore, even when the short member is at the dead point, the rotational movement between the first member and the second member via the link member can be continued, and even when the second short member is at the dead point, the rotational movement between the first member and the second member via the second link member can be continued. Therefore, the rotational movement between the first member and the second member can be made into a continuous series of movements.

[0014] The present invention relates to a joint portion that connects a first member and a second member so as to be rotatable with respect to each other, Along the first memberthe first linear motor having a first long element having an extendable portion and being arranged on the first member, and a first short element movable relative to the first long element along the portion of the first long element; a second linear motor having a second long element having a portion extending along the second member and a second short element movable relative to the second long element along the portion of the second long element; and a link member having one end rotatably connected to the first short element and the other end rotatably connected to the second short element, wherein when power is supplied to the first linear motor and the second linear motor, the first short element moves relative to the first long element and the second short element moves relative to the second long element, thereby causing a relative rotational movement between the first member and the second member.

[0015] In the present invention, when the first and second short members are slid by supplying power to the first and second linear motors, a force that changes the opening angle between the first and second members is applied by the link member, thereby causing a relative rotational movement between the first and second members. Therefore, the relative rotational movement between the first and second members can be caused by a smaller torque than in a configuration in which a rotational torque is generated near the joint. Moreover, since the linear motor is disposed on the first member and the second linear motor is disposed on the second member, and the two linear motors are not housed in the joint, the joint can be prevented from becoming large.

[0016] The present invention provides a linear motor having a first member, a second member, a joint portion connecting the first member and the second member to be rotatable with each other, a first long element having a portion extending in one direction and disposed on the first member, and a first short element movable relative to the first long element along the portion of the first long element, a second linear motor having a second long element having a portion extending along the second member and a second short element movable relative to the second long element along the portion of the second long element, and a link member having one end portion rotatably connected to the first short element and the other end portion rotatably connected to the second short element, wherein when power is supplied to the first linear motor and the second linear motor, the first short element moves relative to the first long element and the second short element moves relative to the second long element, thereby generating a relative rotational movement between the first member and the second member, The device further includes a first short member brake capable of switching the first short member between a state in which it is fixed to the first member and a state in which it is not fixed to the first member, and a second short member brake capable of switching the second short member between a state in which it is fixed to the second member and a state in which it is not fixed to the second member. ,before The first elongated element is supported so as to be displaceable in an extending direction of the first elongated element, and the second elongated element is supported so as to be displaceable in an extending direction of the second elongated element. There are .

[0017] In the present invention, when the first and second short members are slid by supplying power to the first and second linear motors, a force that changes the opening angle between the first and second members is applied by the link member, thereby causing a relative rotational movement between the first and second members. Therefore, the relative rotational movement between the first and second members can be caused by a smaller torque than in a configuration in which a rotational torque is generated near the joint. Moreover, since the linear motor is disposed on the first member and the second linear motor is disposed on the second member, and the two linear motors are not housed in the joint, the joint can be prevented from becoming large. Also When the first long element slides in the longitudinal direction, the movement range of the first short element can be expanded accordingly, and when the second long element slides in the longitudinal direction, the movement range of the second short element can be expanded accordingly, thereby expanding the relative rotation range between the first member and the second member.

[0018] The first and second elongated elements may have a plurality of teeth arranged in a longitudinal direction, and in this case, a pinion may be provided which meshes with the plurality of teeth of the first and second elongated elements.

[0019] In this embodiment, the relationship between the amount of sliding of the first long element relative to the first member and the amount of sliding of the second long element relative to the second member can be defined by the pinion. Effect of the Invention

[0022] As described above, according to the present invention, relative rotation between the first member and the second member can be caused with a smaller torque. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing a robot according to a first embodiment. [Diagram 2] 3A to 3C are diagrams for explaining the configuration of a linear motor provided in the robot. [Diagram 3] 13A and 13B are diagrams for explaining the configuration of a modified example of a linear motor provided in the robot. [Figure 4] 3(a) to 3(c) are diagrams illustrating the movement of the robot. [Diagram 5] FIG. 13 is a diagram showing a robot according to a modified example of the first embodiment. [Figure 6] 13(a) to 13(c) are diagrams illustrating the movement of the robot according to the second embodiment. [Figure 7] 13(a) to 13(b) are diagrams illustrating the movement of the robot according to the third embodiment. [Figure 8]13(a) to 13(b) are diagrams illustrating the movement of a robot according to a fourth embodiment. [Figure 9] 13A to 13C are diagrams illustrating the movement of the robot according to the fourth embodiment. [Figure 10] 13(a) to 13(c) are diagrams illustrating the movement of the robot according to the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0025] (First embodiment) As shown in FIG. 1, the robot 10 according to the first embodiment includes a first member 11, a second member 12, and a joint 13 that connects the first member 11 and the second member 12 to each other so that they can rotate. Both the first member 11 and the second member 12 are formed of arm-shaped members, but the present invention is not limited to this. The robot 10 may be configured, for example, as a part of a humanoid robot, or as a part of a multi-joint six-axis robot. When the robot 10 is a part of a humanoid robot, for example, the first member 11 may constitute the upper arm and the second member 12 may constitute the forearm. Alternatively, the first member 11 may constitute the forearm and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the trunk and the second member 12 may constitute the upper arm. Alternatively, the first member 11 may constitute the upper arm and the second member 12 may constitute the trunk. FIG. 1 illustrates a case in which a first member 11 constitutes an upper arm, and a second member 12 constitutes a forearm, with an end effector 14 being provided at the tip of the second member 12.

[0026] The joint portion 13 has a first part (not shown) that is connected to the first member 11 and a second part (second part) that is connected to the second member 12, and the first part and the second part are rotatably connected to each other.

[0027] A linear motor 21 is disposed on the first member 11. The linear motor 21 has a long element 21a fixed to the first member 11, and a short element 21b that moves relative to the long element 21a by the action of electromagnetic force caused by power supply to the linear motor 21. The long element 21a has a shape that extends linearly in one direction, and this extending direction passes through a position offset from the rotation axis 13a of the joint 13. However, this is not limited thereto, and the long element 21a may be disposed to extend in the radial direction of the rotation axis 13a so as to pass through the rotation axis 13a of the joint 13.

[0028] 2, the long element 21a may be composed of a plurality of armatures 23, and the short element 21b may be composed of a plurality of magnetic pole elements 24. Alternatively, as shown in FIG. 3, the long element 21a may be composed of a plurality of magnetic pole elements 24, and the short element 21b may be composed of a plurality of armatures 23.

[0029] In the configuration shown in Fig. 2, a large number of armatures 23 having coils (not shown) are arranged in one direction, so that the long element 21a is formed into a shape that extends along the extension direction of the first member 11. The short element 21b is configured to have a plurality of magnetic pole pieces 24 arranged so that N poles and S poles are staggered. When power is supplied to the armature 23, magnetic field lines passing through the magnetic pole pieces 24 and the short element 21b are generated, causing the short element 21b to slide along the long element 21a. The linear motor 21 configured as shown in Fig. 2 is configured, for example, by a brushless motor or an induction motor.

[0030] On the other hand, in the configuration shown in Fig. 3, the long element 21a is configured with many magnetic pole pieces 24 lined up in one direction with N poles and S poles alternated. The short element 21b is configured with multiple armatures 23 each having a coil. When power is supplied to the armatures 23, magnetic field lines M passing through the magnetic pole pieces 24 and the short element 21b are generated, causing the short element 21b to slide along the long element 21a. 3 The linear motor 21 shown in FIG. 1 is, for example, a DC motor that receives power through unillustrated brushes.

[0031] Returning to Fig. 1, as shown in Fig. 1, a fixed member 27 is fixed to the second member 12, and the robot 10 is provided with a link member 29 that connects the fixed member 27 and the short member 21b.

[0032] The fixing member 27 is configured by a member having integrally a long portion 27a extending from the rotation axis 13a of the joint portion 13 along the radial direction of the rotation axis 13a, and a protruding portion 27b protruding from the outer end of the long portion 27a in the rotation direction. Note that the shape of the long portion 27a is not limited to a shape extending linearly in the radial direction of the rotation axis 13a, and may be formed in a shape curved so as to deviate from the radial direction. In this case, the protruding portion 27b may be omitted. Also, even when the long portion 27a is formed linearly, the protruding portion 27b may be omitted.

[0033] The link member 29 is composed of a rod-shaped member extending linearly, and one end of the link member 29 (second end 29b which is the end on the second member 12 side) is rotatably connected to the protruding portion 27b of the fixed member 27. That is, the link member 29 is indirectly connected to the second member 12. The other end of the link member 29 (first end 29a which is the end on the first member 11 side) is rotatably connected to the short member 21b. Note that when the protruding portion 27b is omitted, one end of the link member 29 is rotatably connected to the long portion 27a of the fixed member 27.

[0034] Here, the movement of the robot 10 will be described with reference to Figs. 4(a) to (c). In Fig. 4(a), the first member 11 is at the 12 o'clock position, and the extension line of the long element 21a is shifted to the left side of the figure with respect to the rotation axis 13a, and the second member 12 is in a position where the outer end is located to the left side of the extension line of the long element 21a (7 o'clock position). At this time, the short element 21b is located near the inner end of the long element 21a. In this state, when power is supplied to the linear motor 21 so as to move the short element 21b radially inward along the long element 21a, a moment is generated in the second member 12 around the joint portion 13 via the link member 29 in a direction in which the angle between the first member 11 and the second member 12 approaches 180 degrees. As a result, the second member 12 rotates in the counterclockwise direction from the state of Fig. 4(a).

[0035] When the short element 21b reaches the inner end of the long element 21a, the second member 12 is at an angle of about 180 degrees to the first member 11. At this time, the power supply to the linear motor 21 is controlled so that the short element 21b moves radially outward. As a result, the short element 21b starts to slide radially outward along the long element 21a. At this time, the second member 12 continues to rotate in the counterclockwise direction. When the short element 21b slides further, the second member 12 can take the position shown in FIG. 4(b) (4 o'clock position) and the position shown in FIG. 4(c) (2 o'clock position). At this time, the second end 29b of the link member 29 describes a circumferential path t1 (see FIG. 1) centered on the rotation axis 13a, and the first end 29a of the link member 29 describes a linear path t2 (see FIG. 1) along the long element 21a. In other words, the long element 21a, the short element 21b, the fixed member 27, and the link member 29 form a crank mechanism that converts motion between reciprocating linear motion and circular motion.

[0036] As described above, in this embodiment, by supplying power to the linear motor 21 having the long element 21a arranged in the first member 11, a moment is generated in the second member 12 around the joint portion 13 via the link member 29, causing a relative rotational movement between the first member 11 and the second member 12. Therefore, compared to a configuration in which a rotational torque is generated in the vicinity of the joint portion 13, it is possible to cause a relative rotational movement between the first member 11 and the second member 12 with a smaller torque. Moreover, since the linear motor 21 is arranged in the first member 11 and is not configured to be housed in the joint portion 13, an increase in the size of the joint portion 13 can be avoided.

[0037] 1, the fixed member 27 is fixed to the second member 12, and the second end 29b of the link member 29 is connected to the fixed member 27, but the configuration is not limited to this. For example, the fixed member 27 may be omitted, and the second end 29b of the link member 29 may be directly connected to the second member 12.

[0038] 5, the fixed member 27 may have an inward extending portion 27c extending from the protruding portion 27b in a direction approaching the joint portion 13, and the link member 29 may be rotatably coupled to the tip of the inward extending portion 27c. In this case, the radius of the circular path t1 drawn by the second end portion 29b of the link member 29 can be made smaller. Therefore, the ratio of the rotation angle to the sliding amount of the short member 21b can be made larger.

[0039] Instead of the fixing member 27 having the inward extending portion 27c, the protruding portion 27b may protrude in the rotation direction from the inner end portion or the vicinity of the inner end portion of the long portion 27a.

[0040] Second embodiment 6(a) to (c) show a second embodiment of the present invention. Note that the same components as those in the first embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0041] In the first embodiment of the robot 10, the fixed member 27 is configured by a member fixed to the second member 12, whereas in the second embodiment, the fixed member 27 is configured as a second elongated member member 33 fixed to a second elongated member 31a of a second linear motor 31 provided on the second member 12.

[0042] The second linear motor 31 has a second long element 31a fixed to the second member 12, and a second short element 31b that moves along the second long element 31a by the action of electromagnetic force caused by power supply to the second linear motor 31. The second linear motor 31 has a similar configuration to the linear motor 21 shown in Fig. 1, and has multiple armatures and multiple magnetic poles.

[0043] The long element 21a of the linear motor 21 is disposed so as to extend in the radial direction of the rotation axis 13a so as to pass through the rotation axis 13a of the joint 13, and a first long element member 35 is fixed to one end of the long element 21a. Note that the long element 21a may be disposed so that its extension line passes through a position shifted from the rotation axis 13a, in which case the first long element member 35 may be omitted.

[0044] The second long element 31a has the same configuration as the long element 21a. That is, the second long element 31a is arranged so as to extend in the radial direction of the rotation axis 13a, and a second long element member 33 is fixed to one end of the second long element 31a. The second long element 31a may be arranged so that its extension line passes through a position shifted from the rotation axis 13a, in which case the second long element member 33 may be omitted.

[0045] A first end 29a (end on the first member 11 side) of the link member 29 is rotatably connected to the short element 21b of the linear motor 21, and a second end 29b (end on the second member 12 side) of the link member 29 is rotatably connected to the second long element 33. The first end 29a of the link member 29 and the short element 21b are connected to each other so that an extension line of a displacement locus t3 when the short element 21b slides passes through a position shifted from the rotation axis 13a, but may be connected so that an extension line of the displacement locus t3 passes through the rotation axis 13a. The second end 29b of the link member 29 may be connected to the second member 12, or may be connected to the second long element 31a of the second linear motor 31. The second end 29b is connected to a position shifted from an extension line of the second long element 31a, but may be connected to an extension line of the second long element 31a.

[0046] The robot 10 of the second embodiment is provided with a second link member 37 in addition to the link member 29. One end of the second link member 37 (a second end 37b which is the end on the second member 12 side) is rotatably connected to the second short member 31b. The connection position between the second end 37b of the second link member 37 and the second short member 31b is arranged so that an extension line of a displacement trajectory t4 when the second short member 31b slides passes through a position shifted from the rotation axis 13a, but may be arranged so that an extension line of the displacement trajectory t4 passes through the rotation axis 13a.

[0047] The other end of the second link member 37 (first end 37a, which is the end on the first member 11 side) is rotatably connected to the first long element member 35. The first end 37a of the second link member 37 may be connected to the first member 11, or may be connected to the long element 21a of the linear motor 21. The first end 37a is disposed at a position shifted from the extension line of the long element 21a, but may also be disposed on the extension line of the long element 21a.

[0048] The linear motor 21 and the second linear motor 31 are interlocked. That is, the linear motor 21 and the second linear motor 31 are driven simultaneously when the first member 11 and the second member 12 rotate relative to each other. However, the timing when the short member 21b reverses its sliding direction and the timing when the second short member 31b reverses its sliding direction are shifted from each other. That is, the timing when the link member 29 and the second long member 33 become aligned (the timing when the second short member 31b passes the dead point) and the timing when the second link member 37 and the first long member 35 become aligned (the timing when the short member 21b passes the dead point) are shifted from each other. Therefore, even when one of the link member 29 and the second link member 37 becomes the dead point, the moment around the joint portion 13 can be continuously generated.

[0049] Fig. 6(a) shows a state in which the first member 11 and the second member 12 are substantially in a straight line (approximately 180 degrees), and when bending the second member 12 from this state relative to the first member 11, the short element 21b and the second short element 31b are slid in a direction away from the joint portion 13. As a result, a moment is generated in the first member 11 and the second member 12 about the joint portion 13 in a direction in which the angle formed by the long element 21a and the second long element 31a becomes smaller, and this causes a relative rotational movement between the first member 11 and the second member 12. Then, the position shown in Fig. 6(b) is reached, and when further rotation is made from this position, the second link member 37 and the first long element 35 first become in a straight line, so that the second short element 31b is at a dead point. At this time, too, the link member 29 and the second long member 33 are not yet in a straight line, so a moment continues to be generated in the first member 11 and the second member 12 about the joint portion 13. Therefore, the relative rotational movement between the first member 11 and the second member 12 continues. The second linear motor 31 is power-controlled so as to reverse the sliding direction of the second short member 31b at the timing when the second link member 37 and the first long member 35 become in a straight line.

[0050] After that, when the relative rotation between the first member 11 and the second member 12 continues, the link member 29 and the second long member 33 become linear, so that the short member 21b is at the dead point. At this time, the second link member 37 and the first long member 35 are not linear, so that a moment around the joint 13 continues to be generated in the first member 11 and the second member 12. Therefore, the relative rotation between the first member 11 and the second member 12 continues. The linear motor 21 is power-controlled so that the sliding direction of the short member 21b is reversed at the timing when the link member 29 and the second long member 33 become linear. Then, when the short member 21b and the second short member 31b slide in the direction approaching the joint 35, they assume the posture shown in FIG. 6(c).

[0051] In the second embodiment, a linear motor 21 and a second linear motor 31 are used to generate relative rotational movement between the first member 11 and the second member 12, so that the torque of each linear motor 21, 31 can be further reduced and the linear motor 21 can be made smaller.

[0052] Also, the timing when the short member 21b passes the dead point and the timing when the second short member 31b passes the dead point are shifted from each other. That is, the second short member 31b is not at the dead point when the short member 21b passes the dead point. Also, the second short member 31b is not at the dead point when the second short member 31b passes the dead point. Therefore, even if the short member 21b is at the dead point, the rotational movement between the first member 11 and the second member 12 via the link member 29 can be continued, and even if the second short member 31b is at the dead point, the rotational movement between the first member 11 and the second member 12 via the second link member 37 can be continued. Therefore, the rotational movement between the first member 11 and the second member 12 can be made into a series of continuous movements.

[0053] Third embodiment 7(a) and (b) show a third embodiment of the present invention. Note that the same components as those in the first embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0054] The robot 40 of the third embodiment includes a first linear motor 21, a second linear motor 31, and a link member 42. The first linear motor 21 includes a first long element 21a fixed to the first member 11, and a first short element 21b that moves along the first long element 21a with respect to the first long element 21a due to the action of electromagnetic force caused by power supply to the first linear motor 21. The first linear motor 21 has a configuration similar to that of the linear motor 21 shown in FIG. 1, and includes a plurality of armatures 23 and a plurality of magnetic pole pieces 24. The first long element 21a has a shape that extends linearly in one direction, and the extension direction of the first long element 21a may pass through the rotation axis 13a of the joint portion 13, or may be deviated from the rotation axis 13a.

[0055] The second linear motor 31 has a second long element 31a fixed to the second member 12, and a second short element 31b that moves along the second long element 31a with respect to the second long element 31a due to the action of electromagnetic force caused by power supply to the second linear motor 31. The second linear motor 31 has a configuration similar to that of the linear motor 21 shown in Fig. 1, and has a plurality of armatures and a plurality of magnetic poles. The second long element 31a has a shape that extends linearly in one direction, and the extension direction of the second long element 31a may pass through the rotation axis 13a of the joint portion 13 or may be deviated from the rotation axis 13a.

[0056] The link member 42 connects the first short element 21b and the second short element 31b. That is, a first end 42a (an end on the first member 11 side) of the link member 42 is rotatably connected to the first short element 21b, and a second end 42b (an end on the second member 12 side) of the link member 42 is rotatably connected to the second short element 31b.

[0057] The first linear motor 21 and the second linear motor 31 are linked together. That is, the first linear motor 21 and the second linear motor 31 are driven simultaneously when the first member 11 and the second member 12 rotate relatively to each other. When the first short member 21b and the second short member 31b are slid in a direction away from the joint portion 13, a moment is generated in the first member 11 and the second member 12 about the joint portion 13 in a direction in which the angle formed by the first long member 21a and the second long member 31a becomes smaller. This causes a relative rotation between the first member 11 and the second member 12, and the position shown in FIG. 7(a) changes to the position shown in FIG. 7(b).

[0058] On the other hand, when the first short element 21b and the second short element 31b are slid toward the joint portion 13, a moment is generated in the first member 11 and the second member 12 about the joint portion 13 in a direction in which the angle between the first long element 21a and the second long element 31a increases. This causes a relative rotation between the first member 11 and the second member 12, and the position shown in Fig. 7(b) changes to the position shown in Fig. 7(a).

[0059] In the third embodiment, when the first short member 21b and the second short member 31b are slid by supplying power to the first linear motor 21 and the second linear motor 31, a force that changes the opening angle between the first member 11 and the second member 12 is applied by the link member 42, thereby causing a relative rotational movement between the first member 11 and the second member 12. Therefore, compared to a configuration in which a rotational torque is generated near the joint portion 13, it is possible to cause a relative rotational movement between the first member 11 and the second member 12 with a smaller torque. Moreover, since the linear motor 21 is disposed on the first member 11 and the second linear motor 31 is disposed on the second member 12, and the two linear motors 21 are not housed in the joint portion 13, the joint portion 13 can be prevented from becoming large.

[0060] It should be noted that the explanation of the other configurations, operations and effects will be omitted, but the explanations of the first and second embodiments can be applied to the third embodiment.

[0061] (Fourth embodiment) 8(a) shows a fourth embodiment of the present invention. Note that the same components as those in the third embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0062] In the robot 40 of the third embodiment, the first long element 21a is fixed to the first member 11 so as not to be displaced relative to the first member 11, and the second long element 31a is fixed to the second member 12 so as not to be displaced relative to the second member 12. In contrast, in the robot 40 of the fourth embodiment, the first long element 21a is arranged slidably relative to the first member 11, and the second long element 31a is arranged slidably relative to the second member 12. In other words, the first long element 21a is supported by the first member 11 so as to be displaceable in the extension direction of the first long element 21a, and the second long element 31a is supported by the second member 12 so as to be displaceable in the extension direction of the second long element 31a.

[0063] The first member 11 is provided with a first guide portion 45 that allows the first long element 21a to move in the extension direction of the first long element 21a while preventing it from moving in a direction perpendicular to the extension direction of the first long element 21a, and the second member 12 is provided with a second guide portion 46 that allows the second long element 31a to move in the extension direction of the second long element 31a while preventing it from moving in a direction perpendicular to the extension direction of the second long element 31a.

[0064] The first long element 21a and the second long element 31a have a plurality of teeth 21c, 31c arranged in the longitudinal direction. A pinion 47 that meshes with the plurality of teeth 21c of the first long element 21a and the plurality of teeth 31c of the second long element 31a is provided concentrically with the rotation axis 13a in the joint portion 13. The pinion 47 is provided so as to be freely rotatable.

[0065] The first short element 21b is provided with a first short element brake 49 that temporarily fixes the first short element 21b to the first member 11, and the second short element 31b is provided with a second short element brake 50 that temporarily fixes the second short element 31b to the second member 12. That is, the first short element brake 49 is configured to be able to switch the first short element 21b between a state in which it is fixed to the first member 11 and a state in which it is not fixed. The second short element brake 50 is configured to be able to switch the second short element 31b between a state in which it is fixed to the second member 12 and a state in which it is not fixed.

[0066] The first long element 21a is provided with a first long element brake 51 that temporarily fixes the first long element 21a to the first member 11, and the second long element 31a is provided with a second long element brake 52 that temporarily fixes the second long element 31a to the second member 12. That is, the first long element brake 51 is configured to be able to switch the first long element 21a between a state in which it is fixed to the first member 11 and a state in which it is not fixed. The second long element brake 52 is configured to be able to switch the second long element 31a between a state in which it is fixed to the second member 12 and a state in which it is not fixed.

[0067] The first long element brake 51 is actuated to fix the first long element 21a to the first member 11 and Short length In a state in which the child brake 49 is not activated and the first short element 21b is not fixed, and the second long element brake 52 is activated and the second long element 31a is fixed to the second member 12, and the second short element brake 50 is not activated and the second short element 31b is not fixed, the robot 40 of the fourth embodiment performs the same operation as the robot 40 of the third embodiment. Therefore, when the first short element 21b and the second short element 31b each slide in a direction away from the joint portion 13, a relative rotation operation occurs between the first member 11 and the second member 12 in a direction in which the second member 12 is bent more relative to the first member 11, as shown in Figures 8(a) and 8(b).

[0068] In the state shown in FIG. 8(a), when the first short element brake 49 and the second short element brake 50 are activated while the first long element brake 51 and the second long element brake 52 are switched to a non-activated state, the first short element 21b is fixed to the first member 11, the second short element 31b is fixed to the second member 12, and the first long element 21a and the second long element 31a are slidable. In this state, when power is supplied to the first linear motor 21 and the second linear motor 31, the first long element 21a slides relative to the first short element 21b and the first member 11, and the second long element 31a slides relative to the second short element 31b and the second member 12. Accordingly, a moment of rotation about the joint portion 13 is generated in the first member 11 and the second member 12 via the link member 42. For example, when the first long element 21a and the second long element 31a each slide toward the joint portion 13 (the pinion 47), a force acts to press the second short element 31b against the link member 42. Therefore, a force including a component that presses the second long element 31a downward in FIG. 8(a) is generated as a reaction force. As a result, the second member 12 rotates clockwise from the state in FIG. 8(a). As a result, the robot 40 becomes in the state shown in FIG. 9. At this time, since the first long element 21a and the second long element 31a have slid from the state in FIG. 8(a), the movement range of the first short element 21b and the second short element 31b is expanded.

[0069] Therefore, in the fourth embodiment, the first long element 21a slides in the longitudinal direction and the second long element 31a slides in the longitudinal direction, so that the movement range of the first short element 21b can be increased, and therefore the relative rotation range between the first member 11 and the second member 12 can be increased.

[0070] It should be noted that the explanations of the other configurations, operations and effects will be omitted, but the explanations of the first to third embodiments can be applied to the fourth embodiment.

[0071] Fifth embodiment 10(a) and (b) show a fifth embodiment of the present invention. Note that the same components as those in the first embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0072] In the robot 40 of the third embodiment, the first short element 21b and the second short element 31b are connected by a link member 42, and by sliding the first short element 21b and the second short element 31b, a moment is generated in the second member 12 around the joint portion 13. This operation is similar to that of the robot 60 of the fifth embodiment. Furthermore, in the robot 60 of the fifth embodiment, a pinion 62 that rotates by the sliding of the first long element 21a of the first linear motor 21 rotates a rotating member 64 fixed to the second member 12, thereby generating a relative rotational operation between the first member 11 and the second member 12.

[0073] Specifically, unlike the third embodiment, the first long element 21a is not fixed to the first member 11, but is arranged to be slidable in the extension direction of the first long element 21a relative to the first member 11, as in the fourth embodiment. The first long element 21a is provided with a long element brake 51 that temporarily fixes the first long element 21a to the first member 11. The first long element 21a is also provided with a plurality of teeth 21c aligned in the extension direction. Meanwhile, the first short element 21b is provided with a short element brake 49 that temporarily fixes the first short element 21b to the first member 11.

[0074] The first member 11 is provided with a pinion 62 so as to mesh with the teeth 21c of the first long element 21a, and the pinion 62 rotates as the first long element 21a slides.

[0075] The joint portion 13 is provided with a rotating member 64 having an arc-shaped outer periphery, and teeth 64 a that mesh with the pinion 62 are formed on the outer periphery of the rotating member 64 .

[0076] Therefore, when power is supplied to the first linear motor 21 with the short element brake 49 operating and the long element brake 51 not operating, the first long element 21a slides relative to the first short element 21b, and the pinion 62 rotates accordingly. At this time, it is not necessary to supply power to the second linear motor 31. When the pinion 62 rotates, the rotating member 64 rotates about the rotation axis 13a of the joint portion 13, so that the second member 12 rotates relative to the first member 11. Therefore, the second member 12 can be rotated from the state shown in FIG. 10(a) to the state shown in FIG. 10(b).

[0077] On the other hand, when power is supplied to the first linear motor 21 and the second linear motor 31 with the long element brake 51 operating and the short element brake 49 not operating, the first short element 21b slides relative to the first long element 21a, and the second short element 31b slides relative to the second long element 31a. In this case, the second member 12 is rotated relative to the first member 11 by the same principle as in the third embodiment. Therefore, the second member 12 can be rotated from the state shown in Fig. 10(a) to the state shown in Fig. 10(c).

[0078] In the fifth embodiment, when power is supplied to the first linear motor 21 with the first short element 21b fixed to the first member, a moment is generated in the second member 12 around the joint portion 13 via the pinion 62 and the rotating member 64, causing a relative rotational movement between the first member 11 and the second member 12. When power is supplied to the first linear motor 21 and the second linear motor 31 with the first long element 21a fixed to the first member 11 and the first short element 21b not fixed, a moment is generated in the second member 12 around the joint portion 13 via the link member 42 due to the sliding of the first short element 21b and the second short element 31b, causing a relative rotational movement between the first member 11 and the second member 12. Since the first linear motor 21 is disposed in the first member 11 and is not housed within the joint portion 13, and the second linear motor 31 is disposed in the second member 12 and is not housed within the joint portion 13, it is possible to avoid increasing the size of the joint portion 13.

[0079] It should be noted that the description of other configurations, operations, and effects will be omitted, but the descriptions of the first and second embodiments can be applied to the fifth embodiment. [Explanation of symbols]

[0080] 10:Robot 11: First member 12: Second member 13: Joints 13a:Rotation axis center 21: First linear motor 21: Linear motor 21a: 1st long shakuji 21a: Long shakuzu 21b: 1st short shakuji 21b: short shakuzi 21c: Teeth 27: Fixing member 29: Link member 29a: First end 29b: Second end 31: Second linear motor 31a:Second long shakuji 31b: 2nd short shakuji 31c: Teeth 37: Second link member 37a: First end 37b: Second end 40: Robot 42: Link member 42a: First end 42b: Second end 47: Pinion 49: First movable brake 50: Second movable brake 51: First fixed brake 52: Second fixed brake 60: Robot 62: Pinion 64: Rotating member 64a: Tooth

Claims

1. A first member; A second member; and a joint portion that rotatably couples the first member and the second member to each other; a first linear motor having a first long element extending along a direction in which the first member extends and disposed on the first member, and a first short element movable along the first long element; a first link member having one end rotatably connected directly or indirectly to the second member and another end rotatably connected to the first short member; A fixing member having a shape extending in one direction is fixed to the second member, The one end of the first link member is pivotally coupled to the fixed member, the fixed member is constituted by a second long element of a second linear motor having a second long element and a second short element, or is constituted by a second long element member fixed to the second long element, The second elongated element is formed in a shape extending along the extension direction of the second member, a second link member having one end rotatably connected to the second short element and the other end rotatably connected to the first long element or a first long element member fixed to the first long element; A robot in which the first short element is moved relative to the first long element by supplying power to the first linear motor, thereby generating a moment around the joint in the second member via the first link member, causing a relative rotational movement between the first member and the second member, and the second short element is moved along the second long element by supplying power to the second linear motor, thereby generating a moment around the joint in the first member via the second link member, thereby causing a relative rotational movement between the first member and the second member.

2. A first member; A second member; and a joint portion that rotatably couples the first member and the second member to each other; a first linear motor having a first long element that is shaped to extend in one direction and that is disposed on the first member, and a first short element that is movable along the first long element; a first link member having one end rotatably connected directly or indirectly to the second member and another end rotatably connected to the first short member; A fixing member having a shape extending in one direction is fixed to the second member, The one end of the first link member is rotatably coupled to the fixed member, the fixed member is constituted by a second long element of a second linear motor having a second long element and a second short element, or is constituted by a second long element member fixed to the second long element, a second link member having one end rotatably connected to the second short element and the other end rotatably connected to the first long element or a first long element member fixed to the first long element; supplying power to the first linear motor to move the first short element along the first long element, thereby generating a moment around the joint in the second member via the first link member, and supplying power to the second linear motor to move the second short element along the second long element, thereby generating a moment around the joint in the first member via the second link member, thereby generating a relative rotational movement between the first member and the second member; The robot is configured so that a timing at which the first short element passes through the dead point is shifted from a timing at which the second short element passes through the dead point.

3. A first member; A second member; a joint portion that rotatably couples the first member and the second member to each other; a first linear motor including a first long element having a portion extending along the first member and disposed on the first member, and a first short element movable relative to the first long element along the portion of the first long element; a second linear motor including a second long element having a portion extending along the second member, and a second short element movable relative to the second long element along the portion of the second long element; a link member having one end rotatably connected to the first short member and another end rotatably connected to the second short member, A robot in which, by supplying power to the first linear motor and the second linear motor, the first short element moves relative to the first long element and the second short element moves relative to the second long element, thereby causing relative rotational movement between the first member and the second member.

4. A first member; A second member; a joint portion that rotatably couples the first member and the second member to each other; a first linear motor including a first long element having a portion extending in one direction and disposed on the first member, and a first short element movable relative to the first long element along the portion of the first long element; a second linear motor including a second long element having a portion extending along the second member, and a second short element movable relative to the second long element along the portion of the second long element; a link member having one end rotatably connected to the first short member and another end rotatably connected to the second short member, When power is supplied to the first linear motor and the second linear motor, the first short element moves relative to the first long element and the second short element moves relative to the second long element, thereby generating a relative rotational movement between the first member and the second member. a first short member brake capable of switching the first short member between a state in which the first short member is fixed to the first member and a state in which the first short member is not fixed to the first member; a second short member brake capable of switching the second short member between a state in which the second short member is fixed to the second member and a state in which the second short member is not fixed to the second member; The first elongated element is supported so as to be displaceable in an extending direction of the first elongated element, The second elongated element is supported so as to be displaceable in an extending direction of the second elongated element.

5. The robot according to claim 4, The first elongated element and the second elongated element have a plurality of teeth arranged in a longitudinal direction, A robot comprising a pinion that meshes with the plurality of teeth of the first elongated element and the plurality of teeth of the second elongated element.

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