Mobile

Abstract

The goal is to make the arm smaller and lighter while ensuring smooth operation. [Solution] In robot 1, the first motor 30 to the third motor 50 are provided on the base 10. The first motor 30 is connected to the first arm 22, and when the first motor 30 is driven, the first arm 22 rotates around the first axis AL1. The first arm 22 is provided with a first rotation mechanism 60, and the first rotation mechanism 60 is operated by the second motor 40, causing the second arm 24 to rotate around the second axis AL2. The first arm 22 and the second arm 24 are provided with a second rotation mechanism 70, and the second rotation mechanism 70 is operated by the third motor 50, causing the third arm 26 to rotate around the third axis AL3. In this way, since the first motor 30 to the third motor 50, which are the drive sources, are concentrated and arranged on the base 10, the robot arm 20 can be made smaller and lighter, and the robot arm 20 can be operated smoothly.

Description

Technical Field

[0001] The present invention relates to a moving body.

Background Art

[0002] In the robot (moving body) described in Patent Document 1 below, the robot arm (arm) is composed of a plurality of arm parts, and a motor is provided at the joint part of the arm part. Also, the robot hand (hand) is attached to the tip of the robot arm. Thus, by driving the motor, each arm part can operate to perform work on the work object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above robot (moving body), since the motor is provided at the joint part of the arm part as described above, for example, it tends to cause an increase in the size and weight of the robot arm. Therefore, it is desirable for the robot (moving body) to have a structure that can operate the arm well while reducing the size and weight of the arm.

[0005] In consideration of the above facts, the present invention provides a moving body that can operate the arm well while reducing the size and weight of the arm.

Means for Solving the Problems

[0006] One or more embodiments of the present invention include an arm comprising: a base; a first arm with one end connected to the base; a second arm with one end connected to the other end of the first arm; a third arm with one end connected to the other end of the second arm; a first motor provided on the base and driven to rotate one end of the first arm around a first axis; a second motor provided on the base and arranged coaxially with the first motor; a third motor provided on the base and arranged coaxially with the first motor; and a second motor provided on the first arm. The first rotation mechanism is operated by a motor to rotate one end of the second arm around a second axis parallel to the first axis, and the second rotation mechanism is provided on the first and second arms and is operated by a third motor to rotate one end of the third arm around a third axis parallel to the first axis, wherein the first rotation mechanism includes a first pulley on one end of the first arm that is rotatably mounted on one end of the first arm and is integrally rotatable with the output shaft of the second motor, and a pulley on the other end of the first arm that is integrally rotatable with one end of the second arm The second rotating mechanism comprises a rotatably connected other end first pulley, a first belt wrapped around the one end first pulley and the other end first pulley, and the second rotating mechanism comprises a one end second pulley rotatably provided at one end of the first arm and integrally rotatably connected to the output shaft of the third motor, a other end second pulley rotatably provided at the other end of the first arm, a second belt wrapped around the one end second pulley and the other end second pulley, and a one end second pulley rotatably provided at one end of the second arm and integrally rotatably connected to the other end second pulley. The system comprises three pulleys, a third pulley on the other end of the second arm that is rotatably mounted on the other end of the second arm and integrally rotatably connected to one end of the third arm, and a third belt wrapped around the third pulley on the one end and the third pulley on the other end, wherein a second connecting shaft along the second axis is provided on the other end of the first arm, both axial ends of the second connecting shaft protrude from the first arm and integrally rotatably connected to one end of the second arm, and the first pulley on the other end is integrally rotatably connected to the second connecting shaft, and an outer connecting shaft along the second axis,The outer connecting shaft is rotatably externally fitted to the second connecting shaft, and the other end second pulley and the one end third pulley are integrally rotatably connected by the outer connecting shaft, one end of the outer connecting shaft is rotatably supported on the inner circumference of the other end first pulley via a bearing, the axial intermediate portion of the outer connecting shaft is rotatably supported on the first arm via a bearing, one end of the second connecting shaft is rotatably supported on the other end of the first arm via a bearing, and the other end of the second connecting shaft is rotatably supported on the inner circumference of the outer connecting shaft via a bearing, Furthermore, the other end of the first arm, the second connecting shaft, and the outer connecting shaft are arranged inside one end of the second arm. A moving object.

[0007] One or more embodiments of the present invention include an arm comprising: a base; a first arm with one end connected to the base; a second arm with one end connected to the other end of the first arm; a third arm with one end connected to the other end of the second arm; a first motor provided on the base and driven to rotate one end of the first arm around a first axis; a cylindrical first motor connecting portion that integrally connects the output shaft of the first motor and one end of the first arm; and a component provided inside the first motor connecting portion on the base, which is the same as the first motor. A second motor positioned on the axis; a cylindrical second motor connecting portion, one end of which is integrally rotatable to the output shaft of the second motor and the other end of which is rotatably supported by the first motor connecting portion via a bearing; a support member provided inside one end of the first arm and integrally rotatably connected to the second motor connecting portion; a third motor provided inside the second motor connecting portion in the base and positioned coaxially with the first motor; and a third motor provided on the first arm that operates when driven by the second motor to move one end of the second arm along a second axis parallel to the first axis. The first rotation mechanism rotates around the first arm, and the second rotation mechanism is provided on the first arm and the second arm and is operated by the third motor to rotate one end of the third arm around a third axis parallel to the first axis. The first rotation mechanism includes a first pulley on one end of the first arm that is rotatably mounted on one end of the first arm and is integrally rotatable with the output shaft of the second motor by the second motor coupling, a first pulley on the other end of the first arm that is rotatably mounted on the other end of the first arm and is integrally rotatable with the one end of the second arm, and the first pulley on the other end The second rotating mechanism comprises a first pulley and a first belt wrapped around the other end first pulley, the second rotating mechanism comprises a first end second pulley rotatably provided at one end of the first arm and integrally rotatably connected to the output shaft of the third motor, a second other end second pulley rotatably provided at the other end of the first arm, a second belt wrapped around the first end second pulley and the other end second pulley, a first end third pulley rotatably provided at one end of the second arm and integrally rotatably connected to the other end second pulley, and a second rotating mechanism comprising a first end second pulley rotatably provided at the other end of the second arm,The movable body comprises a third pulley on the other end of the third arm, which is integrally rotatable to one end of the third arm, and a third belt wrapped around the third pulley on the other end and the third pulley on the other end. A first connecting shaft along the first axis is provided at one end of the first arm, one end of the first connecting shaft is integrally rotatable to the output shaft of the third motor, the other end of the first connecting shaft is rotatably supported by the support member via a bearing, and the second pulley on the one end is integrally rotatable to the first connecting shaft.

[0008] One or more embodiments of the present invention are a movable body in which a first connecting shaft along the first axis is provided at one end of the first arm and is integrally rotatable with the output shaft of the third motor, the first pulley on one end is rotatably supported on the first connecting shaft and the second pulley on one end is integrally rotatable with the first connecting shaft.

[0009] One or more embodiments of the present invention are a movable body in which the second motor is fixed to a second motor holder, the second motor holder is rotatably connected integrally with the output shaft of the first motor, and the third motor is fixed to a third motor holder, the third motor holder is rotatably connected integrally with the output shaft of the second motor.

[0010] One or more embodiments of the present invention are a mobile body in which a hand is attached to the third arm, a motor for driving the hand is provided on the base, the motor for driving the hand and the hand are connected by a flexible shaft, and the rotational force of the motor for driving the hand is transmitted to the hand to operate the hand.

[0011] One or more embodiments of the present invention are movable bodies in which a stopper member is provided at one end of the first arm, and interference between the support member and the first belt and the second belt is avoided when the second motor is driven, by the support member colliding with the stopper member.

[0012] One or more embodiments of the present invention are a movable body in which the inner circumference of the first pulley at one end is rotatably supported on the first connecting shaft via a bearing. [Effects of the Invention]

[0013] According to one or more embodiments of the present invention, the arm can be made smaller and lighter while still being able to operate smoothly. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic top view illustrating the robot according to the first embodiment. [Figure 2] Figure 1 is a schematic cross-sectional view from above, showing the inside of the robot. [Figure 3] Figure 2 is an enlarged cross-sectional view showing a magnified view of the area around the rear end of the first arm. [Figure 4] Figure 2 is an enlarged cross-sectional view showing a magnified view of the area around the rear end of the second arm. [Figure 5] Figure 2 is an enlarged cross-sectional view showing a magnified view of the area around the robot hand. [Figure 6] This is a cross-sectional view showing the area around the rear end of the first arm of the robot according to the second embodiment. [Figure 7] Figure 6 is a side view from the right, showing the inside of the rear end of the first arm. [Modes for carrying out the invention]

[0015] (First Embodiment) The robot 1 as a mobile body according to the first embodiment will be described below with reference to Figures 1 to 5. The arrows FR and LH shown in the drawings indicate the front and left sides of the robot 1, respectively. When describing the front / back and left / right directions, unless otherwise specified, these refer to the front / back and left / right directions of the robot 1.

[0016] As shown in FIGS. 1 to 5, the robot 1 includes a base 10, a robot arm 20 as an arm, a first motor 30, a second motor 40, a third motor 50, a first rotation mechanism 60, a second rotation mechanism 70, a robot hand 80 as a hand, a hand motor 90, and a controller 100. Hereinafter, each component of the robot 1 will be described.

[0017] (Regarding the base 10) The base 10 is configured as an installation base for installing the robot 1 on an installation surface. Further, the base 10 functions as a support portion that rotatably supports the robot arm 20 described later, and also functions as a housing portion that houses the first motor 30, the second motor 40, the third motor 50, the hand motor 90, and the controller 100 described later.

[0018] (Regarding the robot arm 20) The robot arm 20 is disposed on the right side of the base 10 and extends in the front-rear direction. The robot arm 20 is composed of a plurality (in this embodiment, three) of arms. Specifically, the robot arm 20 has a first arm 22 that constitutes the base end portion of the robot arm 20, a second arm 24 that constitutes the intermediate portion of the robot arm 20, and a third arm 26 that constitutes the tip end portion of the robot arm 20. The first arm 22 to the third arm 26 are formed in a substantially elongated columnar shape extending in the front-rear direction.

[0019] The first arm 22 is disposed on the right side of the base 10, and the rear end portion (one end portion) of the first arm 22 is rotatably connected to the base 10 with the left - right direction as the axial direction. Hereinafter, the rotation axis of the first arm 22 is defined as the first axis AL1. The second arm 24 is disposed on the right side of the first arm 22, and the rear end portion (one end portion) of the second arm 24 protrudes to the left so as to cover the front end portion (the other end portion) of the first arm 22. And the rear end portion of the second arm 24 is rotatably connected to the front end portion of the first arm 22 with the left - right direction as the axial direction. Hereinafter, the rotation axis of the second arm 24 is defined as the second axis AL2. The third arm 26 is disposed on the left side of the second arm 24, and the rear end portion (one end portion) of the third arm 26 is rotatably connected to the front end portion (the other end portion) of the second arm 24 with the left - right direction as the axial direction. Hereinafter, the rotation axis of the third arm 26 is defined as the third axis AL3.

[0020] (Regarding the first motor 30) The first motor 30 is housed in the base 10 and fixed to a first - motor holder 32 provided on the base 10. The output shaft 30A of the first motor 30 protrudes to the right from the main body of the first motor 30, and the axis of the output shaft 30A coincides with the first axis AL1. The output shaft 30A is integrally and rotatably connected to the rear end portion of the first arm 22 by a first - motor connecting portion 34. Specifically, the first - motor connecting portion 34 is formed in a substantially bottomed cylindrical shape that is open to the right. The right end portion of the output shaft 30A is integrally and rotatably connected to the central portion of the left wall of the first - motor connecting portion 34. The right end portion of the first - motor connecting portion 34 is rotatably supported by the base 10 via a bearing 35 (see FIG. 3), and protrudes to the right from the base 10 and is integrally and rotatably connected to the rear end portion of the first arm 22. Thus, when the first motor 30 is driven, the first arm 22 rotates around the first axis AL1.

[0021] (Regarding the second motor 40) The second motor 40 is located within the left end of the first motor coupling section 34 and is coaxial with the first motor 30. The second motor 40 is fixed to a second motor holder 42 which is fixed to the first motor coupling section 34. As a result, when the first motor 30 is driven, the second motor 40 rotates together with the first arm 22 around the first axis AL1. The output shaft 40A of the second motor 40 protrudes to the right from the body of the second motor 40. The output shaft 40A is connected by the second motor coupling section 44 so as to be able to rotate integrally with the first pulley 61 on one end, which will be described later. Specifically, the second motor coupling section 44 is formed in a substantially bottomed cylindrical shape that opens to the right. The right end of the output shaft 40A is connected so as to be able to rotate integrally with the center of the left wall of the second motor coupling section 44. The right end of the second motor coupling section 44 is rotatably supported on the inner circumference of the first motor coupling section 34 via a bearing 45 (see Figure 3). The first pulley 61 at one end is rotatably connected to the right end of the second motor connecting portion 44 and protrudes to the right from the second motor connecting portion 44.

[0022] (Regarding the third motor 50) The third motor 50 is housed within the second motor coupling section 44 and is arranged coaxially with the first motor 30. That is, the first motor 30, the second motor 40, and the third motor 50 are arranged coaxially. The third motor 50 is fixed to a third motor holder 52 which is fixed to the second motor coupling section 44. As a result, when the second motor 40 is driven, the third motor 50 rotates around the first axis AL1. The output shaft 50A of the third motor 50 protrudes to the right from the body of the third motor 50. The output shaft 50A is connected to a second pulley 71 at one end, which will be described later, by a first connecting shaft 54 ​​that extends in the left-right direction, so as to be able to rotate integrally with it. Specifically, the left end of the first connecting shaft 54 ​​is connected to the right end of the output shaft 50A so as to be able to rotate integrally with it, and the first connecting shaft 54 ​​is located within the rear end of the first arm 22. The right end of the first connecting shaft 54 ​​is rotatably connected to the second pulley 71 at one end.

[0023] (Regarding the first rotation mechanism 60) The first rotation mechanism 60 is located within the first arm 22. The first rotation mechanism 60 is a so-called belt pulley mechanism. Specifically, the first rotation mechanism 60 is composed of a first pulley 61 at one end, a first pulley 62 at the other end, and a first timing belt 63 as the first belt. The first pulley 61 at one end is formed in a substantially cylindrical shape with its axial direction in the left-right direction. The left portion of the aforementioned first connecting shaft 54 ​​passes through the first pulley 61 at one end, and the first pulley 61 at one end is rotatably supported on the first connecting shaft 54 ​​via a bearing 64 (see Figure 3). As described above, the first pulley 61 at one end is rotatably connected to the output shaft 40A of the second motor 40 via a second motor connecting portion 44.

[0024] The other end first pulley 62 is formed in a substantially cylindrical shape with its axial direction in the left-right direction and is rotatably mounted within the front end of the first arm 22. Specifically, a second connecting shaft 65 (see Figure 4) with its axial direction in the left-right direction is provided within the rear end of the second arm 24. The left end of the second connecting shaft 65 is rotatably supported on the front end of the first arm 22 via a bearing 66 (see Figure 4), and the right end of the second connecting shaft 65 is rotatably supported on the inner circumference of the outer connecting shaft 77, which will be described later, via a bearing 67 (see Figure 4). The axis of the second connecting shaft 65 coincides with the second axis AL2. Both axial ends of the second connecting shaft 65 protrude outward from the first arm 22 in the left-right direction and are integrally rotatably connected to the rear end of the second arm 24. The left portion of the second connecting shaft 65 is fitted into the inner circumference of the other end first pulley 62, so that the other end first pulley 62 and the second connecting shaft 65 are connected in a way that allows them to rotate as a single unit.

[0025] The first timing belt 63 is an endless belt and is wrapped around the outer circumference of the first pulley 61 at one end and the first pulley 62 at the other end. As a result, when the second motor 40 is driven, the rotational force of the second motor 40 is transmitted to the second arm 24 by the first rotation mechanism 60, causing the second arm 24 to rotate around the second axis AL2.

[0026] (Regarding the second rotation mechanism 70) The second rotation mechanism 70 is located inside the first arm 22 and the second arm 24. The second rotation mechanism 70 is composed of two belt pulley mechanisms. Specifically, the second rotation mechanism 70 includes a second pulley 71 at one end, a second pulley 72 at the other end, a second timing belt 73 as the second belt, a third pulley 74 at one end, a third pulley 75 at the other end, and a third timing belt 76 as the third belt.

[0027] The first-end second pulley 71 is formed in a substantially cylindrical shape with its axial direction in the left-right direction and is rotatably mounted within the rear end of the first arm 22. Specifically, the right end of the first connecting shaft 54 ​​is fitted into the inner circumference of the first-end second pulley 71, and the first-end second pulley 71 and the first connecting shaft 54 ​​are connected so as to be rotatable as a whole. In other words, the first-end second pulley 71 is positioned to the right of the first-end second pulley 71 and is positioned coaxially with the first-end second pulley 71.

[0028] The other end second pulley 72 is formed in a substantially cylindrical shape with its axial direction in the left-right direction and is rotatably mounted on the front end of the first arm 22. Specifically, a cylindrical outer connecting shaft 77 (see Figure 4) with its axial direction in the left-right direction is externally fitted to the right side of the aforementioned second connecting shaft 65. The left end of the outer connecting shaft 77 is rotatably supported on the inner circumference of the other end first pulley 62 via a bearing 68, and the axial middle portion of the outer connecting shaft 77 is rotatably supported on the first arm 22 via a bearing 69. The left part of the outer connecting shaft 77 is fitted into the inner circumference of the other end second pulley 72, so that the other end second pulley 72 and the outer connecting shaft 77 are connected so that they can rotate together as a single unit. In other words, the other end second pulley 72 is positioned to the right of the other end first pulley 62 and is also positioned coaxially with the other end first pulley 62.

[0029] The second timing belt 73, like the first timing belt 63, is an endless belt and is wrapped around the outer circumference of the second pulley 71 at one end and the second pulley 72 at the other end.

[0030] The third pulley 74 at one end is formed in a substantially cylindrical shape with its axial direction in the left-right direction and is rotatably mounted within the rear end of the second arm 24. Specifically, the right end of the outer connecting shaft 77 is fitted into the inner circumference of the third pulley 74 at one end, so that the third pulley 74 and the outer connecting shaft 77 are connected so that they can rotate together as a single unit. In other words, the third pulley 74 at one end, the second pulley 72 at the other end, and the first pulley 62 at the other end are arranged coaxially, and the second pulley 72 at the other end and the third pulley 74 at one end are connected so that they can rotate together as a single unit by the outer connecting shaft 77.

[0031] The other end third pulley 75 is formed in a substantially cylindrical shape with its axial direction in the left-right direction and is rotatably mounted within the front end of the second arm 24. Specifically, both ends of the substantially cylindrical third connecting shaft 78, with its axial direction in the left-right direction, are rotatably supported at the front end of the second arm 24 via bearings 79. The axis of the third connecting shaft 78 coincides with the third axis AL3. The third connecting shaft 78 is fitted into the inner circumference of the other end third pulley 75, and the other end third pulley 75 and the third connecting shaft 78 are connected so as to be integrally rotatable. Furthermore, the left end of the third connecting shaft 78 protrudes to the left from the second arm 24 and is integrally rotatably connected to the rear end of the third arm 26.

[0032] The third timing belt 76, like the first timing belt 63, is an endless belt and is wrapped around the outer circumference of the third pulley 74 at one end and the third pulley 75 at the other end. As a result, when the third motor 50 is driven, the rotational force of the third motor 50 is transmitted to the third arm 26 by the second rotation mechanism 70, causing the third arm 26 to rotate around the third axis AL3.

[0033] (Regarding the Robot Hand 80) The robot hand 80 is attached to the front end of the third arm 26. The robot hand 80 has a finger section 82 and a transmission mechanism 84, and the rotational force of the hand motor 90 (described later) is transmitted to the transmission mechanism 84, causing the finger section 82 to operate.

[0034] (Regarding the 90 motor for handheld use) The hand motor 90 is housed within the base 10 and fixed to the base 10 via a holder (not shown). The output shaft of the hand motor 90 and the transmission mechanism 84 of the robot hand 80 are connected by a flexible shaft 92, and the rotational force of the hand motor 90 is transmitted to the transmission mechanism 84 via the flexible shaft 92. Specifically, one end of the flexible shaft 92 is connected to the output shaft of the hand motor 90 so as to be integrally rotatable. The flexible shaft 92 extending from the output shaft of the hand motor 90 is located within the first arm 22, and extends to the left from the middle of the second arm 24, and is located outside the second arm 24. The flexible shaft 92 extending outside the second arm 24 is located inside the third arm 26 from the rear end of the third arm 26, and the other end of the flexible shaft 92 is connected to the transmission mechanism 84 via a connecting mechanism 94 (see Figure 5). Note that the arrangement of the flexible shaft 92 is not limited to the above configuration. For example, the entire flexible shaft 92 may be located within the robot arm 20. Alternatively, the flexible shaft 92 may be extended outward from the base 10, and the flexible shaft 92 extending outward from the base 10 may be positioned inside the third arm 26 from the rear end of the third arm 26.

[0035] (Regarding Controller 100) The controller 100 (see Figure 2) is housed within the base 10. The first motor 30 to the third motor 50 and the hand motor 90 are electrically connected to the controller 100. The first motor 30 to the third motor 50 and the hand motor 90 are driven by the control of the controller 100, causing the robot arm 20 and robot hand 80 to operate and perform tasks on the workpiece.

[0036] (Effects and Benefits) Next, the effects and advantages of the first embodiment will be described.

[0037] In the robot 1 configured as described above, the robot performs work on an object by driving the first motor 30 to the third motor 50 and the hand motor 90 according to the work mode. Specifically, when the first motor 30 is driven, the rotational force of the first motor 30 is transmitted to the rear end of the first arm 22, causing the first arm 22 to rotate relative to the base 10 around the first axis AL1. Also, when the first motor 30 is driven, the second motor 40 rotates together with the first arm 22 around the first axis AL1. In other words, when the first motor 30 is driven, the second motor 40 rotates relative to the first motor 30, and the amount of rotation of the second motor 40 relative to the first motor 30 matches the amount of rotation of the first arm 22 relative to the base 10.

[0038] Furthermore, when the second motor 40 is driven, the rotational force of the second motor 40 is transmitted to the rear end of the second arm 24 by the first rotation mechanism 60, causing the second arm 24 to rotate relative to the first arm 22 around the second axis AL2. Also, when the second motor 40 is driven, the third motor 50 rotates relative to the second motor 40, and the amount of rotation of the third motor 50 relative to the second motor 40 matches the amount of rotation of the second arm 24 relative to the first arm 22.

[0039] Furthermore, when the third motor 50 is driven, the rotational force of the third motor 50 is transmitted to the rear end of the third arm 26 by the second rotation mechanism 70, causing the third arm 26 to rotate around the third axis AL3. As a result, the robot hand 80 is positioned at the work location.

[0040] In this state, when the hand motor 90 is driven, the rotational force of the hand motor 90 is transmitted to the finger section 82 of the robot arm 20, causing the finger section 82 to operate. As a result, the finger section 82 performs work on the workpiece.

[0041] In robot 1, the first motor 30 to the third motor 50 are mounted on the base 10. The first motor 30 is connected to the first arm 22, and when the first motor 30 is driven, the first arm 22 rotates around the first axis AL1. The first arm 22 is also equipped with a first rotation mechanism 60, which is operated by the second motor 40, causing the second arm 24 to rotate around the second axis AL2. Furthermore, the first arm 22 and the second arm 24 are equipped with a second rotation mechanism 70, which is operated by the third motor 50, causing the third arm 26 to rotate around the third axis AL3. Thus, in robot 1, the first motor 30 to the third motor 50, which are the drive sources for operating the robot arms 20, are all concentrated and arranged on the base 10. This makes it possible to make the robot arm 20 smaller and lighter compared to a configuration in which the second motor 40 and the third motor 50 are provided at the joint of the robot arm 20.

[0042] Furthermore, by reducing the weight of the robot arm 20, the inertial force generated in the robot arm 20 during operation can be reduced. This allows the robot arm 20 to operate smoothly.

[0043] In particular, in robot 1, both axial ends of the second connecting shaft 65 protrude from the first arm 22 and are integrally rotatably connected to the rear end of the second arm 24, and the other end first pulley 62 is integrally rotatably connected to the second connecting shaft 65. This allows the other end first pulley 62 and the second connecting shaft 65 to be configured to rotate integrally while ensuring good support of the second connecting shaft 65 to the second arm 24. Furthermore, the left end of the outer connecting shaft 77 is rotatably supported on the inner circumference of the other end first pulley 62 via a bearing 68, and the axial middle portion of the outer connecting shaft 77 is rotatably supported on the first arm 22 via a bearing 69. This makes it possible to rotatably support the outer connecting shaft 77 by utilizing the other end first pulley 62 connected to the second connecting shaft 65, which is well supported by the second arm 24. Furthermore, the left end of the second connecting shaft 65 is rotatably supported on the front end of the first arm 22 via a bearing 66, and the right end of the second connecting shaft 65 is rotatably supported on the inner circumference of the outer connecting shaft 77 via a bearing 67. That is, the right end of the second connecting shaft 65 is rotatably supported on the front end of the first arm 22 via the bearing 67, the outer connecting shaft 77, and the bearing 69. As a result, both axial ends of the second connecting shaft 65 are rotatably supported on the front end of the first arm 22. Therefore, the second arm 24 can be rotatably connected to the first arm 22 by the second connecting shaft 65 and the outer connecting shaft 77. As a result, the second arm 24 can be operated smoothly.

[0044] Furthermore, as described above, by mounting the second motor 40 and the third motor 50 on the base 10, it becomes unnecessary to route the wiring connecting the controller 100 to the second motor 40 and the third motor 50 within the robot arm 20, which is a movable part. This effectively suppresses wire breakage compared to a configuration where the second motor 40 and the third motor 50 are mounted on the robot arm 20. In addition, since the wiring for motor connection is not routed within the robot arm 20, the ease of assembly of the robot arm 20 can be improved. Moreover, by consolidating the first motor 30 to the third motor 50 within the base 10, the wiring connecting the first motor 30 to the third motor 50 and the controller 100 can be shortened. This makes the structure less susceptible to external noise.

[0045] Furthermore, the first motor 30 to the third motor 50 are arranged coaxially. This allows for the consolidation of the installation space for the first motor 30 to the third motor 50 within the base 10. As a result, this contributes to the miniaturization of the base 10, and consequently to the miniaturization of the entire robot 1.

[0046] Furthermore, the first rotation mechanism 60 includes a first pulley 61 rotatably mounted at the rear end of the first arm 22, a first pulley 62 rotatably mounted at the front end of the first arm 22, and a first timing belt 63 wrapped around the first pulley 61 and the first pulley 62. The first pulley 61 is rotatably connected to the output shaft 40A of the second motor 40, and the first pulley 62 is rotatably connected to the rear end of the second arm 24. In other words, the first rotation mechanism 60 is configured as a so-called belt-pulley mechanism and transmits the rotational force of the second motor 40 to the second arm 24. This allows the rotational force of the second motor 40 to be transmitted to the second arm 24 and the second arm 24 to rotate with a simple configuration.

[0047] Furthermore, the second rotation mechanism 70 is configured to include a one-end second pulley 71 rotatably mounted on the rear end of the first arm 22, a other-end second pulley 72 rotatably mounted on the front end of the first arm 22, a second timing belt 73 wrapped around the one-end second pulley 71 and the other-end second pulley 72, a one-end third pulley 74 rotatably mounted on the rear end of the second arm 24, a other-end third pulley 75 rotatably mounted on the front end of the second arm 24, and a third timing belt 76 wrapped around the one-end third pulley 74 and the other-end third pulley 75. Furthermore, one end of the second pulley 71 is connected to the output shaft 50A of the third motor 50 so as to be able to rotate integrally with it, one end of the third pulley 74 is connected to the other end of the second pulley 72 so as to be able to rotate integrally with it, and the other end of the third pulley 75 is connected to the rear end of the third arm 26 so as to be able to rotate integrally with it. In other words, the second rotation mechanism 70 transmits the rotational force of the third motor 50 to the third arm 26 by combining two belt pulley mechanisms. This makes it possible to transmit the rotational force of the third motor 50 to the third arm 26 and rotate the third arm 26 with a simple configuration.

[0048] Furthermore, a first connecting shaft 54 ​​along the first axis AL1 is provided at the rear end of the first arm 22 and is rotatably connected to the output shaft 50A of the third motor 50. In addition, a first pulley 61 at one end is rotatably supported on the first connecting shaft 54, and a second pulley 71 at one end is rotatably connected to the first connecting shaft 54. This allows the first pulley 61 at one end of the first rotating mechanism 60 and the second pulley 71 at one end of the second rotating mechanism 70 to be arranged coaxially at the rear end of the first arm 22, while the rotational force of the third motor 50 can be transmitted to the second rotating mechanism 70 via the first connecting shaft 54.

[0049] Furthermore, a second connecting shaft 65, aligned with the second axis AL2, is rotatably supported at the front end of the first arm 22 and integrally rotatably connected to the rear end of the second arm 24. A cylindrical outer connecting shaft 77 is rotatably externally fitted onto the second connecting shaft 65. The other end first pulley 62 is integrally rotatably connected to the second connecting shaft 65, and the other end second pulley 72 and the one end third pulley 74 are integrally rotatably connected by the outer connecting shaft 77. This allows the other end first pulley 62 of the first rotation mechanism 60 and the other end second pulley 72 and the one end third pulley 74 of the second rotation mechanism 70 to be arranged coaxially. In addition, the rotational force of the second motor 40 can be transmitted to the second arm 24 via the second connecting shaft 65, thereby rotating the second arm 24.

[0050] Furthermore, the second motor 40 is fixed to a second motor holder 42, and the second motor holder 42 is rotatably connected to the output shaft 30A of the first motor 30. As a result, when the first motor 30 is driven, the second motor 40 rotates relative to the first motor 30, and the amount of rotation of the second motor 40 relative to the first motor 30 matches the amount of rotation of the first arm 22 relative to the base 10. Therefore, the amount of rotation of the output shaft 40A of the second motor 40 when the second arm 24 rotates relative to the first arm 22 can be easily set.

[0051] Furthermore, the third motor 50 is fixed to the third motor holder 52, and the third motor holder 52 is rotatably connected to the output shaft 40A of the second motor 40. Therefore, when the second motor 40 is driven, the third motor 50 rotates relative to the second motor 40, and the amount of rotation of the third motor 50 relative to the second motor 40 matches the amount of rotation of the second arm 24 relative to the first arm 22. This makes it easy to set the amount of rotation of the output shaft 50A of the third motor 50 when the third arm 26 is rotated relative to the second arm 24.

[0052] Furthermore, a hand motor 90 for driving the robot hand 80 is provided on the base 10. The robot hand 80 and the hand motor 90 are connected by a flexible shaft 92, and the rotational force of the hand motor 90 is transmitted to the robot hand 80 by the flexible shaft 92, causing the robot hand 80 to operate. In other words, in addition to the first motors 30 to the third motors 50, a hand motor 90 for driving the robot hand 80 is also provided on the base 10. As a result, the overall weight of the robot arm 20 with the robot hand 80 attached can be reduced. This effectively reduces the inertial force generated in the robot arm 20 when it is in operation, compared to, for example, a configuration in which the hand motor 90 is provided on the third arm 26.

[0053] (Second Embodiment) The robot 200 as a mobile body of the second embodiment will be described below with reference to Figures 6 and 7. The robot 200 of the second embodiment is configured the same as the robot 1 of the first embodiment, except for the points shown below. In Figures 6 and 7, the same reference numerals are used for parts that are configured the same as those of the robot 1 of the first embodiment.

[0054] In other words, in the robot 200, a support member 210 is provided within the rear end of the first arm 11. The support member 210 is rotatably connected to the second motor connecting portion 44. The support member 210 is formed in a substantially inverted L-shaped block when viewed from above. Specifically, the support member 210 has a support base portion 210A that extends to the right from the right side of the second motor connecting portion 44, and the support base portion 210A is positioned eccentrically with respect to the first connecting shaft 54. The support member 210 also has a support arm portion 210B. The support arm portion 210B extends from the tip of the support base portion 210A toward the first connecting shaft 54 ​​and is positioned to the right of the second pulley 71 at one end. As a result, when the second motor 40 is driven, the support member 210 rotates together with the second motor connecting portion 44 around the first axis AL1.

[0055] A bearing 212 is provided at the tip of the support arm portion 210B, and the bearing 212 is positioned coaxially with the first connecting shaft 54. The right end of the first connecting shaft 54 ​​is rotatably supported by the bearing 212. Thus, the right end of the first connecting shaft 54 ​​is rotatably supported at the tip of the support arm portion 210B of the support member 210 via the bearing 212. When the second motor 40 is driven, the controller 100 controls the rotational drive of the second motor 40 so that the support base portion 210A of the support member 210 does not interfere with the first timing belt 63 and the second timing belt 73.

[0056] Furthermore, a stopper member 214 is provided at the rear end of the first arm 22 between the support arm portion 210B of the support member 210 and the second pulley 71 at one end. The stopper member 214 is fixed to the first arm 22 at a position not shown and rotates integrally with the first arm 22 around the first axis AL1. When viewed from the right side, the stopper member 214 is formed in a roughly T-shaped block form. Specifically, the stopper member 214 has a roughly rectangular block-shaped stopper base portion 214A and a pair of stopper portions 214B extending vertically from the front end of the stopper base portion 214A to both sides.

[0057] The first connecting shaft 54 ​​is inserted through the stopper base portion 214A, and the front end of the stopper base portion 214A is located in front of the first connecting shaft 54. The tip of the stopper portion 214B, which extends upward from the stopper base portion 214A, protrudes above the first timing belt 63 and the second timing belt 73 when viewed from the right side (Figure 7 shows only the second timing belt 73). On the other hand, the tip of the stopper portion 214B, which extends downward from the stopper base portion 214A, protrudes below the first timing belt 63 and the second timing belt 73 when viewed from the right side (Figure 7 shows only the second timing belt 73). Furthermore, if the support member 210 attempts to rotate to a position where the support base portion 210A of the support member 210 interferes with the first timing belt 63 and the second timing belt 73, the support base portion 210A will hit the stopper portion 214B, thereby avoiding interference between the support base portion 210A and the first timing belt 63 and the second timing belt 73.

[0058] Furthermore, in the robot 200 of the second embodiment, the first motor 30 to the third motor 50, which are the drive sources for operating the robot arm 20, are all located together on the base 10. This makes it possible to make the robot arm 20 smaller and lighter compared to a configuration in which the second motor 40 and the third motor 50 are provided at the joints of the robot arm 20. In addition, by making the robot arm 20 lighter, the inertial force generated in the robot arm 20 when it is in operation can be reduced. As a result, the robot arm 20 can be operated smoothly. Therefore, the robot 200 of the second embodiment can achieve the same effects as the robot 1 of the first embodiment.

[0059] In particular, in the robot 200 of the second embodiment, as described above, the right end of the first connecting shaft 54 ​​is rotatably supported at the tip of the support arm portion 210B of the support member 210 via a bearing 212. Therefore, in the second embodiment, both axial ends of the first connecting shaft 54 ​​are supported by the output shaft 50A of the third motor 50 and the support member 210. This suppresses vibrations and other issues during rotation of the first connecting shaft 54, allowing the first connecting shaft 54 ​​to rotate smoothly. As a result, the one-end second pulley 71, which is integrally rotatable with the first connecting shaft 54, can rotate smoothly. Therefore, the driving force of the third motor 50 can be effectively transmitted to the second rotation mechanism 70, allowing the third arm 26 to operate smoothly by the second rotation mechanism 70.

[0060] Furthermore, the inner circumference of the first pulley 61 at one end is rotatably supported on the first connecting shaft 54 ​​via a bearing 64. This allows the first pulley 61 at one end to rotate more smoothly. As a result, the driving force of the second motor 40 is transmitted more effectively to the first rotating mechanism 60, and the second arm 24 is operated more effectively by the first rotating mechanism 60.

[0061] In the second embodiment, a stopper member 214 is provided at the rear end of the first arm 22. When the support member 210 attempts to rotate to a position where the support base portion 210A of the support member 210 interferes with the first timing belt 63 and the second timing belt 73, the support base portion 210A of the support member 210 hits the stopper portion 214B, restricting the rotation of the support member 210 and avoiding interference between the support base portion 210A and the first timing belt 63 and the second timing belt 73. This makes it possible to provide the support member 210, which supports the first connecting shaft 54, so as to be rotatable integrally with the second motor connecting portion 44, while avoiding interference between the support base portion 210A and the first timing belt 63 and the second timing belt 73.

[0062] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention. [Explanation of Symbols]

[0063] 1. Robot (mobile device) 10 bases 20 Robot Arm (Arm) 22 First Arm 24. Second Arm 26. Third Arm 30 First motor 30A Output shaft of the first motor 40 Second motor 40A Output shaft of the second motor 42. Holder for the second motor 45 bearings 50 Third motor 50A Output shaft of the third motor 52 Holder for the third motor 54 1st connection shaft 60 First Rotation Mechanism 61 First pulley on one end 62 The first pulley on the other end 63. First timing belt (first belt) 64 bearings 65 2nd connection shaft 66 bearings 67 Bearings 68 bearings 69 Bearings 70 Second Rotation Mechanism 71 Second pulley on one end 72 Second pulley on the other end 73. Second timing belt (second belt) 74 One end third pulley 75 Third pulley on the other end 76. Third timing belt (third belt) 77 Outer connection shaft 80 Robot Hand (Hand) 90 Handheld Motor 92 Flexible shaft 200 robots (mobile units) 210 Support member 212 Bearings 214 Stopper component AL1 1st axis AL2 2nd axis AL3 3rd axis

Claims

1. Base and, An arm comprising: a first arm with one end connected to the base; a second arm with one end connected to the other end of the first arm; and a third arm with one end connected to the other end of the second arm; A first motor is provided on the base and, when driven, rotates one end of the first arm around a first axis, A second motor is provided on the base and is arranged coaxially with the first motor, A third motor is provided on the base and is arranged coaxially with the first motor, A first rotation mechanism is provided on the first arm and is operated by the second motor to rotate one end of the second arm around a second axis parallel to the first axis, A second rotation mechanism is provided on the first arm and the second arm, which is operated by the third motor to rotate one end of the third arm around a third axis parallel to the first axis, Equipped with, The first rotating mechanism is, A first pulley at one end of the first arm is rotatably mounted on one end and is integrally rotatably connected to the output shaft of the second motor, A first pulley on the other end of the first arm is rotatably provided at the other end of the first arm and integrally rotatably connected to one end of the second arm, A first belt wrapped around the first pulley at one end and the first pulley at the other end, It consists of, The second rotating mechanism is, A second pulley at one end of the first arm is rotatably mounted on one end and is integrally rotatably connected to the output shaft of the third motor, A second pulley on the other end is rotatably provided at the other end of the first arm, The second belt is wrapped around the second pulley at one end and the second pulley at the other end, A third pulley at one end of the second arm is rotatably mounted on one end of the second arm and is integrally rotatably connected to the second pulley at the other end, A third pulley on the other end is rotatably provided at the other end of the second arm and integrally rotatably connected to one end of the third arm, A third belt wrapped around the third pulley at one end and the third pulley at the other end, It consists of, A second connecting shaft along the second axis is provided at the other end of the first arm, and both axial ends of the second connecting shaft protrude from the first arm and are integrally rotatably connected to one end of the second arm, and the first pulley on the other end is integrally rotatably connected to the second connecting shaft. An outer connecting shaft along the second axis is rotatably externally fitted onto the second connecting shaft, and the second pulley on the other end and the third pulley on the one end are integrally rotatably connected by the outer connecting shaft. One end of the outer connecting shaft is rotatably supported on the inner circumference of the other end of the first pulley via a bearing, and the axial intermediate portion of the outer connecting shaft is rotatably supported on the first arm via a bearing. One end of the second connecting shaft is rotatably supported on the other end of the first arm via a bearing, and the other end of the second connecting shaft is rotatably supported on the inner circumference of the outer connecting shaft via a bearing. A movable body in which the other end of the first arm, the second connecting shaft, and the outer connecting shaft are arranged inside one end of the second arm.

2. Base and, An arm comprising: a first arm with one end connected to the base; a second arm with one end connected to the other end of the first arm; and a third arm with one end connected to the other end of the second arm; A first motor is provided on the base and, when driven, rotates one end of the first arm around a first axis, A cylindrical first motor connecting portion that connects the output shaft of the first motor and one end of the first arm so as to be able to rotate integrally, A second motor is provided inside the first motor connecting portion of the base and is arranged coaxially with the first motor, A cylindrical second motor connecting portion, one end of which is integrally rotatably connected to the output shaft of the second motor, and the other end of which is rotatably supported by the first motor connecting portion via a bearing, A support member provided inside one end of the first arm and integrally rotatably connected to the second motor connecting portion, A third motor is provided inside the second motor connecting portion of the base and is arranged coaxially with the first motor, A first rotation mechanism is provided on the first arm and is operated by the second motor to rotate one end of the second arm around a second axis parallel to the first axis, A second rotation mechanism is provided on the first arm and the second arm, which is operated by the third motor to rotate one end of the third arm around a third axis parallel to the first axis, Equipped with, The first rotating mechanism is, A first pulley on one end of the first arm is rotatably mounted on one end of the first arm and is connected to the output shaft of the second motor by the second motor connecting portion so as to be rotatable together with the first pulley on one end, A first pulley on the other end of the first arm is rotatably provided at the other end of the first arm and integrally rotatably connected to one end of the second arm, A first belt wrapped around the first pulley at one end and the first pulley at the other end, It consists of, The second rotating mechanism is, A second pulley at one end of the first arm is rotatably mounted on one end and is integrally rotatably connected to the output shaft of the third motor, A second pulley on the other end is rotatably provided at the other end of the first arm, The second belt is wrapped around the second pulley at one end and the second pulley at the other end, A third pulley at one end of the second arm is rotatably mounted on one end of the second arm and is integrally rotatably connected to the second pulley at the other end, A third pulley on the other end is rotatably provided at the other end of the second arm and integrally rotatably connected to one end of the third arm, A third belt wrapped around the third pulley at one end and the third pulley at the other end, It consists of, A movable body having a first connecting shaft along the first axis provided at one end of the first arm, one end of the first connecting shaft rotatably connected to the output shaft of the third motor, the other end of the first connecting shaft rotatably supported by the support member via a bearing, and the first end second pulley rotatably connected to the first connecting shaft.

3. A first connecting shaft along the first axis is provided at one end of the first arm and is rotatably connected to the output shaft of the third motor. The movable body according to claim 1, wherein the first pulley at one end is rotatably supported on the first connecting shaft, and the second pulley at one end is integrally rotatably connected to the first connecting shaft.

4. The second motor is fixed to a second motor holder, and the second motor holder is integrally rotatably connected to the output shaft of the first motor. The movable body according to claim 1 or 2, wherein the third motor is fixed to a holder for the third motor, and the holder for the third motor is integrally rotatably connected to the output shaft of the second motor.

5. A hand is attached to the third arm. The base is provided with a motor for driving the hand, The mobile body according to claim 1 or claim 2, wherein the hand motor and the hand are connected by a flexible shaft, and the rotational force of the hand motor is transmitted to the hand to operate the hand.

6. A stopper member is provided at one end of the first arm. The movable body according to claim 2, wherein the support member collides with the stopper member when the second motor is driven, thereby avoiding interference between the support member and the first belt and the second belt.

7. The movable body according to claim 2, wherein the inner circumference of the first pulley at one end is rotatably supported on the first connecting shaft via a bearing.

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