robot

Abstract

To provide a robot which can reduce volume around a tip end arm in a multi joint type movable arm.SOLUTION: A robot 1 comprises: a first joint part 12 for connecting, a first arm part 22 and a second arm part 21; a second joint part 11 for connecting a second arm part 21 and a third arm part 20; a third joint part 10 connecting, the third arm part 20 and a flange 40; a first link 30 whose one end is connected to the second joint part 11 and the other end is connected to the third joint part 10; a second link 31 whose one end is connected to the second joint part 11; a counter weight 32 which has a motor 300 being connected to the other end of the second link 31 and the first joint part 12, and rotates the third arm part 20 to a direction opposite to the first joint part 12 with the other end of the second link 31 as a base point; and a transmission member 400 for transmitting rotation force generated by the motor 300, to the third arm part 20, through the first joint part 12, the second arm part 21, and the second joint part 11.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot, and more particularly to a robot equipped with an articulated movable arm and a parallel link mechanism. [Background technology]

[0002] A robot equipped with a multi-jointed movable arm that is provided with a parallel link mechanism to increase the rigidity of the multi-jointed movable arm is known. The parallel link mechanism is composed of multiple links that are provided approximately parallel to each arm section of the multi-jointed movable arm, and joints that connect the links to each other and the arm sections, and each arm section is supported by each link.

[0003] In this regard, Patent Document 1 discloses a robot having a first arm, a second arm rotatably supported by the first arm, a third arm rotatably supported by the second arm, a wrist rotatably supported by the third arm, and a parallelogram link mechanism, in which reducers for driving the wrist are provided at the pivot points of the first arm and the second arm, and a balance mechanism that performs a pressing action in the opposite direction to the movement of the wrist is provided at the extension of the second link in the parallel link mechanism. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3813542 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology described in Patent Document 1, the motor for rotating the fourth arm relative to the third arm is located at the connection point between the third arm and the fourth arm, so the weight of the motor is added to the motor for rotating the third arm relative to the second arm, which may result in an increase in the volume around the fourth arm.

[0006] The present invention has been made in view of the above problems, and its object is to provide a robot that can reduce the volume around the tip of a multi-joint movable arm. [Means for solving the problem]

[0007] In order to solve the above problems, the robot of the present invention includes a first arm section, a first joint section connected to one end of the first arm section, a second arm section having one end connected to the first joint section so as to rotate relative to the first arm section via the first joint section, a second joint section connected to the other end of the second arm section, a third arm section having one end connected to the second joint section so as to rotate relative to the second arm section via the second joint section, and a third joint section connected to the other end of the third arm section, and a robot that performs a predetermined task on a workpiece and is connected to the third joint section. a first link having one end connected to the second joint portion and the other end connected to the third joint portion; a second link having one end connected to the second joint portion; a counterweight connected to the other end of the second link and the first joint portion, and having a motor for rotating the third arm portion relative to the second arm portion, the counterweight sandwiching the other end of the second link on the opposite side to the first joint portion; and a transmission member that transmits the rotational force generated by the motor to the third arm portion via the first joint portion, the second arm portion, and the second joint portion.

[0008] In addition, the first link is arranged on a first direction side of the rotation direction of the third arm portion relative to the second arm portion so as to be approximately parallel to the third arm portion, and the second link is arranged on the first direction side so as to be parallel to the second arm portion.

[0009] The transmission member also has a first transmission mechanism provided in the counterweight and a second transmission mechanism provided in the second arm portion, and the first transmission mechanism transmits the rotational force of the motor to the second transmission mechanism via the first joint portion, and the second transmission mechanism transmits the rotational force transmitted from the first transmission mechanism to the third arm portion via the second joint portion.

[0010] The first transmission mechanism includes a first pulley that rotates in accordance with the rotational force generated by the motor, a first belt that transmits the rotational force of the first pulley, and a second pulley that transmits the rotational force transmitted from the first belt to the second transmission mechanism, and the second transmission mechanism includes a third pulley that rotates in accordance with the rotational force transmitted from the second pulley, a second belt that transmits the rotational force of the third pulley, and a fourth pulley that transmits the rotational force transmitted from the second belt to the third arm portion. [Effects of the Invention]

[0011] According to the present invention, the robot can reduce the volume around the arm at the tip of the articulated movable arm. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of a robot according to an embodiment of the present invention. [Figure 2A] FIG. 2 is a side view of the robot shown in FIG. [Figure 2B] FIG. 2 is a top view of the robot shown in FIG. [Figure 3A] FIG. 2B is a side view of the robot when the arm unit in FIG. 2A is rotating toward the workpiece. [Figure 3B] FIG. 3B is a side view of the robot when the arm portion of FIG. 3A is rotating toward the workpiece. [Figure 4A] FIG. 2B is a cross-sectional view of the robot shown in FIG. 2A taken along line AA. [Figure 4B] FIG. 2B is a cross-sectional view of the robot shown in FIG. 2A taken along line BB. [Figure 4C] FIG. 2C is a cross-sectional view of the robot shown in FIG. 2B taken along line CC. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention (hereinafter referred to as "the present embodiment") will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components and steps in each drawing will be denoted by the same reference numerals as much as possible, and duplicated descriptions will be omitted.

[0014] <Configuration> Fig. 1 is a perspective view of a robot 1 according to this embodiment, and Fig. 2A and Fig. 2B are a side view and a top view of the robot 1, respectively.

[0015] As shown in Figures 1, 2A and 2B, the robot 1 is configured as a multi-joint movable arm, for example, including joint sections 10 to 14, arm sections 20 to 22, links 30, 31 and 33, a counterweight 32, a flange 40 and a base section 50.

[0016] The base unit 50 is a base for supporting the robot 1, and is installed so as to be in contact with an installation surface (not shown) of the robot 1 and is fixed to the installation surface. The base unit 50 is connected to the arm unit 22 via the joint unit 13.

[0017] The arm unit 22 (first arm unit) is installed on the upper surface of the base unit 50. The bottom (one end) of the arm unit 22 is connected to the base unit 50 via the joint unit 13 so that the arm unit 22 can rotate relative to the base unit 50 around an axis that is in the extension direction of the base unit 50 and perpendicular to the installation surface of the robot 1. The arm unit 22 has an upper end (the other end) connected to the arm unit 21 and the counterweight 32 via the joint unit 12.

[0018] One end of the arm section 21 (second arm section) is connected to the arm section 22 via the joint section 12 so as to be rotatable relative to the arm section 22 about an axis that is horizontal to the installation surface of the robot 1. The other end of the arm section 21 is connected to the arm section 20 via the joint section 11.

[0019] One end of the arm 20 (third arm) is connected to the arm 21 via the joint 11 so as to be rotatable relative to the arm 21 about an axis perpendicular to the extension direction of the arm 21. The other end of the arm 20 is connected to the joint 10.

[0020] The flange 40 is a part that performs a predetermined operation on the workpiece 60. Here, the predetermined operation includes gripping, releasing, moving, rotating, etc. the workpiece 60. The flange 40 is configured to include a mechanism that can rotate around an axis that is horizontal to the extension direction of the flange 40, and its base is connected to the joint part 10.

[0021] The joint 10 (third joint) has a tip connected to the base of the flange 40. The joint 10 is connected to the arm 20 so as to be rotatable relative to the arm 20 about an axis perpendicular to the extension direction of the arm 21. One end of the link 30 is connected to a location different from the location where the joint 10 is connected to the arm 20 so as to be rotatable relative to the link 30 about an axis perpendicular to the extension direction of the link 30.

[0022] Joint 11 (second joint) connects arm 20 and arm 21 so that arm 20 can rotate relative to arm 21 around an axis perpendicular to the extension direction of arm 21. Joint 11 also connects the other end of link 30 to link 33 so that link 30 can rotate relative to link 33 around an axis perpendicular to the extension direction of link 30. Joint 11 also connects one end of link 31 to a location on link 33 different from the location where link 30 is connected to link 33 so that link 31 can rotate relative to link 33 around an axis perpendicular to the extension direction of link 31.

[0023] Joint 12 (first joint) connects arm portions 21 and 22 so that arm portion 21 can rotate relative to arm portion 22 about an axis perpendicular to the extension direction of arm portion 21 as a rotation axis.

[0024] The joint 13 connects the base 50 and the arm 22 so that the arm 22 can rotate relative to the base 50 around an axis that is in the extension direction of the base 50 and perpendicular to the installation surface of the robot 1.

[0025] The joint portion 14 connects the counterweight 32 and the link 31 so that the link 31 can rotate relative to the counterweight 32 about an axis perpendicular to the extension direction of the link 31 as a rotation axis.

[0026] In order to supplement the rigidity of the arm unit 20, the link 30 (first link) is provided between the joint unit 10 and the joint unit 11 so as to be parallel to the arm unit 20 on the direction R1 side (first direction: see FIGS. 3A and 3B) of the rotation direction of the arm unit 20 relative to the arm unit 21. One end of the link 30 is connected to the joint unit 10 so as to be rotatable relative to the joint unit 10 around an axis perpendicular to the extension direction of the link 30. The other end of the link 30 is connected to the link 33 so as to be rotatable relative to the link 33 around an axis perpendicular to the extension direction of the link 30.

[0027] Link 31 (second link) is provided between joint 11 and joint 14 so as to be parallel to arm 21 on the direction R1 side (first direction: see FIGS. 3A and 3B) of the rotation direction of arm 20 relative to arm 21, in order to supplement the rigidity of arm 21. One end of link 31 is connected to link 33 so as to be rotatable relative to link 33 about an axis perpendicular to the extension direction of link 31. The other end of link 31 is connected to counterweight 32 so as to be rotatable relative to counterweight 32 about an axis perpendicular to the extension direction of link 31.

[0028] The counterweight 32 functions as a weight that reduces the load of the rotational movement at the joint 11 by its own weight when the robot 1 moves to perform a predetermined task on the workpiece 60. The counterweight 32 is connected to the arm units 21 and 22 via the joint 12, and the other end of the link 31 is connected via the joint 14 to a position different from the connection position with the arm units 21 and 22.

[0029] Link 33 is a member provided to connect links 30 and 31 and arm units 20 and 21, respectively. Link 33 is connected to the other end of link 30 so that link 30 can rotate relative to link 33 around an axis perpendicular to the extension direction of link 30. Link 33 is also connected to one end of link 31 so that link 31 can rotate relative to link 33 around an axis perpendicular to the extension direction of link 31. Link 33 is also connected to the other end of arm unit 20 and one end of arm unit 21 so that arm units 20 and 21 can rotate relative to link 33 around an axis perpendicular to the extension direction of arm unit 20. Note that the connection points of link 33 to link 30, link 31, and arm units 20 and 21 are all different.

[0030] 3A and 3B are side views of the robot 1 when the arm units 20 and 21 are rotating toward the workpiece 60. In FIGS. 3A and 3B, the direction of rotation toward the workpiece 60 is direction R2. The direction of rotation away from the workpiece 60 is direction R1.

[0031] As shown in Figures 3A and 3B, when the arm sections 20 and 21 of the robot 1 rotate around an axis horizontal to the installation surface of the robot 1, the counterweight 32 assists the rotational movement of the arm sections 20 and 21 with the weight of the counterweight 32.

[0032] Fig. 4A is a cross-sectional view of the robot 1 taken along line AA in Fig. 2A. Fig. 4B is a cross-sectional view of the robot 1 taken along line BB in Fig. 2A. Fig. 4C is a cross-sectional view of the robot 1 taken along line CC in Fig. 2B.

[0033] 4A, 4B, and 4C, the robot 1 is configured to include, for example, a transmission member 400 therein. The counterweight 32 is configured to include, for example, a motor 300 therein.

[0034] The motor 300 generates a rotational force for rotating the arm unit 20 relative to the arm unit 21. The motor 300 is provided inside the counterweight 32 on the opposite side of the link 31 from the joint unit 12, and generates rotation about an axis horizontal to the installation surface of the robot 1, and transmits the generated rotation to the pulley 321 of the first transmission mechanism 410 in the transmission member 400.

[0035] The transmission member 400 is a part that transmits the rotational force generated by the motor 300 to the arm 20 via the joint 12, the arm 21, and the joint 11, and is provided inside the joints 11 and 12, the arm 20 and 21, and the counterweight 32. The transmission member 400 is configured to include, for example, a first transmission mechanism 410 and a second transmission mechanism 420.

[0036] The first transmission mechanism 410 is a part that transmits the rotational force generated by the motor 300 to the second transmission mechanism 420 via the joint portion 12, and is provided inside the counterweight 32. The first transmission mechanism 410 includes, for example, pulleys 321 and 323 and a belt 322.

[0037] The pulley 321 (first pulley) is provided inside the counterweight 32 and transmits the rotational force generated by the motor 300 to the belt 322.

[0038] The belt 322 (first belt) is provided inside the counterweight 32 and transmits the rotational force transmitted from the pulley 321 to the pulley 323.

[0039] The pulley 323 (second pulley) is provided inside the counterweight 32 and transmits the rotational force transmitted from the belt 322 to the pulley 210 of the second transmission mechanism 420 via the shaft 324.

[0040] The second transmission mechanism 420 is a part that transmits the rotational force transmitted from the first transmission mechanism 410 to the arm unit 20 via the joint unit 11, and is provided inside the arm unit 21. The second transmission mechanism 420 is configured to include, for example, a reducer 200, pulleys 210 and 212, a belt 211, and a shaft 213.

[0041] The pulley 210 (third pulley) is provided inside the arm portion 21, and transmits the rotational force transmitted from the pulley 323 of the first transmission mechanism 410 via the shaft 324 to the belt 211.

[0042] The belt 211 (second belt) is provided inside the arm portion 21 and transmits the rotational force transmitted from the pulley 210 to the pulley 212.

[0043] The pulley 212 (fourth pulley) is provided inside the arm portion 21, and transmits the rotational force transmitted from the belt 211 to the reducer 200 via the shaft 213.

[0044] The reducer 200 is provided inside the arm portion 21, converts the rotational speed of the rotational force transmitted from the pulley 212 via the shaft 213 at a predetermined ratio, and transmits the rotational force of the converted rotational speed to the arm portion 20 via the joint portion 11.

[0045] The arm unit 22 includes, for example, a motor 220, pulleys 221 and 223, a belt 222, and a reducer 224 therein.

[0046] The motor 220 generates a rotational force for rotating the arm unit 21 relative to the arm unit 22. The motor 220 is provided laterally inside the arm unit 22, generates a rotational force about an axis horizontal to the installation surface of the robot 1, and transmits the generated rotational force to the pulley 221.

[0047] The pulley 221 is provided inside the arm portion 22 and transmits the rotational force transmitted from the motor 220 to the belt 222 .

[0048] The belt 222 is provided inside the arm portion 22 and transmits the rotational force transmitted from the pulley 221 to the pulley 223 .

[0049] The pulley 223 is provided inside the arm portion 22 and transmits the rotational force transmitted from the belt 222 to the reducer 224 .

[0050] The reducer 224 is provided inside the arm portion 22, converts the rotational speed of the rotational force transmitted from the pulley 223 at a predetermined ratio, and transmits the rotational force at the converted rotational speed to the arm portion 21 via the joint portion 12.

[0051] The base unit 50 is configured to include, for example, a motor 51 and a reducer 52 therein.

[0052] The motor 51 generates a rotational force for rotating the arm unit 22 relative to the base unit 50. The motor 51 is provided vertically inside the base unit 50, generates a rotational force about an axis perpendicular to the installation surface of the robot 1, and transmits the generated rotational force to the reducer 52.

[0053] The reducer 52 is provided inside the base 50 and converts the rotational speed of the rotational force transmitted from the motor 51 at a predetermined ratio, and transmits the rotational force of the converted rotational speed to the arm 22 via the joint 13.

[0054] <Effects> As described above, in this embodiment, the robot 1 comprises a link 30, a link 31, and a counterweight 32 connected by joints 10 to 12, and the counterweight 32 has a motor 300 that generates a rotation to rotate the arm portion 20 relative to the arm portion 21.

[0055] According to this configuration, the robot 1 has a motor 300 provided on the counterweight 32 that generates rotation to rotate the arm portion 21 relative to the arm portion 20, so that the volume of the area around the arm portion 20 (arm portions 20 and 21 and joint portion 11) can be reduced by the volume of the motor 300.

[0056] Furthermore, in the robot 1, the link 30 is provided on the direction R1 side so as to be approximately parallel to the arm unit 20, and the link 31 is provided on the direction R1 side so as to be approximately parallel to the arm unit 21. With this configuration, the robot 1 can further enhance the rigidity of the arm units 20 and 21 by the links 30 and 31.

[0057] Furthermore, in the robot 1, the rotational force generated by the motor 300 is transmitted to the arm section 20 by a first transmission mechanism 410 provided in the counterweight 32 of the transmission member 400 and a second transmission mechanism 420 provided in the arm section 21. With this configuration, the motor 300 and the first transmission mechanism 410 are provided in the counterweight 32, and the second transmission mechanism 420 is provided inside the arm section 21. This configuration enables the robot 1 to work in a narrow space, since physical interference such as the transmission member 400 colliding with other objects in the space where the robot 1 is placed can be suppressed.

[0058] Furthermore, the robot 1 transmits the rotational force generated by the motor 300 to the arm 20 via the pulleys and belts provided in the first transmission mechanism 410 and the second transmission mechanism 420. With this configuration, the robot 1 does not require complex parts and has a simple configuration, and the counterweight 32 can assist the rotational movements of the joints 10 and 11, the links 30 and 31, and the flange 40, thereby reducing the manufacturing costs and running costs of the robot 1.

[0059] --- Variation --- The present invention is not limited to the above-described embodiments. In other words, variations of the above-described embodiments, which are appropriately modified by a person skilled in the art, are also included within the scope of the present invention as long as they include the features of the present invention. Furthermore, the elements of the above-described embodiments and the modifications described below can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they include the features of the present invention.

[0060] For example, in the above embodiment, a case where the flange 40 is connected to the tip of the joint 10 has been described, but this is not limited to this. The robot 1 may have any number of arms and joints connected to the tip of the joint 10, and the flange 40 may be connected to the other end of the arms and joints. Also, in the above embodiment, the link 30 is connected to the joints 10 and 11, but this is not limited to this. The robot 1 may not be provided with the link 30.

[0061] According to this configuration, the robot 1 can reduce power consumption because the weight of the counterweight 32 can assist the rotation of the arm and joints regardless of the number of arms and links.

[0062] In the above embodiment, the transmission member 400 transmits the rotational force by a pulley and a belt, but this is not limited to this. The transmission member 400 may transmit the rotational force by a rack-and-pinion mechanism, a ball-nut mechanism, a gear and chain, a line shaft mechanism, or the like.

[0063] According to this configuration, the robot 1 can transmit the rotational force of the motor 300 using members suitable for the robot 1, and therefore the cost of parts and the volume of the robot 1 can be reduced. [Explanation of symbols]

[0064] 1...robot, 10...joint section (third joint section), 11...joint section (second joint section), 12...joint section (first joint section), 20...arm section (third arm section), 21...arm section (second arm section), 22...arm section (first arm section), 30...link (first link), 31...link (second link), 32...counterweight, 33...link, 40...flange, 60...workpiece, 210...pulley (third pulley), 211...belt (second belt), 212...pulley (fourth pulley), 300...motor, 321...pulley (first pulley), 322...belt (first belt), 323...pulley (second pulley), 400...transmission member, 410...first transmission mechanism, 420...second transmission mechanism

Claims

1. A first arm portion; a first joint portion connected to one end of the first arm portion; a second arm portion having one end connected to the first joint portion so as to rotate relative to the first arm portion via the first joint portion; a second joint portion connected to the other end of the second arm portion; a third arm portion having one end connected to the second joint portion so as to rotate relative to the second arm portion via the second joint portion; a third joint portion connected to the other end of the third arm portion; a flange that performs a predetermined operation on a workpiece and is connected to the third joint portion; a first link having one end connected to the second joint portion and the other end connected to the third joint portion; a second link having one end connected to the second joint portion; a counterweight connected to the other end of the second link and the first joint portion, the counterweight having a motor for rotating the third arm portion relative to the second arm portion, on the opposite side to the first joint portion across the other end of the second link; a transmission member that transmits the rotational force generated by the motor to the third arm portion via the first joint portion, the second arm portion, and the second joint portion; A robot comprising:

2. the first link is provided on a first direction side in a rotation direction of the third arm portion relative to the second arm portion so as to be substantially parallel to the third arm portion, 2. The robot according to claim 1, wherein the second link is provided on the first direction side and substantially parallel to the second arm portion.

3. the transmission member has a first transmission mechanism provided in the counterweight and a second transmission mechanism provided in the second arm portion, the first transmission mechanism transmits the rotational force of the motor to the second transmission mechanism via the first joint portion; 3. The robot according to claim 1, wherein the second transmission mechanism transmits the rotational force transmitted from the first transmission mechanism to the third arm portion via the second joint portion.

4. the first transmission mechanism includes a first pulley that rotates in accordance with a rotational force generated by the motor, a first belt that transmits the rotational force of the first pulley, and a second pulley that transmits the rotational force transmitted from the first belt to the second transmission mechanism; 4. The robot according to claim 3, wherein the second transmission mechanism includes a third pulley that rotates in accordance with the rotational force transmitted from the second pulley, a second belt that transmits the rotational force of the third pulley, and a fourth pulley that transmits the rotational force transmitted from the second belt to the third arm portion.

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