Articulated robot, method for controlling an articulated robot, robot system, and method for manufacturing articles

Abstract

To suppress increase of a robot in size and expand an area to which a tip part of the robot can reach.SOLUTION: A robot 10 includes links LK1 and LK2 connecting a body part BDP and a link LK3, a joint mechanism AR3 which connects the link LK1 and the LK2, and rotates the link LK2 around an axis Ax3 as a rotation axis which has an angle with respect to an extension direction of the link LK1, which angle is larger than a predetermined angle, and a joint mechanism AR5 which connects the link LK2 and the LK3, and rotates the link LK3 around an axis Ax5 as a rotation axis which has an angle with respect to an extension direction of the link LK2, which angle is larger than the predetermined angle. The link LK2 includes a support part LK21, movable parts LK22 and LK23, a joint mechanism AR4 which rotates the movable part LK22 around an axis Ax4 as a rotation axis which has an angle with respect to an extension direction of the support part LK21, which angle is equal to or smaller than the predetermined angle, and a telescopic mechanism TE2 which moves the movable part LK23 along an extension direction of the movable part LK22 to extend and contract the link LK2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an articulated robot, a control method for an articulated robot, a robot system, and a method for manufacturing an article.

Background Art

[0002] As a robot that performs operations similar to those of a human, an articulated robot is known (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there are cases where an articulated robot is required to move beyond human movements. In this case, it is desirable to widen the area that the tip of the robot can reach. However, if the robot is enlarged in order to widen the area that the tip of the robot can reach, there is a possibility that a space for installing the robot cannot be secured. For this reason, it is desired to widen the area that the tip of the robot can reach while suppressing the enlargement of the robot.

Means for Solving the Problems

[0005] A jointed robot according to a preferred embodiment of the present invention includes a base, an end portion, a first link and a second link, a plurality of links connecting the base and the end portion, a first drive mechanism connecting the first link and the second link, and rotating the second link relative to the first link with respect to an axis whose angle with respect to the direction in which the first link extends is greater than a predetermined angle, and a second drive mechanism connecting the second link to links other than the first link and the second link or the end portion, and rotating the end portion with respect to an axis whose angle with respect to the direction in which the second link extends is greater than the predetermined angle. The second link comprises a second drive mechanism for rotating the link, the second link comprising a first portion connected to the first link, a second portion connected to a link other than the first link and the second link or the tip portion, a third portion connecting the first portion and the second portion, a third drive mechanism for rotating the third portion relative to the first portion with respect to an axis whose angle with respect to the direction in which the first portion extends is less than or equal to a predetermined angle, and a first extension mechanism for extending and retracting the second link by moving the second portion along the direction in which the third portion extends relative to the third portion.

[0006] A control method for an articulated robot according to a preferred embodiment of the present invention further comprises: a fourth drive mechanism that rotates at least a portion of the base of the articulated robot with respect to an axis whose angle with respect to a direction perpendicular to the bottom surface of the base is less than or equal to the predetermined angle; a fifth drive mechanism that connects the base to the first link and rotates the first link relative to the base with respect to an axis whose angle with respect to a direction perpendicular to the bottom surface of the base is greater than the predetermined angle; the tip portion is connected to the second link and includes a sixth drive mechanism that rotates at least a portion of the tip portion relative to the second link with respect to an axis whose angle with respect to the rotation axis of the tip portion when the tip portion is rotated by the second drive mechanism is greater than the predetermined angle; and the plurality of links are the first link and the second link A method for controlling an articulated robot, wherein the first link includes a fourth portion connected to the base, a fifth portion connected to the second link, a sixth portion connecting the fourth portion and the fifth portion, and a second telescopic mechanism that extends and retracts the first link by moving the sixth portion relative to the fourth portion along the direction in which the fourth portion extends, wherein a control device for controlling the operation of the articulated robot controls the operation of the articulated robot by controlling a motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the first telescopic mechanism, and a motor that drives the second telescopic mechanism.

[0007] A robot system according to a preferred embodiment of the present invention is a multi-joint robot described above, further comprising: a fourth drive mechanism that rotates at least a portion of the base using an axis whose angle with respect to the direction perpendicular to the bottom surface of the base is less than or equal to the predetermined angle as the axis of rotation; a fifth drive mechanism that connects the base and the first link and rotates the first link relative to the base using an axis whose angle with respect to the direction perpendicular to the bottom surface of the base is greater than the predetermined angle as the axis of rotation; the tip portion is connected to the second link and includes a sixth drive mechanism that rotates at least a portion of the tip portion relative to the second link using an axis whose angle with respect to the axis of rotation of the tip portion when the tip portion is rotated by the second drive mechanism is greater than the predetermined angle; the plurality of links are the first link and the second link, and the first link is connected to the base. The articulated robot includes a fourth part, a fifth part connected to the second link, a sixth part connecting the fourth and fifth parts, and a second telescopic mechanism that extends and retracts the first link by moving the sixth part relative to the fourth part along the direction in which the fourth part extends; an end effector attached to the tip; and a control device that controls the operation of the articulated robot and the end effector, wherein the control device controls the operation of the articulated robot by controlling a motor that drives the first drive mechanism, a motor that drives the second drive mechanism, a motor that drives the third drive mechanism, a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the first telescopic mechanism, and a motor that drives the second telescopic mechanism.

[0008] A preferred embodiment of the present invention involves assembling or removing parts using the robotic system described above. [Effects of the Invention]

[0009] According to the present invention, it is possible to increase the area that the robot's tip can reach while suppressing an increase in the robot's size. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram illustrating the outline of the robot system according to the embodiment. [Figure 2] This is an explanatory diagram illustrating an example of a linkage including joint and extension mechanisms. [Figure 3] This is an explanatory diagram illustrating an example of a linkage including an extension / retraction mechanism. [Figure 4] This is an explanatory diagram illustrating the advantages of the robot shown in Figure 1. [Figure 5] This figure shows an example of the hardware configuration of the robot controller shown in Figure 1. [Figure 6] This is an explanatory diagram illustrating an example of a link related to the first modified example. [Figure 7] This is an explanatory diagram illustrating another example of a link relating to the first modified example. [Figure 8] This is an explanatory diagram illustrating an example of turning. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. Note that the dimensions and scale of each part in each drawing have been appropriately changed from the actual ones. Furthermore, the embodiments described below are preferred specific examples of the present invention and are subject to various technically preferred limitations, but the scope of the present invention is not limited to these embodiments unless otherwise stated in the following description.

[0012] [1. Embodiments] First, with reference to Figure 1, an example of the outline of the robot system 1 according to this embodiment will be described.

[0013] Figure 1 is an explanatory diagram illustrating the overview of the robot system 1 according to an embodiment.

[0014] The robot system 1 includes, for example, a robot 10, an end effector 20 that is detachably attached to the robot 10, and a robot controller 30 that controls the operation of the robot 10 and the end effector 20. The robot 10 is an example of a "jointed robot," and the robot controller 30 is an example of a "control device."

[0015] The robot 10 and the robot controller 30 are connected to each other in a way that allows them to communicate, for example, by a wired connection. The connection between the robot 10 and the robot controller 30 may also be wireless, or a combination of wired and wireless connections. Furthermore, the robot controller 30 can communicate with the end effector 20 attached to the robot 10. The robot controller 30 can be any information processing device capable of communicating with other devices. The configuration of the robot controller 30 will be explained later in Figure 5.

[0016] Robot 10 is a multi-joint robot used for work in places such as farms, factories, and warehouses. Specifically, robot 10 is a 6-axis 2-extension multi-joint robot, which is a vertical 6-axis multi-joint robot with two extension mechanisms TE1 and TE2 added. For example, robot 10 has joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, and extension mechanisms TE1 and TE2. In addition to the multiple joint mechanisms AR (AR1, AR2, AR3, AR4, AR5, and AR6) and multiple extension mechanisms TE (TE1 and TE2), robot 10 also has a base BSP, a body BDP, links LK1, LK2, and LK3. Extension mechanism TE1 is provided on link LK1, and extension mechanism TE2 and joint mechanism AR4 are provided on link LK2. Furthermore, robot 10 has multiple motors that drive the multiple joint mechanisms AR and the multiple extension mechanisms TE. In Figure 1, for the sake of clarity, the multiple motors that drive the multiple joint mechanisms AR and the multiple extension mechanisms TE have been omitted from the description.

[0017] The body part BDP is an example of a "base part". Also, the link LK1 is an example of a "first link", and the link LK2 is an example of a "second link". Therefore, the links LK1 and LK2 correspond to "a plurality of links". The link LK3 is an example of a "tip part". The joint mechanism AR1 is an example of a "fourth drive mechanism", and the joint mechanism AR2 is an example of a "fifth drive mechanism". The joint mechanism AR3 is an example of a "first drive mechanism", and the joint mechanism AR5 is an example of a "second drive mechanism".

[0018] The base part BSP is fixed to a predetermined location such as the floor. The body part BDP is connected to the base part BSP via the joint mechanism AR1. The joint mechanism AR1 rotates the body part BDP with the axis Ax1 perpendicular to the bottom surface BDPbt of the body part BDP as the rotation axis. However, "perpendicular" includes not only strict perpendicularity but also substantial perpendicularity (for example, perpendicularity within an error range). Similarly, "parallel" described later includes not only strict parallelism but also substantial parallelism (for example, parallelism within an error range).

[0019] In this way, the body part BDP is rotatably connected to the base part BSP by the joint mechanism AR1 with the axis Ax1 as the rotation axis. The rotation direction Dr1 in FIG. 1 indicates the rotation direction of the body part BDP when rotating with the axis Ax1 as the rotation axis.

[0020] The joint mechanism AR2 connects the body part BDP and the link LK1, and rotates the link LK1 with respect to the body part BDP with the axis Ax2 parallel to the bottom surface BDPbt of the body part BDP as the rotation axis. The rotation direction Dr2 in FIG. 1 indicates the rotation direction of the body part BDP when rotating with the axis Ax2 as the rotation axis.

[0021] Link LK1 is configured to be extendable and retractable along the direction De1 in which link LK1 extends. For example, link LK1 includes a support portion LK11 connected to the body portion BDP, movable portions LK12 and LK13, and an extension / retraction mechanism TE1. Movable portion LK12 connects the support portion LK11 and the movable portion LK13. Movable portion LK13 is connected to link LK2. In this embodiment, it is assumed that each of the support portion LK11, movable portion LK12, and movable portion LK13 extends along direction De1. That is, direction De1 corresponds to the longitudinal direction of each of the support portion LK11, movable portion LK12, and movable portion LK13. Also in this embodiment, it is assumed that the direction De11 in which the support portion LK11 extends is the same as the direction De1 in which link LK1 extends.

[0022] The telescopic mechanism TE1 connects the support portion LK11 and the movable portion LK12, causing the movable portion LK12 to move relative to the support portion LK11 along the direction De11 in which the support portion LK11 extends. As the movable portion LK12 moves along direction De11, the movable portion LK13 also moves along direction De11. As the movable portions LK12 and LK13 move along direction De11, the link LK1 expands and contracts along direction De11 (i.e., direction De1). Direction Dm1 in Figure 1 indicates the direction of expansion and contraction of the link LK1 (the direction along direction De1).

[0023] The support part LK11 is an example of the "fourth part," and the movable part LK12 is an example of the "sixth part." Furthermore, the movable part LK13 is an example of the "fifth part," and the telescopic mechanism TE1 is an example of the "second telescopic mechanism."

[0024] The joint mechanism AR3 connects link LK1 and link LK2, and rotates link LK2 relative to link LK1 using axis Ax3, which is perpendicular to the direction De1 in which link LK1 extends, as the axis of rotation. The rotation direction Dr3 in Figure 1 shows the rotation direction of link LK2 when rotating around axis Ax3 as the axis of rotation.

[0025] Link LK2 is configured to be extendable and retractable along the direction De2 in which link LK2 extends. For example, link LK2 includes a support portion LK21 connected to link LK1, movable portions LK22 and LK23, an extension / retraction mechanism TE2, and an articulation mechanism AR4. Movable portion LK22 connects the support portion LK21 and the movable portion LK23. Movable portion LK23 is connected to link LK3. In this embodiment, it is assumed that each of the support portion LK21, movable portion LK22, and movable portion LK23 extends along direction De2. That is, direction De2 corresponds to the longitudinal direction of each of the support portion LK21, movable portion LK22, and movable portion LK23. In this embodiment, it is also assumed that the direction De22 in which the movable portion LK22 extends is the same as the direction De2 in which link LK2 extends.

[0026] The telescopic mechanism TE2 connects the movable parts LK22 and LK23, and moves the movable part LK23 relative to the movable part LK22 along the direction De22 in which the movable part LK22 extends. As the movable part LK23 moves along direction De22, the link LK2 expands and contracts along direction De22 (i.e., direction De2). Direction Dm2 in Figure 1 indicates the direction of expansion and contraction of the link LK2 (the direction along direction De2).

[0027] The joint mechanism AR4 rotates the movable part LK22 relative to the support part LK21 using axis Ax4, which is parallel to the direction De21 in which the support part LK21 extends, as the axis of rotation. The rotation direction Dr4 in Figure 1 shows the rotation direction of the movable part LK22 when rotating around axis Ax4. In this embodiment, the movable part LK23 is connected to the movable part LK22 so as to rotate together with the movable part LK22. Therefore, in this embodiment, the joint mechanism AR4 rotates the movable part LK23 relative to the support part LK21 using axis Ax4 as the axis of rotation by rotating the movable part LK22 relative to the support part LK21 using axis Ax4 as the axis of rotation.

[0028] Support part LK21 is an example of the "first part," movable part LK22 is an example of the "third part," and movable part LK23 is an example of the "second part." In addition, joint mechanism AR4 is an example of the "third drive mechanism," and extension mechanism TE2 is an example of the "first extension mechanism."

[0029] The joint mechanism AR5 connects link LK2 and link LK3, and rotates link LK3 relative to link LK2 using axis Ax5, which is perpendicular to the direction De2 in which link LK2 extends, as the axis of rotation. The rotation direction Dr5 in Figure 1 indicates the rotation direction of link LK3 when rotating around axis Ax5 as the axis of rotation.

[0030] An end effector 20 for gripping an object is attached to link LK3, for example. For example, the end effector 20 is attached to the end face LK3sf of link LK3. Link LK3 also includes an articulation mechanism AR6 that rotates at least a portion of link LK3 relative to link LK2, with axis Ax6 perpendicular to axis Ax5 as the axis of rotation. For example, the articulation mechanism AR6 rotates the end face LK3sf of link LK3 relative to link LK2, with axis Ax6 as the axis of rotation. The rotation direction Dr6 in Figure 1 indicates the rotation direction of the end face LK3sf of link LK3 when rotating with axis Ax6 as the axis of rotation. Note that the articulation mechanism AR6 is an example of the "sixth drive mechanism".

[0031] Furthermore, the operations performed by the end effector 20 are not limited to gripping objects. Appropriate components (e.g., robot hands and robot fingers) can be applied as the end effector 20 depending on the purpose of the robot 10's operation. In other words, an end effector 20 suitable for various operations can be attached to the link LK3.

[0032] In this embodiment, rotation around an axis whose angle with respect to a specific direction is greater than a predetermined angle may be distinguished from rotation around an axis whose angle with respect to a specific direction is less than or equal to the predetermined angle and referred to as "swivel." The predetermined angle may be, for example, 45°. However, the predetermined angle is not limited to 45°.

[0033] For example, in rotation with axes Ax1 and Ax2 as the axis of rotation, the direction Dv1 perpendicular to the bottom surface BDPbt of the body BDP corresponds to a specific direction. In this case, axis Ax1 corresponds to an axis whose angle with direction Dv1 perpendicular to the bottom surface BDPbt of the body BDP is less than or equal to a predetermined angle, and axis Ax2 corresponds to an axis whose angle with direction Dv1 is greater than the predetermined angle. Therefore, the rotation of link LK1 with axis Ax2 as the axis of rotation corresponds to a pivot. In this embodiment, since the body BDP extends along direction Dv1 perpendicular to the bottom surface BDPbt, the direction Deb in which the body BDP extends may also be considered a specific direction.

[0034] Furthermore, in rotation around axis Ax3, the direction De1 in which link LK1 extends corresponds to a specific direction, and in rotation around axis Ax4, the direction De21 in which support portion LK21 extends corresponds to a specific direction. In this case, axis Ax3 corresponds to an axis where the angle it makes with direction De1 in which link LK1 extends is greater than a predetermined angle, and axis Ax4 corresponds to an axis where the angle it makes with direction De21 in which support portion LK21 extends is less than or equal to a predetermined angle. Therefore, rotation of link LK2 around axis Ax3 corresponds to a pivot.

[0035] Furthermore, in rotation around axis Ax5 as the axis of rotation, the direction De2 in which link LK2 extends corresponds to a specific direction, and in rotation around axis Ax6 as the axis of rotation, the direction De3 in which link LK3 extends corresponds to a specific direction. In this case, axis Ax5 corresponds to an axis whose angle with direction De2 in which link LK2 extends is greater than a predetermined angle, and axis Ax6 corresponds to an axis whose angle with direction De3 in which link LK3 extends is less than or equal to a predetermined angle. Therefore, rotation of link LK3 around axis Ax5 as the axis of rotation corresponds to a pivot. Note that in this embodiment, it is assumed that the direction De3 in which link LK3 extends is perpendicular to axis Ax5. For this reason, in this embodiment, axis Ax6 whose angle with direction De3 is less than or equal to a predetermined angle corresponds to an axis whose angle with axis Ax5 (axis of rotation) of link LK3 is greater than a predetermined angle when link LK3 rotates due to joint mechanism AR5.

[0036] Thus, in this embodiment, each of the multiple parts of the robot 10 (body part BDP, links LK1, LK2, and LK3, etc.) is rotatable around axes Ax1, Ax2, Ax3, Ax4, Ax5, and Ax6, respectively. As a result, in this embodiment, the robot 10 can perform movements similar to those of a human.

[0037] For example, link LK1 between joint mechanism AR2 and joint mechanism AR3 corresponds to the upper arm, and link LK2 between joint mechanism AR3 and joint mechanism AR5 corresponds to the forearm. The robot 10 can perform movements that mimic the twisting of a person's waist using joint mechanism AR1, and movements that mimic the rotation of the shoulder using joint mechanism AR2. The robot 10 can also perform movements that mimic the rotation of the elbow using joint mechanism AR3, and movements that mimic the twisting of the arm using joint mechanism AR4. Furthermore, the robot 10 can perform movements that mimic the rotation of the wrist using joint mechanism AR5, and movements that mimic the twisting of the fingertips using joint mechanism AR6.

[0038] Furthermore, in this embodiment, link LK1 can be extended and retracted by the telescopic mechanism TE1 provided between the joint mechanism AR2 that rotates link LK1 and the joint mechanism AR3 that rotates link LK2. Also, in this embodiment, link LK2 can be extended and retracted, and the movable part LK23 can be rotated by the telescopic mechanisms TE2 and AR4 provided between the joint mechanism AR3 and the joint mechanism AR5 that rotates link LK3. In this embodiment, the telescopic mechanisms TE1 and TE2 can widen the area that the tip of the robot 10 (for example, the end face LK3sf of link LK3) can reach, and the area that the end effector 20 attached to the robot 10 can reach can be widened.

[0039] Note that the configuration of the robot system 1 is not limited to the example shown in Figure 1. For example, the robot controller 30 may be built into the robot 10. Also, although Figure 1 assumes that the robot 10 is fixed to a predetermined location such as the floor, the robot 10 may not be fixed to a predetermined location and may be movable. Furthermore, the joint mechanism AR1 may be included in the body part BDP. In this case, the entire body part BDP may rotate around axis Ax1 as the axis of rotation, or a part of the body part BDP (for example, the part connected to the joint mechanism AR2) may rotate around axis Ax1 as the axis of rotation. Alternatively, the body part BDP may be fixed to the base part BSP so as not to rotate, and the joint mechanism AR2 may rotate around axis Ax1 as the axis of rotation. In addition, link LK2 and link LK3, which is the "end point", do not necessarily have to be connected via the joint mechanism AR5, which is the "second drive mechanism", and links other than links LK1 and LK2 may be placed between the joint mechanism AR5 and link LK3.

[0040] Next, with reference to Figure 2, an example of link LK2 including the joint mechanism AR4 and the extension mechanism TE2 will be described.

[0041] Figure 2 is an explanatory diagram illustrating an example of a link LK2 including the joint mechanism AR4 and the extension mechanism TE2. The upper part of Figure 2 shows the link LK2 in a contracted state, and the lower part of Figure 2 shows the link LK2 in an extended state. In addition, in Figure 2, for the sake of clarity, the direction Dm2 indicating the extension and contraction direction of the link LK2 is distinguished by adding "p" or "m" to the end of the symbol. Direction Dm2m indicates the direction in which the link LK2 contracts, and direction Dm2p is the opposite direction of direction Dm2m and indicates the direction in which the link LK2 extends. Note that in Figure 2 and subsequent figures, directions Dm2m and Dm2p may be referred to simply as direction Dm2 without any particular distinction.

[0042] Link LK2, as described in Figure 1, includes a support portion LK21, movable portions LK22 and LK23, an extension / retraction mechanism TE2, a joint mechanism AR4, a motor MOa4 that drives the joint mechanism AR4, and a motor MOt2 that drives the extension / retraction mechanism TE2. The movable portion LK22 is hollow. The extension / retraction mechanism TE2 is provided inside the movable portion LK22. Motor MOt2 is mounted inside the movable portion LK22, and motor MOa4 is mounted inside the support portion LK21. Motor MOa4 is an example of a "first motor," and motor MOt2 is an example of a "second motor."

[0043] The telescopic mechanism TE2 includes, for example, a nut TE21 fixed to the end of the movable part LK23 closer to the support part LK21, and a ball screw TE22 extending along direction De22 and inserted through the nut TE21. The ball screw TE22 is mounted to a motor MOt2, for example, such that its central axis coincides with the central axis of the movable part LK22. The ball screw TE22 rotates with the rotation of the motor MOt2, with axis Axte2 being, for example, the central axis of the ball screw TE22. The nut TE21 moves along axis Axte2 as the ball screw TE22 rotates. Because the nut TE21 is fixed to the movable part LK23, the movable part LK23 moves along axis Axte2 (i.e., direction De22) as the nut TE21 moves. In this way, the ball screw TE22 movably supports the movable part LK23.

[0044] The movable part LK23 is configured to house the ball screw TE22. For example, the central axis of the movable part LK23 is the same as the central axis of the ball screw TE22, i.e., axis Axte2. Furthermore, the movable part LK23 is connected to the movable part LK22 in such a way that it does not rotate around axis Axte2 even when the ball screw TE22 rotates. As a result, the nut TE21 fixed to the movable part LK23 moves along axis Axte2 as the ball screw TE22 rotates, as described above.

[0045] By switching the rotation direction of motor MOt2, the direction of movement of nut TE21, i.e., the direction of movement of movable part LK23, is switched between direction Dm2p and direction Dm2m. For example, when motor MOt2 rotates in the first rotation direction, nut TE21 moves in direction Dm2p, and when motor MOt2 rotates in the second rotation direction which is the opposite of the first rotation direction, nut TE21 moves in direction Dm2m.

[0046] For example, when the robot controller 30 rotates the motor MOt2 in a first rotational direction while the movable part LK23 is retracted inside the movable part LK22, the movable part LK23 gradually protrudes from the movable part LK22 as the nut TE21 moves. As a result, the link LK2 extends in the direction Dm2p. In the example shown in Figure 2, the link LK2 extends to a maximum length that is approximately the same as the length of the movable part LK23. Furthermore, when the robot controller 30 rotates the motor MOt2 in a second rotational direction while the movable part LK23 is protruding from the movable part LK22, the movable part LK23 gradually retracts inside the movable part LK22 as the nut TE21 moves. As a result, the link LK2 contracts in the direction Dm2m. In this way, when the link LK2 contracts, at least a portion of the movable part LK23 is retracted inside the movable part LK22.

[0047] Furthermore, the motor MOt2 is attached to the end of the movable part LK22 closest to the support part LK21, so as to prevent it from moving in direction Dm2 even when the telescopic mechanism TE2 moves the movable part LK23 in direction Dm2p or Dm2m. In other words, the motor MOt2 is attached to the end of the movable part LK22 closest to the support part LK21, so as to prevent it from moving in direction Dm2 even when the movable part LK23 moves in direction Dm2p or Dm2m.

[0048] The joint mechanism AR4 is attached, for example, to the end of the support portion LK21 closer to the movable portion LK22 (i.e., near the boundary between the support portion LK21 and the movable portion LK22). For example, the joint mechanism AR4 has a motor fixing portion AR48, a transmission shaft AR46, and a gear AR47.

[0049] A motor fixing portion AR48, located at the end of the support portion LK21 closest to the movable portion LK22, is used to fix the motor MOa4, which is positioned inside the support portion LK21. In this way, because the motor MOa4 is fixed to the support portion LK21, it does not move in direction Dm2 even when the telescopic mechanism TE2 performs telescopic movement.

[0050] The transmission shaft AR46 is attached to the motor MOa4 so as to transmit the rotation of the motor MOa4. Furthermore, the transmission shaft AR46 is connected to the movable part LK22 via the gear AR47. As a result, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK22 via the transmission shaft AR46 and the gear AR47. Consequently, the movable part LK22 rotates around the axis Ax4. Note that since the motor MOa4 is attached to the support part LK21, even if the rotational movement that rotates the movable part LK22 around the axis Ax4 is performed by the joint mechanism AR4, the motor MOa4 does not rotate around the axis Ax4. Therefore, in this embodiment, even when the movable part LK22 rotates around the axis Ax4, it is possible to suppress the generation of disturbances associated with the rotation of the motor MOa4 itself.

[0051] Here, for example, in rotational motion by the joint mechanism AR4, external disturbances such as vibrations have a greater impact on eccentricity and speed control in rotational motion compared to rotational motion by the joint mechanisms AR2, AR3, or AR5. However, in this embodiment, even when rotational motion by the joint mechanism AR4 or extension / retraction motion by the extension / retraction mechanism TE2 is performed, the relative positions of the motor MOa4 and the joint mechanism AR4 with respect to the movable part LK22 do not change. Therefore, in this embodiment, the occurrence of disturbances affecting the rotational motion by the joint mechanism AR4 can be suppressed, and the rotational motion by the joint mechanism AR4 can be controlled with high precision. In other words, in this embodiment, the robot 10 can be controlled with high precision.

[0052] Furthermore, in this embodiment, when the movable part LK22 rotates due to the joint mechanism AR4, the axis of rotation of the movable part LK22 is parallel to the central axis of the movable part LK23. For example, link LK2 is configured such that the axis Axte2 (the central axis of the ball screw TE22, the movable part LK22, and the movable part LK23) when the movable part LK23 moves is the same axis or approximately the same axis as the axis Ax4 when the movable part LK22 rotates. As a result, in this embodiment, even when the movable part LK23 is moved along axis Axte2 while the movable part LK22 is rotating around axis Ax4, deflection and eccentricity of the entire link LK2 can be suppressed. As a result, in this embodiment, the robot 10 can be controlled with high precision. Furthermore, in this embodiment, it is preferable to configure link LK2 such that the centers of gravity of the movable parts LK22 and LK23 are located on axis Ax4 when the movable part LK22 rotates. In this case, the inertia generated when the movable parts LK22 and LK23 rotate around axis Ax4 can be reduced, and the deflection and eccentricity of the entire link LK2 can be further suppressed.

[0053] Furthermore, in this embodiment, the extension and retraction of link LK2 is achieved by the movement of the movable part LK23 along the axis Axte2 relative to the movable part LK22, and the rotation of link LK2 is achieved by the rotation of the movable part LK22 with axis Ax4 as the axis of rotation. Thus, in this embodiment, since the control targets for the extension and retraction and rotation of link LK2 are separated into the movable part LK22 and the movable part LK23, it is possible to suppress the complexity of controlling the motors MOt2 and MOa4 for moving link LK2.

[0054] Furthermore, in this embodiment, the weight of the movable parts LK22 and LK23 is increased by making the length of the movable parts LK22 and LK23 along direction De2 (length in the longitudinal direction) somewhat longer (for example, longer than the diameter of the movable part LK22). As a result, in this embodiment, the natural vibration frequency of the movable parts LK22 and LK23 can be reduced. Consequently, in this embodiment, vibrations generated during operation by the end effector 20 attached to link LK3 can be absorbed, and vibrations of link LK3 and end effector 20 can be suppressed. In addition, in this embodiment, because the natural vibration frequency of the movable parts LK22 and LK23 is small, it is possible to suppress the propagation of vibrations from the joint mechanism AR5 to the base BSP of the robot 10 to link LK3 and end effector 20. For example, in robot system 1, the operational accuracy of link LK3 and end effector 20 when links LK1 and LK2 are being extended or extended may be important. In this case, it is important to increase the length of the movable parts LK22 and LK23 along direction De2, and the weight of the movable parts LK22 and LK23 to a certain extent.

[0055] Note that the configuration of link LK2 is not limited to the example shown in Figure 2. For example, when link LK2 is contracted to its maximum extent, a portion of the movable part LK23 may not be stored inside the movable part LK22, but may be exposed from the movable part LK22. Also, for example, the movable part LK23 may be configured to cover the outer circumference of the movable part LK22 by devising the structure of the motor MOt2, nut TE21, and ball screw TE22. In this configuration, when link LK2 is contracted, at least a portion of the movable part LK22 may be stored inside the movable part LK23. Furthermore, the motor MOa4 may be located outside the support part LK21.

[0056] Next, an example of a link LK1 including the telescopic mechanism TE1 will be described with reference to Figure 3.

[0057] Figure 3 is an explanatory diagram illustrating an example of a link LK1 including an extension / retraction mechanism TE1. The upper part of Figure 3 shows the link LK1 in a contracted state, and the lower part of Figure 3 shows the link LK1 in an extended state. Also, in Figure 3, as with Figure 2, to make the explanation easier to understand, the direction Dm1 indicating the extension / retraction direction of the link LK1 is distinguished by adding "p" or "m" to the end of the symbol. Direction Dm1m indicates the direction in which the link LK1 contracts, and direction Dm1p is the opposite direction of direction Dm1m and indicates the direction in which the link LK1 extends.

[0058] Link LK1, as described in Figure 1, includes a support portion LK11, movable portions LK12 and LK13, an extension / retraction mechanism TE1, and a motor MOt1. The support portion LK11 is hollow. The extension / retraction mechanism TE1 is provided inside the support portion LK11.

[0059] The telescopic mechanism TE1 includes, for example, a nut TE11 fixed to the end of the movable part LK12 furthest from the movable part LK13, and a ball screw TE12 extending along direction De11 and inserted through the nut TE11. The ball screw TE12 is attached to a motor MOt1 that drives the telescopic mechanism TE1. The ball screw TE12 rotates around axis Axte1 as the motor MOt1 rotates. Axte1 is, for example, the central axis of the ball screw TE12.

[0060] Here, the movable part LK12 is connected to the support part LK11 so that it does not rotate around the axis Axte1 even when the ball screw TE12 rotates. As a result, the nut TE11 fixed to the movable part LK12 moves along the axis Axte1 as the ball screw TE12 rotates. Also, because the nut TE11 is fixed to the movable part LK12, the movable part LK12 moves along the axis Axte1 (i.e., direction De11) as the nut TE11 moves. In this way, the ball screw TE12 supports the movable part LK12 so that it can move. The movable part LK12 is configured to be able to house the ball screw TE12.

[0061] By switching the rotation direction of motor MOt1, the direction of movement of nut TE11, i.e., the direction of movement of the movable part LK12, is switched between direction Dm1p and direction Dm1m. For example, when motor MOt1 rotates in the first rotation direction, nut TE11 moves in direction Dm1p, and when motor MOt1 rotates in the second rotation direction, which is the opposite rotation to the first rotation direction, nut TE11 moves in direction Dm1m.

[0062] For example, when the robot controller 30 rotates the motor MOt1 in a first rotational direction while the movable part LK12 is retracted inside the support part LK11, the movable part LK12 gradually protrudes from the support part LK11 as the nut TE11 moves. As a result, the link LK1 extends in the direction Dm1p. In the example shown in Figure 3, the link LK1 extends to a maximum length that is approximately the same as the length of the movable part LK12. Furthermore, when the robot controller 30 rotates the motor MOt1 in a second rotational direction while the movable part LK12 is protruding from the support part LK11, the movable part LK12 gradually retracts inside the support part LK11 as the nut TE11 moves. As a result, the link LK1 contracts in the direction Dm1m. In this way, when the link LK1 contracts, at least a portion of the movable part LK12 is retracted inside the support part LK11.

[0063] Note that the configuration of link LK1 is not limited to the example shown in Figure 3. For example, when link LK1 is retracted, at least a portion of the movable part LK12 may be stored in the movable part LK13. Alternatively, when link LK1 is retracted, a portion of the movable part LK12 may be stored in the support part LK11, and the other portion of the movable part LK12 may be stored in the movable part LK13. Also, for example, when link LK1 is retracted to its maximum extent, a portion of the movable part LK12 may not be stored inside the support part LK11, but may be exposed from the support part LK11. Furthermore, the movable part LK12 may be configured integrally with the movable part LK13. In addition, the support part LK11 and the movable part LK12 may be configured integrally, and an extension / retraction mechanism TE1 may be provided on link LK1 to move the movable part LK13 relative to the integrally configured support part LK11 and movable part LK12.

[0064] Furthermore, for example, the movable part LK12 may be configured to cover the outer circumference of the support part LK11 by devising the structure of the motor MOt1, nut TE11, and ball screw TE12. In this configuration, when the link LK1 is retracted, at least a part of the support part LK11 may be stored in the movable part LK12.

[0065] Next, we will explain the advantages of robot 10, referring to Figure 4.

[0066] Figure 4 is an explanatory diagram illustrating the advantages of robot 10 shown in Figure 1. In Figure 4, robot 10Z (a vertical 6-axis articulated robot), in which the telescopic mechanisms TE1 and TE2 are omitted from robot 10, is shown by a dotted line as a form for comparison with robot 10. In Figure 4, the advantages of robot 10 are explained using the operation of items GD placed on shelf RK as an example. First, robot 10Z, which is compared to robot 10, will be explained.

[0067] The proportional robot 10Z is similar to robot 10, except that it has links LK1z and LK2z instead of links LK1 and LK2. Links LK1z and LK2z are fixed at a predetermined length and do not extend or retract. In the example shown in Figure 4, the length of link LK1z is approximately the same as the length of link LK1 when link LK1 is fully retracted, and the length of link LK2z is approximately the same as the length of link LK2 when link LK2 is fully extended. Note that the length of link LK1z may also be approximately the same as the length of link LK1 when link LK1 is fully extended.

[0068] In robot 10Z, where links LK1z and LK2z are not made extendable, but one or both of links LK1z and LK2z are simply lengthened, robot 10Z itself becomes larger. Therefore, when robot 10Z is used, the space required to install robot 10Z, or the space required for robot 10Z to move, must be larger than when robot 10 is used. Consequently, in configurations where links LK1z and LK2z are not extendable (e.g., robot 10Z), if space cannot be secured to install a large robot, it is difficult to widen the area that the robot's tip can reach.

[0069] Furthermore, in robot 10Z, for example, when retrieving an item GD placed at the back of shelf RK from the back to the front, it is necessary to rotate links LK1z and LK2z to move link LK3 and end effector 20 in a straight line. For this reason, robot 10Z requires not only the movable space of link LK3 but also the movable space of links LK1z and LK2z. Consequently, if there are other items GD or shelf RK frames FRM etc. around item GD (especially in front and above) robot 10Z, these other items GD or shelf RK frames FRM etc. may become obstacles and interfere with the operation of robot 10Z, potentially preventing robot 10Z from performing the desired task.

[0070] In contrast, in this embodiment, as described above, since link LK2 extends and retracts, the overall size of the robot 10 can be suppressed while widening the area that the tip of the robot 10 (for example, link LK3) can reach. As a result, in this embodiment, the robot 10 can be installed even in narrow places where space for installing the robot 10Z cannot be secured. Consequently, in this embodiment, even in narrow places, the robot 10 can efficiently perform tasks on items located close to the robot 10 and tasks on items located far from the robot 10 by extending and retracting link LK2.

[0071] Furthermore, in this embodiment, the robot 10 can move link LK3 and end effector 20 linearly by extending and retracting link LK2, as shown by the dashed arrow in Figure 4. Therefore, in this embodiment, even in narrow spaces with obstacles such as the frame FRM of shelf RK, the robot 10 can easily perform work on items GD located at the back of shelf RK by extending and retracting link LK2. Also, in this embodiment, for example, link LK3 and end effector 20 can be moved linearly by driving the extension / retraction mechanism TE2 without simultaneously driving joint mechanisms AR2 and AR3. Therefore, in this embodiment, the complexity of controlling multiple joint mechanisms AR can be suppressed, and the accuracy when moving link LK3 and end effector 20 linearly can be improved.

[0072] Furthermore, in this embodiment, as described above, since the link LK1 extends and retracts, the overall size of the robot 10 is suppressed, while the area that the tip of the robot 10 can reach is made wider compared to the configuration in which the link LK1 does not extend and retract. As a result, in this embodiment, the robot 10 can work on items GD located at high positions that would be unreachable in the configuration in which the link LK1 does not extend and retract. In addition, in this embodiment, the robot 10 can easily work on items GD located at high positions on shelves RK and at the back of shelves RK by moving the joint mechanism AR3 to a high position using the extension and retraction mechanism TE1.

[0073] Next, the hardware configuration of the robot controller 30 will be described with reference to Figure 5.

[0074] Figure 5 shows an example of the hardware configuration of the robot controller 30 shown in Figure 1.

[0075] The robot controller 30 includes a processing unit 32 for controlling each part of the robot controller 30, a memory 33 for storing various information, a communication device 34, an operating device 35 for receiving operations from operators, etc., a display device 36, and a driver circuit 37.

[0076] The memory 33 includes, for example, one or both of a volatile memory such as RAM (Random Access Memory) that functions as a workspace for the processing unit 32, and a non-volatile memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory) that stores various information such as the control program PGr. The memory 33 may be detachable from the robot controller 30. Specifically, the memory 33 may be a storage medium such as a memory card that is detachable from the robot controller 30. Alternatively, the memory 33 may be a storage device (e.g., online storage) that is connected to the robot controller 30 via a network or the like for communication.

[0077] The memory 33 shown in Figure 5 stores the control program PGr. In this embodiment, the control program PGr includes, for example, an application program for the robot controller 30 to control the operation of the robot 10. However, the control program PGr may also include, for example, an operating robot system program for the processing unit 32 to control various parts of the robot controller 30.

[0078] The processing unit 32 is a processor that controls the entire robot controller 30 and is configured, for example, to include one or more CPUs (Central Processing Units). The processing unit 32 controls the operation of the robot 10 by executing, for example, a control program PGr stored in memory 33 and operating according to the control program PGr. The control program PGr may be transmitted from another device via a network or the like.

[0079] Furthermore, for example, if the processing unit 32 is configured to include multiple CPUs, some or all of the functions of the processing unit 32 may be realized by these multiple CPUs cooperating and operating according to a program such as a control program PGr. Also, in addition to one or more CPUs, or in place of some or all of the one or more CPUs, the processing unit 32 may be configured to include hardware such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array). In this case, some or all of the functions of the processing unit 32 may be realized by hardware such as a DSP.

[0080] The communication device 34 is hardware for communicating with external devices located outside the robot controller 30. For example, the communication device 34 has the function of communicating with external devices via short-range wireless communication. The communication device 34 may also have the function of communicating with external devices via a mobile communication network or other network.

[0081] The operating device 35 is an input device that receives input from an external source (e.g., a keyboard, mouse, switch, button, and sensor). For example, the operating device 35 receives operations from an operator and outputs operation information corresponding to the operations to the processing device 32. For example, a touch panel that detects contact with the display surface of the display device 36 may be used as the operating device 35.

[0082] The display device 36 is an output device such as a display that outputs to the outside. The display device 36 displays an image, for example, under the control of the processing device 32. The operating device 35 and the display device 36 may be configured as an integrated unit (for example, a touch panel).

[0083] The driver circuit 37 is hardware that outputs signals to the robot 10 for driving the robot 10 under the control of the processing unit 32. For example, the driver circuit 37 outputs signals to the robot 10 to drive motors MOa1, MOa2, MOa4, MOa5, MOa6, MOt1, and MOt2, etc., under the control of the processing unit 32. Motors MOa1, MOa2, MOa2, MOa4, MOa5, and MOa6 are motors that drive the joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, respectively. Motors MOt1 and MOt2 are motors that drive the telescopic mechanisms TE1 and TE2, respectively.

[0084] In this way, the robot controller 30 controls the movement of the robot 10 by controlling MotorMOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1 and MOt2.

[0085] In this embodiment, the robot 10 includes a body portion BDP, a link LK3, a plurality of links LK1 and LK2 connecting the body portion BDP and link LK3, an articulation mechanism AR3, and an articulation mechanism AR5. The articulation mechanism AR3 connects link LK1 and link LK2, and rotates link LK2 relative to link LK1 using axis Ax3, where the angle it makes with the direction De1 in which link LK1 extends is greater than a predetermined angle, as the axis of rotation. The articulation mechanism AR5 connects link LK2 and link LK3, and rotates link LK3 relative to link LK2 using axis Ax5, where the angle it makes with the direction De2 in which link LK2 extends is greater than a predetermined angle, as the axis of rotation. Link LK2 includes a support portion LK21 connected to link LK1, a movable portion LK23 connected to link LK3, a movable portion LK22 connecting the support portion LK21 and the movable portion LK23, an articulation mechanism AR4, and an extension / retraction mechanism TE2. The joint mechanism AR4 rotates the movable part LK22 relative to the support part LK21 using axis Ax4, whose angle with the direction De21 in which the support part LK21 extends is less than or equal to a predetermined angle, as the axis of rotation. The extension mechanism TE2 extends or retracts the link LK2 by moving the movable part LK23 along the direction in which the movable part LK22 extends (direction De22).

[0086] Thus, in this embodiment, the link LK2 extends and retracts due to the telescopic mechanism TE2. Therefore, in this embodiment, the area that the tip of the robot 10 (for example, link LK3) can reach can be widened while suppressing an overall increase in the size of the robot 10. As a result, in this embodiment, the robot 10 can be installed even in narrow places where space for installing a large robot cannot be secured. In other words, in this embodiment, even in a robot 10 used in a narrow place, the area that the tip of the robot 10 (for example, link LK3) can reach can be widened.

[0087] Furthermore, in this embodiment, the rotation of the movable portion LK22 of link LK2 is performed by the joint mechanism AR4, and the extension and retraction of link LK2 is performed by the extension and retraction mechanism TE2. Therefore, in this embodiment, it is possible to suppress the complexity of controlling the rotation of the movable portion LK22 of link LK2 and the extension and retraction of link LK2.

[0088] Furthermore, in this embodiment, the movable part LK22 is hollow. When the link LK2 is retracted, at least a portion of the movable part LK23 is stored inside the movable part LK22. This allows the extension and retraction of the link LK2 to be achieved with a simple configuration in this embodiment.

[0089] Furthermore, in this embodiment, the robot 10 further includes a motor MOa4 that drives the joint mechanism AR4 and a motor MOt2 that drives the telescopic mechanism TE2. The motor MOa4 is attached to the end of the support portion LK21 closest to the movable portion LK22, so as not to move in the direction of extension / retraction of the link LK2 (direction Dm2) even when the link LK2 extends or retracts, and so as not to move in the rotational direction Dr4 of the movable portion LK22 even when the movable portion LK22 rotates relative to the support portion LK21. The motor MOt2 is attached to the end of the movable portion LK22 closest to the support portion LK21, so as not to move in the direction of extension / retraction of the link LK2 (direction Dm2) even when the link LK2 extends or retracts.

[0090] As a result, in this embodiment, even when rotational movement is performed by the joint mechanism AR4 or extension / retraction movement is performed by the extension / retraction mechanism TE2, the relative position of motor MOa4 with respect to the movable part LK22 does not change. Therefore, in this embodiment, the occurrence of disturbances that affect the rotational movement of the joint mechanism AR4 can be suppressed, and the rotational movement of the joint mechanism AR4 can be controlled with high precision. In other words, in this embodiment, the robot 10 can be controlled with high precision. Furthermore, in this embodiment, since motor MOt2 is attached to the movable part LK22, even when the movable part LK23 moves along direction De22, motor MOt2 does not move along direction De22. Therefore, in this embodiment, even when extension / retraction movement is performed by the extension / retraction mechanism TE2, the relative position of motor MOt2 with respect to motor MOa4 does not change. As a result, in this embodiment, even when the movable part LK23 is moving along axis Axte2, the movable part LK22 can be rotated stably with axis Ax4 as the axis of rotation.

[0091] Furthermore, in this embodiment, when the movable part LK22 rotates due to the joint mechanism AR4, the axis of rotation of the movable part LK22 (axis Ax4) is parallel to the central axis of the movable part LK23. As a result, in this embodiment, even when the movable part LK23 is moved along direction De22 while the movable part LK22 is rotating around axis Ax4, deflection and eccentricity of the entire link LK2 can be suppressed. As a result, in this embodiment, the robot 10 can be controlled with high precision.

[0092] In this embodiment, link LK1 includes a support portion LK11, a movable portion LK13 connected to link LK2, a movable portion LK12 connecting the support portion LK11 and the movable portion LK13, and an extension / retraction mechanism TE1. The extension / retraction mechanism TE1 extends or retracts link LK1 by moving the movable portion LK12 relative to the support portion LK11 along the direction De11 in which the support portion LK11 extends.

[0093] Thus, in this embodiment, the link LK1 extends and retracts due to the telescopic mechanism TE1. Therefore, in this embodiment, while suppressing an overall increase in the size of the robot 10, the area that the tip of the robot 10 can reach can be made wider compared to the configuration in which the link LK1 does not extend and retract. As a result, in this embodiment, for example, the robot 10 can work on items GD located at high positions that would be unreachable in the configuration in which the link LK1 does not extend and retract. Furthermore, in this embodiment, the robot 10 can easily work on items GD located at high positions on the shelf RK and at the back of the shelf RK by moving the joint mechanism AR3 to a higher position using the telescopic mechanism TE1.

[0094] Furthermore, in this embodiment, the support portion LK11 is hollow. When the link LK1 is retracted, at least a part of the movable portion LK12 is stored inside the support portion LK11. This allows the extension and retraction of the link LK1 to be achieved with a simple configuration in this embodiment.

[0095] Furthermore, in this embodiment, the robot 10 further includes joint mechanisms AR1 and AR2. Joint mechanism AR1 rotates at least a portion of the body portion BDP using axis Ax1, whose angle with respect to a direction Dv1 perpendicular to the bottom surface BDPbt of the body portion BDP is less than or equal to a predetermined angle, as the axis of rotation. Joint mechanism AR2 connects the body portion BDP and link LK1, and rotates link LK1 relative to the body portion BDP using axis Ax2, whose angle with respect to a direction Dv1 perpendicular to the bottom surface BDPbt of the body portion BDP is greater than a predetermined angle, as the axis of rotation. Link LK3 includes joint mechanism AR6, which rotates at least a portion of link LK3 relative to link LK2 using axis Ax6, whose angle with respect to the axis of rotation of link LK (axis Ax5) when link LK3 is rotated by joint mechanism AR5, is greater than a predetermined angle. Thus, the invention according to this embodiment may be applied to a vertical 6-axis articulated robot.

[0096] Furthermore, in this embodiment, link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to link LK2, a movable portion LK12 connecting the support portion LK11 and the movable portion LK13, and an extension / retraction mechanism TE1. The extension / retraction mechanism TE1 extends and retracts link LK1 by moving the movable portion LK12 along the direction De11 in which the support portion LK11 extends relative to the support portion LK11. In this way, in this embodiment, by adding two extension / retraction mechanisms to a vertical 6-axis articulated robot, a robot 10 with a wider reachable area for the tip (for example, link LK3) can be easily constructed.

[0097] Furthermore, in this embodiment, the robot controller 30 controls the operation of the robot 10 by controlling the motor MOa1 that drives the joint mechanism AR1, the motor MOa2 that drives the joint mechanism AR2, the motor MOa3 that drives the joint mechanism AR3, the motor MOa4 that drives the joint mechanism AR4, the motor MOa5 that drives the joint mechanism AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescopic mechanism TE1, and the motor MOt2 that drives the telescopic mechanism TE2. In this way, in this embodiment, the operation of the robot 10 can be easily controlled by the robot controller 30.

[0098] Furthermore, in this embodiment, the robot system 1 includes a robot 10, an end effector 20 attached to a link LK3, and a robot controller 30 that controls the operation of the robot 10 and the end effector 20. Thus, in this embodiment, the robot system 1 uses a robot 10 that expands the area reachable by its tip (e.g., link LK3) while suppressing an increase in overall size. For this reason, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both tasks on items located close to the robot 10 and tasks on items located far from the robot 10. For example, the robot system 1 may be used in a method for manufacturing an item that includes assembling or removing parts. In this case, the tasks of assembling or removing parts can be performed efficiently.

[0099] [2. Variant] The present invention is not limited to the embodiments illustrated above. Specific variations are illustrated below. Two or more embodiments arbitrarily selected from the following examples may be combined.

[0100] [First variation] In the embodiments described above, the motor MOa4 is provided inside the support portion LK21 as an example, but the present invention is not limited to this embodiment. For example, the motor MOa4 may be provided outside the support portion LK21.

[0101] Figure 6 is an explanatory diagram illustrating an example of link LK2 according to the first modified example. Elements similar to those described in Figures 1 to 5 are denoted by the same reference numerals, and detailed explanations are omitted. In Figure 6, to make the comparison with the above-described embodiment easier to understand, the reference numerals of link LK2, support part LK21, and joint mechanism AR4 are denoted by the lowercase letter "a". For example, robot 10 has link LK2a instead of link LK2 shown in Figure 1. The upper part of Figure 6 shows link LK2a in a retracted state, and the lower part of Figure 6 shows link LK2a in an extended state. Link LK2a is another example of a "second link". Hereafter, link LK2a may be referred to as link LK2.

[0102] Link LK2a is similar to link LK2 shown in Figure 2, except that it has a support part LK21a and a joint mechanism AR4a instead of the support part LK21 and joint mechanism AR4 shown in Figure 2. The support part LK21a is another example of the "first part," and the joint mechanism AR4a is another example of the "third drive mechanism." Figure 6 will focus on the support part LK21a and the joint mechanism AR4a.

[0103] Link LK2a includes a support portion LK21a, movable portions LK22 and LK23, an extension mechanism TE2, a joint mechanism AR4a, a motor MOa4, and a motor MOt2.

[0104] The joint mechanism AR4a is attached, for example, to the end of the support portion LK21a that is closer to the movable portion LK22 (i.e., near the boundary between the support portion LK21a and the movable portion LK22). For example, the joint mechanism AR4a includes a stay AR41, a transmission shaft AR42 to which the rotation of the motor MOa4 is transmitted, pulleys AR43 and AR44, a timing belt AR45, a transmission shaft AR46 to which the rotation of pulley AR44 is transmitted, and a gear AR47.

[0105] The stay AR41 is attached to the end of the support portion LK21a closest to the movable portion LK22, so as to protrude from the support portion LK21a. The motor MOa4 is attached to the portion of the stay AR41 that protrudes from the support portion LK21a. In other words, the motor MOa4 is attached via the stay AR41 to the support portion LK21a, which does not move even when the movable portion LK23 moves.

[0106] Furthermore, pulleys AR43 and AR44 are provided in parallel on the stay AR41. For example, pulley AR43 is attached to the transmission shaft AR42. Also, pulley AR44 is positioned so that, in a plan view from direction De2, its entirety overlaps with the movable part LK22. The timing belt AR45 connects pulleys AR43 and AR44 so that the rotation of pulley AR43 is transmitted to pulley AR44. A transmission shaft AR46 is attached to pulley AR44. For example, the central axis of the transmission shaft AR46 corresponds to axis Ax4. The transmission shaft AR46 is connected to the movable part LK22 via gear AR47.

[0107] As a result, when motor MOa4 rotates, for example, the rotation of motor MOa4 is transmitted to the movable part LK22 via the transmission shaft AR42, pulley AR43, timing belt AR45, pulley AR44, transmission shaft AR46, and gear AR47. Consequently, the movable part LK22 rotates around shaft Ax4. The stay AR41 is attached to the support part LK21a so as to be rotatable relative to the movable part LK22. Therefore, even when the movable part LK22 rotates around shaft Ax4, motor MOa4 and stay AR41 do not rotate around shaft Ax4. Thus, even in the example shown in Figure 6, even when the movable part LK22 rotates around shaft Ax4, motor MOa4 itself does not rotate (revolve) around shaft Ax4, thus suppressing disturbances associated with rotation (revolve).

[0108] In the example shown in Figure 6, link LK2a is configured such that the axis Axte2 when the movable part LK23 moves is the same axis or approximately the same axis as the axis Ax4 when the movable part LK22 rotates.

[0109] Next, with reference to Figure 7, another example of link LK2 related to the first modified example will be described.

[0110] Figure 7 is an explanatory diagram illustrating another example of link LK2 according to the first modification. Elements similar to those described in Figures 1 to 6 are given the same reference numerals, and detailed explanations are omitted. In Figure 7, to make the comparison with the configuration shown in Figure 6 easier to understand, the reference numerals for link LK2, support part LK21, movable part LK22, joint mechanism AR4, stay AR41, transmission shaft AR42, and gear AR47 are suffixed with the lowercase letter "b". For example, robot 10 has link LK2b instead of link LK2 shown in Figure 1. The upper part of Figure 7 shows link LK2b in a retracted state, and the lower part of Figure 7 shows link LK2b in an extended state. Link LK2b is another example of the "second link". Hereafter, link LK2b may be referred to as link LK2.

[0111] Link LK2b is similar to link LK2 shown in Figure 2, except that it has a support part LK21b, a movable part LK22b, and a joint mechanism AR4b instead of the support part LK21, movable part LK22, and joint mechanism AR4 shown in Figure 2. The support part LK21b is another example of the "first part", the movable part LK22b is another example of the "third part", and the joint mechanism AR4b is another example of the "third drive mechanism". Figure 7 will focus on the support part LK21b, the movable part LK22b, and the joint mechanism AR4b.

[0112] Link LK2b includes a support portion LK21b, movable portions LK22b and LK23, an extension mechanism TE2, a joint mechanism AR4b, a motor MOa4, and a motor MOt2. The movable portion LK22b is hollow. The extension mechanism TE2 is provided inside the movable portion LK22b. The extension mechanism TE2 is the same as the extension mechanism TE2 shown in Figure 2.

[0113] The joint mechanism AR4b is attached, for example, to the end of the support portion LK21b that is closer to the movable portion LK22b (i.e., near the boundary between the support portion LK21b and the movable portion LK22b). For example, the joint mechanism AR4b has a stay AR41b, a transmission shaft AR42b to which the rotation of the motor MOa4 is transmitted, and a gear AR47b attached to the transmission shaft AR42b.

[0114] The stay AR41b is attached to the end of the support portion LK21b closest to the movable portion LK22b, so as to protrude from the movable portion LK22b. The motor MOa4 is attached to the portion of the stay AR41b that protrudes from the movable portion LK22b. In other words, the motor MOa4 is attached via the stay AR41b to the support portion LK21b, which does not move even when the movable portion LK23 moves.

[0115] Furthermore, the stay AR41b is provided with a transmission shaft AR42b and a gear AR47b. For example, the gear AR47b is attached to the transmission shaft AR42b such that, in a plan view from direction De2, the transmission shaft AR42b is positioned at the center of the gear AR47b. In addition, the outer circumference of the movable part LK22b is provided with multiple grooves to allow the movable part LK22b to operate as a gear that meshes with the gear AR47b.

[0116] As a result, for example, when motor MOa4 rotates, the rotation of the transmission shaft AR42b, to which the rotation of motor MOa4 is transmitted, causes gear AR47b to rotate, and the rotation of gear AR47b causes the movable part LK22b, which meshes with gear AR47b, to rotate. In this way, when motor MOa4 rotates, the rotation of motor MOa4 is transmitted to the movable part LK22b via the transmission shaft AR42b and gear AR47b. As a result, the movable part LK22b rotates with shaft Ax4 as its axis of rotation. Furthermore, since the movable part LK23 is connected to the movable part LK22b so as to rotate together with the movable part LK22b, it rotates integrally with the movable part LK22b.

[0117] Furthermore, since the motor MOa4 is attached to the support portion LK21b via the stay AR41b, it does not rotate around the axis Ax4 even when the movable parts LK22b and LK23 rotate. Therefore, even in the example shown in Figure 7, even when the movable part LK22b rotates around the axis Ax4, it is possible to suppress the generation of disturbances associated with the rotation of the motor MOa4 itself.

[0118] In the example shown in Figure 7, link LK2b is configured such that the axis Axte2 when the movable part LK23 moves is the same axis or approximately the same axis as the axis Ax4 when the movable part LK22b rotates.

[0119] In link LK2b shown in Figure 7, the gear AR47b, which transmits the rotation of the motor MOa4 to the movable part LK22b, is provided outside the movable part LK22b. Therefore, the length along the direction De22 of the ball screw TE22 can be made longer than that of link LK2 shown in Figure 2. Consequently, the extension and retraction range of link LK2b shown in Figure 7 can be made larger than that of link LK2 shown in Figure 2. For example, the extension and retraction range of link LK2b is the range corresponding to the difference between the length along the direction De2 of link LK2b when link LK2b is fully contracted and the length along the direction De2 of link LK2b when link LK2b is fully extended.

[0120] Note that the configuration of link LK2 in this modified example is not limited to the examples shown in Figures 6 and 7. For example, in the example shown in Figure 7, the motor MOt2 may be located outside the movable part LK22b and inside the support part LK21b. In this case as well, the ball screw TE22 is attached to the motor MOt2 such that the central axis of the ball screw TE22 coincides with the central axis of the movable part LK22b. Alternatively, if the ball screw TE22 can be attached to the motor MOt2 such that its central axis coincides with the central axis of the movable part LK22b, the motor MOt2 may be located outside the movable part LK22b and the support part LK21b.

[0121] In a configuration where the motor MOt2 is positioned outside the movable part LK22b, for example, the ball screw TE22 is attached to the motor MOt2 such that it rotates freely relative to the motor MOt2 together with the nut TE21 when the movable part LK22b rotates due to the joint mechanism AR4b. As a result, the movable part LK23 does not move along the axis Axte2 even when the movable parts LK22 and LK23 rotate due to the joint mechanism AR4b. In addition, in a configuration where the motor MOt2 is positioned outside the movable part LK22b, the length of the ball screw TE22 along the direction De22 can be increased, thereby increasing the extension and retraction range of the link LK2b. Furthermore, in a configuration where the motor MOt2 is positioned outside the movable part LK22, when the link LK2b is retracted, a part of the movable part LK23 may be stored in the support part LK21b, and the other part of the movable part LK23 may be stored in the movable part LK22b. In other words, in a configuration where the motor MOt2 is positioned outside the movable part LK22, the length of the movable part LK23 may be longer than the length of the movable part LK22b.

[0122] As described above, the same effects as those of the first embodiment can be obtained in this modified example. The robot 10 in this modified example is the same as the robot 10 shown in Figure 1, except that it has link LK2a or LK2b instead of link LK2 shown in Figure 1.

[0123] [Second variation] In the embodiments and modifications described above, a 6-axis 2-extension articulated robot, which is a vertical 6-axis articulated robot with two extension mechanisms TE1 and TE2 added, was exemplified as robot 10. However, the present invention is not limited to such embodiments. For example, robot 10 may be a 6-axis 1-extension articulated robot, which is a vertical 6-axis articulated robot with one extension mechanism TE2 added.

[0124] Furthermore, for example, robot 10 may be configured by adding two telescopic mechanisms TE1 and TE2 to a multi-joint robot with 7 or more axes, or by adding one telescopic mechanism TE2 to a multi-joint robot with 7 or more axes. Specifically, robot 10 may have one or more links connecting the body part BDP and link LK1. That is, robot 10 may have three or more links (three or more links excluding link LK3) connecting the body part BDP and link LK3. Note that the three or more links that robot 10 has include links LK1 and LK2. Three or more links excluding link LK3 fall under the category of "multiple links".

[0125] As described above, the same effects as those of the embodiments and modifications described can be obtained in this modified example as well.

[0126] [3. Application Examples] The robot system 1, including the robot 10 described in the above-described embodiments and modifications, may be used in a method for manufacturing an article that includes assembling or removing parts.

[0127] [4. Others] The distinction between "rotation," which was briefly explained in the first embodiment described above, and other types of rotation will be explained with several examples.

[0128] Figure 8 is an explanatory diagram illustrating an example of rotation. In Figure 8, the distinction between rotation and other types of rotation is explained using the connection of two links LKi and LKj, which can determine the longitudinal direction, as an example. In Figure 8, the extension direction Dei indicates the direction in which link LKi extends, and the extension direction Dej indicates the direction in which link LKj extends. Furthermore, the joint mechanism ARi in Figure 8 connects link LKi and link LKj, and rotates link LKj relative to link LKi with axis Axi as the axis of rotation.

[0129] In the example shown in Figure 8, if the angle θ between the extension direction Dei (a specific direction) of link LKi and the axis Axi is greater than a predetermined angle, the rotation with axis Axi as the axis of rotation is considered a "rotation." That is, if the angle θ between the extension direction Dei of link LKi and the axis Axi is less than or equal to the predetermined angle, the rotation with axis Axi as the axis of rotation is considered a rotation other than a rotation (a rotation distinguished from a rotation). The "rotation" shown in Figure 8 represents a rotation other than a rotation. Furthermore, the predetermined angle is not particularly limited, but in Figure 8, it is assumed that the predetermined angle is 45°. The angle θ between the extension direction Dei and the axis Axi is an angle between 0° and 90°, which is one of several angles that can be understood as the angle of axis Axi relative to the extension direction Dei (for example, four angles for two intersecting lines, or 0° and 180° for two parallel lines).

[0130] In the first pattern, the angle θ between the extension direction Dei of link LKi and the axis Axi is 90°, which is greater than the predetermined angle (45°). Therefore, in the first pattern, the rotation of link LKj around axis Axi is a pivot. Also, in the first pattern, the extension direction Dej of link LKj is perpendicular to axis Axi. Note that in the first pattern, when link LKj rotates (swirls) around axis Axi, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi changes.

[0131] In the second pattern, the angle θ between the extension direction Dei of link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the second pattern, the rotation of link LKj around axis Axi is a rotation other than a pivot. Also, in the second pattern, the extension direction Dej of link LKj is parallel to the extension direction Dei of link LKi and axis Axi. That is, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is 0°. Furthermore, in the second pattern, even if link LKj rotates around axis Axi as the axis of rotation, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is maintained at 0° and remains constant.

[0132] In the third pattern, the angle θ between the extension direction Dei of link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the third pattern, the rotation of link LKj around axis Axi is a rotation other than a pivot. Also, in the third pattern, the extension direction Dej of link LKj is perpendicular to the extension direction Dei and axis Axi of link LKi. That is, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is 90°. Furthermore, in the third pattern, even if link LKj rotates around axis Axi as the axis of rotation, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is maintained at 90° and remains constant.

[0133] In the fourth pattern, the angle θ between the extension direction Dei of link LKi and the axis Axi is 10°, which is less than or equal to the predetermined angle (45°). Therefore, in the fourth pattern, the rotation of link LKj around axis Axi is a rotation other than a pivot. Also, in the fourth pattern, the extension direction Dej of link LKj is parallel to axis Axi, and the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is 10°. Furthermore, in the fourth pattern, even if link LKj rotates around axis Axi as the axis of rotation, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is maintained at 10° and remains constant.

[0134] In the fifth pattern, the angle θ between the extension direction Dei of link LKi and the axis Axi is 70°, which is greater than the predetermined angle (45°). Therefore, in the fifth pattern, the rotation of link LKj around axis Axi is a pivot. Also, in the fifth pattern, the extension direction Dej of link LKj is perpendicular to axis Axi. Note that in the fifth pattern, when link LKj rotates (swirls) around axis Axi, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi changes.

[0135] In pattern 6, the angle θ between the extension direction Dei of link LKi and axis Axi is 10°, which is less than or equal to the predetermined angle (45°). Therefore, in pattern 6, the rotation of link LKj around axis Axi is a rotation other than a pivot. Also, in pattern 6, the extension direction Dej of link LKj is perpendicular to axis Axi. Note that in pattern 6, when link LKj rotates around axis Axi, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi changes.

[0136] In pattern 7, the angle θ between the extension direction Dei of link LKi and the axis Axi is 70°, which is greater than the predetermined angle (45°). Therefore, in pattern 7, the rotation of link LKj around axis Axi is a pivot. Also, in pattern 7, the extension direction Dej of link LKj is parallel to axis Axi, and the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi is 70°. Furthermore, in pattern 7, even if link LKj rotates around axis Axi as the axis of rotation, the angle between the extension direction Dej of link LKj and the extension direction Dei of link LKi remains constant at 70°.

[0137] Thus, in the embodiments and modifications described above, among the rotations of link LKj with respect to link LKi, a rotation around an axis Axi whose angle with respect to the extending direction Dei of link LKi is greater than a predetermined angle is also referred to as a pivot. However, the definition of "pivot" is not limited to the examples described above. For example, if the above definition of pivot as a rotation around an axis Axi whose angle with respect to the extending direction Dei of link LKi is greater than a predetermined angle is taken as the first definition, then the second or third definition below may be adopted instead of the first definition.

[0138] In the second definition, if the rotation of link LKj relative to link LKi causes a change in the angle between the extending direction Dej of link LKj and the extending direction Dei of link LKi, then that rotation is considered a rotation. Therefore, in the second definition, if the angle between the extending direction Dej of link LKj and the extending direction Dei of link LKi remains constant even after rotation, then that rotation is considered a rotation other than a rotation. For example, in the second definition, the first, fifth, and sixth patterns shown in Figure 8 are considered rotations, while the second, third, fourth, and seventh patterns are considered rotations other than rotations.

[0139] In the third definition, if the angle between the extending direction Dej of a rotating link LKj and the axis of rotation (axis Axi) of the link LKj is greater than a predetermined angle, the rotation is considered a pivot. Therefore, in the third definition, if the angle between the extending direction Dej of a link LKj and the axis of rotation (axis Axi) of the link LKj is less than or equal to a predetermined angle, the rotation is considered a rotation other than a pivot. For example, in the third definition, the first, third, fifth, and sixth patterns shown in Figure 8 are considered pivots, while the second, fourth, and seventh patterns are considered rotations other than pivots.

[0140] In addition, separate from the first, second, and third definitions described above, the relative relationship between two rotations of two adjacent joint mechanisms AR may be defined by focusing on the relationship between the rotation axes of the two adjacent joint mechanisms AR. Specifically, if the angle between the two rotation axes is less than or equal to a predetermined angle (typically parallel), the two rotations may be considered the same type of rotation, and if the angle between the two rotation axes is greater than a predetermined angle (typically orthogonal), the two rotations may be considered different types of rotation. Note that the same type of rotation means that both rotations are rotations, or both rotations are other than rotations, and different types of rotations mean that one of the two rotations is a rotation and the other is a rotation other than a rotation. When a definition of the relative relationship between two rotations is used, the rotation that serves as the starting point for the relative relationship may be determined, for example, based on one of the first, second, and third definitions described above. The first pattern shown in Figure 8 corresponds to a rotation in all three definitions (first, second, and third), while the second pattern corresponds to a rotation other than a rotation in all three definitions. Therefore, it is preferable to use either the first or second pattern as the starting point of the relative relationship.

[0141] Furthermore, a definition may be used that combines two or more of the first, second, and third definitions described above. In this case, for example, only rotations that correspond to a rotation in all of the two or more definitions combined may be defined as a rotation, or rotations that correspond to a rotation in at least one of the two or more definitions combined may be defined as a rotation. [Explanation of symbols]

[0142] 1…Robot system, 10, 10Z…Robot, 20…End effector, 30…Robot controller, 32…Processing unit, 33…Memory, 34…Communication device, 35…Operating device, 36…Display device, 37…Driver circuit, AR, AR1, AR2, AR3, AR4, AR4a, AR4b, AR5, AR6, ARi…Joint mechanism, AR41, AR41b…Stay, AR48…Motor fixing part, AR42, AR42b…Transmission shaft, AR43, AR44…Pulley, AR45…Timing belt, AR46…Transmission shaft, AR47, AR47b…Gear, Ax1, Ax2, Ax3, Ax4, Ax5, Ax6, Axi Axte1, Axte2... Axle, BDP... Body part, BDPbt... Bottom surface, BSP... Base part, GD... Item, LK, LK1, LK1z, LK2, LK2a, LK2b, LK2z, LK3, LKi, LKj... Link, LK11... Support part, LK12, LK13... Movable part, LK21, LK21a, LK21b... Support part, LK22, LK22b, LK23... Movable part, LK3sf... End face, MOa1, MOa2, MOa3, MOa4, MOa5, MOa6, MOt1, MOt2... Motor, RK... Shelf, TE, TE1, TE2... Telescopic mechanism, TE11, TE21... Nut, TE12, TE22... Ball screw.

Claims

1. The base and, The tip and, A plurality of links, including a first link and a second link, that connect the base and the tip, A first drive mechanism connects the first link and the second link, and rotates the second link relative to the first link using an axis of rotation whose angle with respect to the direction in which the first link extends is greater than a predetermined angle, A second drive mechanism connects the second link to the first link and links other than the second link or the tip, and rotates the tip relative to the second link using an axis whose angle with respect to the direction in which the second link extends is greater than the predetermined angle as the axis of rotation, Equipped with, The second link mentioned above is, A first part connected to the first link, Links other than the first link and the second link, or a second part connected to the tip, A third part connecting the first part and the second part, A third drive mechanism rotates the third portion relative to the first portion, using an axis whose angle with respect to the direction in which the first portion extends is less than or equal to the predetermined angle as the axis of rotation. A first telescopic mechanism that extends and retracts the second link by moving the second part along the extension direction of the third part relative to the third part, including, A multi-joint robot characterized by the following features.

2. The aforementioned third part is hollow, When the second link is retracted, at least a portion of the second part is stored inside the third part. The articulated robot according to claim 1.

3. The first motor drives the third drive mechanism, A second motor that drives the first telescopic mechanism, It further includes, The first motor is, Even when the second link expands or contracts, the first part is attached to the end of the first part that is closer to the third part, so that it does not move relative to the second link in the direction of expansion or contraction of the second link. The second motor is, Even when the second link expands or contracts, the third portion is attached to the end of the third portion that is closer to the first portion, so that it does not move relative to the second link in the direction of expansion or contraction of the second link. The articulated robot according to claim 1 or 2, characterized in that it is as described above.

4. When the third part rotates due to the third drive mechanism, the axis of rotation of the third part is parallel to the central axis of the second part. The articulated robot according to claim 3.

5. The first link mentioned above is, Part 4 and, A fifth part connected to the second link, A sixth part connecting the fourth and fifth parts, A second telescopic mechanism extends and retracts the first link by moving the sixth portion relative to the fourth portion along the direction in which the fourth portion extends, including, The articulated robot according to claim 1 or 2, characterized in that it is as described above.

6. The fourth part is hollow, When the first link is retracted, at least a portion of the sixth part is stored inside the fourth part. The articulated robot according to feature 5.

7. A fourth drive mechanism rotates at least a portion of the base using an axis whose angle with respect to the direction perpendicular to the bottom surface of the base is less than or equal to the predetermined angle as the axis of rotation, A fifth drive mechanism connects the base and the first link, and rotates the first link relative to the base using an axis of rotation whose angle with respect to the direction perpendicular to the bottom surface of the base is greater than the predetermined angle, Furthermore, The aforementioned tip portion is Connected to the second link, A sixth drive mechanism rotates at least a portion of the tip relative to the second link, using an axis of rotation whose angle with respect to the rotation axis of the tip is greater than the predetermined angle when the tip rotates due to the second drive mechanism, Including, The aforementioned plurality of links are the first link and the second link. The articulated robot according to claim 1.

8. The first link mentioned above is, A fourth portion connected to the base, A fifth part connected to the second link, A sixth part connecting the fourth and fifth parts, A second telescopic mechanism extends and retracts the first link by moving the sixth portion relative to the fourth portion along the direction in which the fourth portion extends, including, The articulated robot according to feature 7.

9. A method for controlling a multi-joint robot according to claim 8, The control device that controls the movement of the articulated robot is: The operation of the articulated robot is controlled by controlling the motor that drives the first drive mechanism, the motor that drives the second drive mechanism, the motor that drives the third drive mechanism, the motor that drives the fourth drive mechanism, the motor that drives the fifth drive mechanism, the motor that drives the sixth drive mechanism, the motor that drives the first telescopic mechanism, and the motor that drives the second telescopic mechanism. A control method for a multi-joint robot characterized by the following features.

10. The articulated robot according to claim 8, The end effector attached to the aforementioned tip, A control device for controlling the operation of the articulated robot and the end effector, Equipped with, The control device is The operation of the articulated robot is controlled by controlling the motor that drives the first drive mechanism, the motor that drives the second drive mechanism, the motor that drives the third drive mechanism, the motor that drives the fourth drive mechanism, the motor that drives the fifth drive mechanism, the motor that drives the sixth drive mechanism, the motor that drives the first telescopic mechanism, and the motor that drives the second telescopic mechanism. A robotic system characterized by the following features.

11. The robot system according to claim 10 is used to assemble or remove parts. A method for manufacturing an article, characterized by the following:

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