Transport robot

Abstract

To improve work accuracy.SOLUTION: A conveyance robot according to one aspect of the present disclosure includes: a first arm provided to rotate about a vertical first axis and extending in a direction away from the first axis; a second arm provided on the first arm to rotate about a vertical second axis and extending in a direction away from the second axis; an arm distal-end part connected to the second arm so as to rotate about a vertical third axis and configured to support a workpiece holding portion configured to hold a workpiece; and a posture adjustment unit configured to rotate the workpiece about a first posture adjustment axis that intersects both the third axis and a direction extending to the arm distal-end part so as to be away from the third axis.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a transfer robot.

Background Art

[0002] Patent Document 1 discloses a horizontal articulated robot used in operations such as holding, transferring, assembling, and inspecting workpieces.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] The present disclosure provides a transfer robot useful for improving work accuracy.

Means for Solving the Problem

[0005] A transfer robot according to one aspect of the present disclosure includes: a first arm provided to rotate about a vertical first axis and extending in a direction away from the first axis; a second arm provided on the first arm to rotate about a vertical second axis and extending in a direction away from the second axis; an arm distal end portion connected to the second arm to rotate about a vertical third axis and configured to support a work holding portion that holds a work; and a posture adjusting portion configured to rotate the work about a first posture adjusting axis that intersects both the direction in which the arm distal end portion extends away from the third axis and the third axis.

Effects of the Invention

[0006] According to the present disclosure, a transfer robot useful for improving work accuracy is provided.

Brief Description of the Drawings

[0007] [Figure 1] Figure 1 is a schematic perspective view showing an example of a transport robot. [Figure 2] Figure 2(a) is a schematic top view showing an example of a transport robot. Figure 2(b) is a schematic side view showing an example of a transport robot. [Figure 3] Figures 3(a) and 3(b) are schematic perspective views showing an example of a posture adjustment unit and its surrounding components. [Figure 4] Figure 4(a) is a schematic top view showing an example of the posture adjustment unit and its surrounding components. Figure 4(b) is a schematic diagram illustrating an example of adjustment by the posture adjustment unit. [Figure 5] Figure 5(a) is a schematic top view showing an example of a transport robot. Figure 5(b) is a schematic diagram illustrating an example of adjustment by a posture adjustment unit. [Figure 6] Figures 6(a) and 6(b) are schematic perspective views showing an example of a posture adjustment unit and its surrounding components. [Figure 7] Figure 7(a) is a schematic top view showing an example of the posture adjustment unit and its surrounding components. Figure 7(b) is a schematic diagram illustrating an example of the function of the balancer component. [Figure 8] Figure 8 is a schematic side view showing an example of a transport robot. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings. In the description, the same elements or elements having the same function will be denoted by the same reference numeral, and redundant explanations will be omitted. In the embodiments shown below, expressions such as "parallel," "orthogonal," "horizontal," and "vertical" will be used, but it is not necessary to strictly satisfy these conditions. That is, each of the above expressions will allow for deviations due to manufacturing accuracy, installation accuracy, processing accuracy, detection accuracy, or deformation of the mechanical structure.

[0009] Figure 1 is a perspective view illustrating the configuration of a transport robot. Figure 2(a) is a top view (plan view) illustrating the configuration of a transport robot, and Figure 2(b) is a side view illustrating the configuration of a transport robot. The transport robot 1 shown in Figure 1 is a device for transporting objects (hereinafter referred to as "workpiece W"). The transport robot 1 automatically performs at least a part of the work, including the transport of the workpiece W. The transport robot 1 may perform at least a part of the work on the workpiece W in cooperation with other robots or other devices or with human operators. A controller is connected to the transport robot 1, and the transport robot 1 is controlled by the controller, for example, to receive the workpiece W and transport it to a target position.

[0010] The type of workpiece W to be transported by the transport robot 1 is not particularly limited. The weight of the workpiece W may be 300 kg or more, 450 kg or more, or 600 kg or more. That is, the carrying capacity of the transport robot 1 may be 300 kg or more, 450 kg or more, or 600 kg or more. The workpiece W may include a battery module for electric vehicle operation. The workpiece W may be a single battery module, or it may be multiple battery modules transported together as one. Alternatively, the workpiece W may be a battery unit in which multiple battery modules are integrated. The transport robot 1 may transport (transfer) the workpiece W to a shelf in which multiple cells are arranged vertically, or it may lift the workpiece W from below and transport it to the mounting position on another workpiece to which the workpiece W will be attached.

[0011] The transport robot 1 holds the workpiece W and transports the workpiece W. In one example, the transport robot 1 is configured to change the position of the workpiece W in the horizontal plane and the orientation of the workpiece W while supporting the workpiece W from below. The transport robot 1 may also be able to change the position (height position) of the workpiece W in the vertical direction. As shown in Figure 1, the transport robot 1 includes, for example, a base 10, a first arm 20, a second arm 30, an arm tip 70, a workpiece holding part 80, and an orientation adjustment part 40.

[0012] The base portion 10 is a base part fixed in a predetermined position. The base portion 10 supports other members of the transport robot 1, such as arms. The base portion 10 is fixed, for example, to the floor or a wall. By fixing the base portion 10 to a predetermined position such as the floor, the transport robot 1 is fixed in the area where work is performed on the workpiece W. When the base portion 10 is fixed to the floor, the floor may be horizontal (or perpendicular to the vertical direction).

[0013] The first arm 20 is configured to rotate around a vertical first axis Ax1. The first axis Ax1 is an axis extending vertically (up and down), and the first arm 20 is rotatable around the first axis Ax1. The base end 22 of the first arm 20 may be provided on the base 10 (for example, it may be mounted on top of the base 10). The first arm 20 extends away from the first axis Ax1. For example, the first arm 20 extends away from the first axis Ax1 along a horizontal line. The first axis Ax1 may be configured to pass through the base 10 and the base end 22.

[0014] The second arm 30 is mounted on the first arm 20 so as to rotate around a vertical second axis Ax2. The second arm 30 may be mounted on the portion of the first arm 20 closer to the tip 24, for example, on the tip 24 of the first arm 20. The second axis Ax2 is an axis extending in the vertical direction, and the second arm 30 is rotatable around the second axis Ax2 relative to the first arm 20. The base end 32 of the second arm 30 may be attached on top of the tip 24 of the first arm 20. The second arm 30 extends in a direction away from the second axis Ax2. For example, the second arm 30 extends in a direction away from the second axis Ax2 along a horizontal line. The second axis Ax2 may be set to pass through the tip 24 and base end 32 of the first arm 20.

[0015] The arm tip 70 is configured to support the workpiece holding section 80. The arm tip 70 is connected to the second arm 30 so as to rotate around a vertical third axis Ax3. The third axis Ax3 is an axis extending in the vertical direction, and the arm tip 70 is rotatable around the third axis Ax3 relative to the second arm 30. The arm tip 70 may be positioned closer to the tip 34 of the second arm 30, for example, connected to the tip 34 of the second arm 30. The arm tip 70 may also be connected to the tip 34 of the second arm 30 via a posture adjustment section 40. The third axis Ax3 may be configured to pass through the tip 34 of the second arm 30 and the posture adjustment section 40 without passing through the arm tip 70. The arm tip 70 may be positioned away from the third axis Ax3.

[0016] The arm tip 70, as shown in Figures 2(a) and 2(b), includes, for example, a lifting base 72 and a movable part 74. The lifting base 72 is the part connected (supported) by the posture adjustment unit 40. The lifting base 72 is formed to extend in a direction intersecting the extending direction of the second arm 30. The extending direction of the second arm 30 is defined by the direction in which the line segment connecting the second axis Ax2 and the third axis Ax3 by the shortest distance extends. As will be described later, the posture of the arm tip 70 also changes due to the posture adjustment unit 40. Therefore, the direction in which the lifting base 72 extends (the extending direction of the lifting base 72) may be approximately coincident with the vertical direction, or it may be inclined with respect to the vertical direction.

[0017] When the extending direction of the lifting base portion 72 is inclined with respect to the vertical direction, the angle formed between the extending direction of the lifting base portion 72 and the vertical direction is 30° or less, 20° or less, 15° or less, or 10° or less. In a state where the posture of the arm distal end portion 70 is not adjusted by the posture adjusting portion 40 and the work holding portion 80 does not hold a work W (hereinafter referred to as a "reference state"), the extending direction of the lifting base portion 72 may be vertical. In the reference state, when viewed from above, the center of the lifting base portion 72 may be positioned on a line along the extending direction of the second arm 30. When the arm distal end portion 70 rotates about the third axis Ax3 from the reference state, when viewed from above, a line extending from the third axis Ax3 toward the center of the lifting base portion 72 may intersect a line along the extending direction of the second arm 30.

[0018] The height of the uppermost position of the lifting base portion 72 (the portion positioned uppermost) may be higher than the uppermost position of the second arm 30. The height of the lowermost position of the lifting base portion 72 (the portion positioned lowermost) may be lower than the lowermost position of the second arm 30. The height of the lowermost position of the lifting base portion 72 may be lower than the lowermost position of the first arm 20. In the present disclosure, "height" means a position in the vertical direction (height position). In the vertical direction, at least a part of the lifting base portion 72 is positioned at the same height as at least a part of the second arm 30, and may be positioned at the same height as at least a part of the first arm 20. The height relationship between the lifting base portion 72 and other members is defined in a state where the arm distal end portion 70 is arranged such that the extending direction of the lifting base portion 72 substantially coincides with the vertical direction.

[0019] The lifting base portion 72 may be disposed laterally (peripherally) of the distal end portion 34 of the second arm 30. In this case, in a plan view (viewed from above), the lifting base portion 72 and the distal end portion 34 do not overlap each other, and at least a part of the distal end portion 34 and at least a part of the lifting base portion 72 are located at the same height as each other. The movable portion 74 is a portion that supports the workpiece holding portion 80. The movable portion 74 supports the workpiece holding portion 80 such that, for example, the workpiece holding portion 80 is disposed laterally of the arm distal end portion 70. The movable portion 74 is provided on the lifting base portion 72 so as to move along the direction in which the lifting base portion 72 extends. The movable portion 74 is movable along the extending direction of the lifting base portion 72.

[0020] The transfer robot 1 includes a first actuator 18. The first actuator 18 is, for example, disposed on the base portion 10, and rotates the first arm 20 about the first axis Ax1 relative to the base portion 10. The first actuator 18 includes a motor and a speed reducer. Note that the arrangement position of the first actuator 18 is not limited to the base portion 10, and the first actuator 18 may be disposed on any part of the transfer robot 1 as long as it can rotate the first arm 20 about the first axis Ax1. The first actuator 18 may be disposed on the first arm 20, for example. The first actuator 18 may include transmission members such as gears and belts.

[0021] The transfer robot 1 includes a second actuator 28. The second actuator 28 is, for example, disposed on the first arm 20, and rotates the second arm 30 about the second axis Ax2 relative to the first arm 20. The second actuator 28 includes a motor and a speed reducer. Note that the arrangement position of the second actuator 28 is not limited to the first arm 20, and the second actuator 28 may be disposed on any part of the transfer robot 1 as long as it can rotate the second arm 30 about the second axis Ax2. The second actuator 28 may be disposed on the second arm 30, for example. The second actuator 28 may include transmission members such as gears and belts.

[0022] The transport robot 1 is equipped with a third actuator 38. The third actuator 38 is positioned, for example, on the second arm 30 and rotates the attitude adjustment unit 40 (attitude adjustment unit 40, arm tip 70, and workpiece holding unit 80) around the third axis Ax3 relative to the second arm 30. The third actuator 38 has a motor and a reduction gear. The position of the third actuator 38 is not limited to the second arm 30, but may be positioned at any part of the transport robot 1 as long as it can rotate the attitude adjustment unit 40 around the third axis Ax3. The third actuator 38 may be positioned, for example, on the attitude adjustment unit 40. The third actuator 38 may also include gears and transmission members such as belts.

[0023] The arm tip 70 has a linear drive unit 78. The linear drive unit 78 is located on the lifting base 72 and is a mechanism that drives the movable part 74 along the direction in which the lifting base 72 extends. The linear drive unit 78 is, for example, a linear actuator and includes a ball screw, a rack and pinion, or a linear motor. As the movable part 74 is driven by the linear drive unit 78, the workpiece holding part 80 (workpiece W held by the workpiece holding part 80) moves along the extending direction of the lifting base 72. In this disclosure, the movement along the extending direction of the lifting base 72 may be referred to as "lifting".

[0024] The workpiece holding section 80 is an end effector that holds the workpiece W at a position different from the third axis Ax3. The workpiece holding section 80 is also called a hand. In a plan view, the workpiece W held by the workpiece holding section 80 does not overlap with the third axis Ax3. The workpiece holding section 80 can be configured in any way as long as it can hold the workpiece W. Figure 1 illustrates a workpiece holding section 80 that holds the workpiece W by supporting it from below. The workpiece holding section 80 may also hold the workpiece W from above (for example, by gripping it). The workpiece holding section 80 illustrated in Figure 1 extends away from the third axis Ax3 while connected (supported) to the arm tip 70.

[0025] In the transport robot 1 illustrated in Figure 1 of this disclosure, the direction in which the workpiece holding portion 80 extends away from the third axis Ax3 is defined as the extension direction of the workpiece holding portion 80 and is denoted as "direction D1". Direction D1 may be perpendicular to the extension direction of the lifting base portion 72. Of the two ends of the workpiece holding portion 80 in the extension direction (direction D1), the end closer to the third axis Ax3 is called "end 80a", and the end further from the third axis Ax3 is called "end 80b". End 80a is the base end of the workpiece holding portion 80, and end 80b is the tip end of the workpiece holding portion 80. Direction D1 corresponds to the direction from end 80a to end 80b of the workpiece holding portion 80.

[0026] The workpiece holding portion 80 may be provided to the side of the arm tip portion 70. In this case, in a plan view, at least the lifting base portion 72 of the arm tip portion 70 and the workpiece holding portion 80 do not overlap. The workpiece holding portion 80 includes at least a bottom portion capable of supporting the workpiece W from below. If the workpiece W is rectangular, the bottom portion of the workpiece holding portion 80 may support the surface of the workpiece W with the largest area. In one example, the workpiece holding portion 80 includes a bottom portion 82 and a pair of side walls 84a and side wall 84b.

[0027] The bottom portion 82 is formed in a plate shape and includes an upper surface perpendicular to the extending direction of the lifting base portion 72. The bottom portion 82 (workpiece holding portion 80) supports the workpiece W when it is placed on the upper surface of the bottom portion 82. The bottom portion 82 (upper surface of the bottom portion 82) is formed in a rectangular shape. In this case, the bottom portion 82 (upper surface of the bottom portion 82) is formed to extend in direction D1 and in a direction perpendicular to direction D1 (hereinafter referred to as "direction D2"). Direction D2 is perpendicular to direction D1 and is a direction along the upper surface of the bottom portion 82. One side edge (side surface) of the rectangular bottom portion 82 that extends in direction D2 is connected to the movable portion 74 of the arm tip portion 70. For example, the central portion of the side edge (side surface) in direction D2 is supported by the movable portion 74.

[0028] A pair of side walls 84a each project upward from a pair of side edges of the bottom 82 along direction D1. The pair of side walls 84a restrict the movement of the workpiece W in direction D2. A side wall 84b projects upward from the side edge located at end 80a of the pair of side edges of the bottom 82 along direction D2. No side wall is provided at the side edge located at end 80b of the pair of side edges along direction D2. The side wall 84b restricts the movement of the workpiece W from end 80b to end 80a.

[0029] Returning to Figure 1, the posture adjustment unit 40 is the part that adjusts the posture of the workpiece W held by the workpiece holding unit 80. By adjusting the posture of the workpiece holding unit 80 (its posture relative to the base 10) using the posture adjustment unit 40, the posture of the workpiece W held by the workpiece holding unit 80 is adjusted. The posture adjustment unit 40 may be provided between the second arm 30 and the arm tip 70. For example, the posture adjustment unit 40 is provided at the tip 34 of the second arm 30 so as to be rotatable around the third axis Ax3 relative to the second arm 30. The posture adjustment unit 40 is rotatable around the third axis Ax3.

[0030] The posture adjustment unit 40 may be positioned at a different height from the first arm 20. The posture adjustment unit 40 may be mounted on the second arm 30 (for example, the portion of the second arm 30 closer to the tip 34, or the tip 34). The lowest position of the posture adjustment unit 40 may be higher than the highest position of the first arm 20.

[0031] The posture adjustment unit 40 rotates the workpiece W around a first posture adjustment axis Axp that intersects both the direction extending to the arm tip 70 away from the third axis Ax3 and the third axis Ax3 itself. The intersection in this disclosure includes a torsional relationship, such as a so-called cross-section. The direction extending to the arm tip 70 away from the third axis Ax3 corresponds, for example, to the direction in which a line segment connecting the third axis Ax3 and the center of the arm tip 70 (for example, the center of the lifting base 72) at the shortest distance extends. The first posture adjustment axis Axp is set, for example, to be perpendicular to direction D1 and perpendicular to the third axis Ax3. In this case, the first posture adjustment axis Axp extends perpendicular to the plane that includes the third axis Ax3 and direction D1 (defined by the third axis Ax3 and direction D1).

[0032] The first attitude adjustment axis Axp may be set to pass through the attitude adjustment unit 40, and may intersect, for example, with the third axis Ax3, having an intersection point. As the arm tip 70 rotates around the first posture adjustment axis Axp relative to the posture adjustment unit 40, the inclination in direction D1 changes. This changes the posture (angle) of the workpiece W held by the workpiece holding unit 80 around the first posture adjustment axis Axp.

[0033] The range of motion of the workpiece W (workpiece holding part 80) around the first posture adjustment axis Axp may be within ±30°. The above range of motion is, for example, the range in which the angle between the plane perpendicular to the third axis Ax3 and direction D1 changes. The above range of motion around the first posture adjustment axis Axp may be within ±20°, within ±15°, or within ±10°. In the transport robot 1 illustrated in Figure 1, etc., when the above range of motion is in the positive range, the lower end of end 80b is higher than the lower end of end 80a, and when the above range of motion is in the negative range, the lower end of end 80b is lower than the lower end of end 80a. The magnitude of the absolute value of the angle in the positive range and the magnitude of the absolute value of the angle in the negative range may be different from each other.

[0034] The attitude adjustment unit 40 may further rotate the workpiece W around a second attitude adjustment axis Axr that intersects both the first attitude adjustment axis Axp and the third axis Ax3. The second attitude adjustment axis Axr is, for example, perpendicular to the first attitude adjustment axis Axp and intersects the third axis Ax3. The second attitude adjustment axis Axr is substantially parallel to direction D1. The second attitude adjustment axis Axr may be set to pass through the attitude adjustment unit 40, for example, to pass through the intersection of the third axis Ax3 and the first attitude adjustment axis Axp. The first attitude adjustment axis Axp and the second attitude adjustment axis Axr may intersect at a position away from the third axis Ax3, having an intersection point.

[0035] In a plan view, as shown in Figure 2(a), the second posture adjustment axis Axr may be set to pass through the third axis Ax3 and the center of the arm tip 70 in direction D2 in the reference state described above. As the arm tip 70 rotates around the second posture adjustment axis Axr relative to the posture adjustment unit 40, the inclination of direction D2 changes. As a result, the posture (angle) of the workpiece W held by the workpiece holding unit 80 around the second posture adjustment axis Axr changes.

[0036] The range of motion of the workpiece W (workpiece holding part 80) around the second attitude adjustment axis Axr may be within ±30°. The above range of motion is the range in which the angle between the plane perpendicular to the third axis Ax3 and direction D2 changes. The above range of motion around the second attitude adjustment axis Axr by the attitude adjustment part 40 may be within ±20°, within ±15°, or within ±10°. When the above range of motion is in the positive range, the lower end of the right end (the other end in direction D2) of the workpiece holding part 80 becomes higher than the lower end of the left end (the other end in direction D2), and when the above range of motion is in the negative range, the lower end of the right end of the workpiece holding part 80 becomes lower than the lower end of the left end.

[0037] In the transport robot 1, the parts excluding the posture adjustment unit 40 and the workpiece holding unit 80 (base 10, first arm 20, second arm 30, and arm tip 70) are SCARA (Selective Compliance Assembly Robot Arm) type articulated arms. In addition to the function of changing the position of the workpiece holding unit 80 using the SCARA type articulated arms, the transport robot 1 also has the function of adjusting the posture of the workpiece holding unit 80 by providing the posture adjustment unit 40.

[0038] Here, we assume that the posture adjustment unit 40 does not adjust the posture. When the workpiece W is not held (supported) by the workpiece holding unit 80, for example, directions D1 and D2 are maintained in a horizontal state. When the workpiece W is placed on the workpiece holding unit 80, the weight of the workpiece W may cause direction D1 to tilt with respect to the horizontal line such that the lower end of end 80b is lower than the lower end of end 80a. If the workpiece W weighs 300 kg or more, the tilt of direction D1 due to the weight of the workpiece W becomes significant. Also, due to the weight of the workpiece W, direction D2 may also tilt with respect to the horizontal line.

[0039] The posture adjustment unit 40 operates to maintain the posture of the workpiece W in a target posture. The target posture of the workpiece W is set to, for example, a horizontal posture. The posture adjustment unit 40 may also operate to reduce (correct the tilt in direction D1) the tilt in direction D1 caused by the weight of the workpiece W. In addition to the tilt in direction D1, the posture adjustment unit 40 may also operate to reduce (correct the tilt in direction D2) the tilt in direction D2.

[0040] In one example, during the stage of teaching the transport robot 1, an operator measures the tilt of the workpiece W (for example, the tilt in directions D1 and D2) while the workpiece holding unit 80 is holding the workpiece W, without adjusting the posture using the posture adjustment unit 40. The operator then changes the amount of drive used by the posture adjustment unit 40 and stores the amount of drive required to bring the workpiece W (for example, directions D1 and D2) to the target posture in the controller that operates the transport robot 1. During the stage when the transport robot 1 performs the actual work, the controller controls the posture adjustment unit 40 according to the stored amount of drive. As a result, the tilt of the workpiece W caused by its own weight, etc., is corrected, and the posture of the workpiece W is adjusted to approach the target posture while the transport robot 1 transports the workpiece W. Furthermore, instead of during the teaching stage, during the actual work stage, the tilt of the workpiece W may be detected by a sensor (for example, a camera, gyro sensor, or accelerometer), and the controller may control the posture adjustment unit 40 so that the posture of the workpiece W approaches the target posture based on the values ​​detected by the sensor.

[0041] The posture adjustment unit 40 may be configured in any way as long as it can adjust the posture of the workpiece W (for example, the tilt in direction D1, or the tilts of direction D1 and direction D2 respectively). The posture adjustment unit 40 has, for example, a first adjustment unit 44 and a second adjustment unit 45, as shown in Figures 3(a), 3(b), and 4(a). The first adjustment unit 44 is an actuator that rotates the arm tip 70 around the fourth axis Ax4. The second adjustment unit 45 is an actuator that rotates the arm tip 70 around the fifth axis Ax5. The first adjustment unit 44 and the second adjustment unit 45 each include, for example, a motor and a reduction gear. The posture adjustment unit 40 rotates the arm tip 70 around the first posture adjustment axis Axp and the second posture adjustment axis Axr by the rotation of the arm tip 70 by the first adjustment unit 44 and the second adjustment unit 45.

[0042] The fourth axis Ax4 and the fifth axis Ax5 are set to intersect each other. The fourth axis Ax4 and the fifth axis Ax5 are axes that are in the same plane intersecting the third axis Ax3, and may intersect in such a way that they have an intersection point (common point). The fourth axis Ax4 and the fifth axis Ax5 may be set to intersect on the third axis Ax3, for example, or they may be set to intersect at a position away from the third axis Ax3. The first attitude adjustment axis Axp and the second attitude adjustment axis Axr each pass through the intersection of the fourth axis Ax4 and the fifth axis Ax5.

[0043] The angle between the second attitude adjustment axis Axr and the fourth axis Ax4 (hereinafter referred to as "angle θ4") is greater than 0° and less than 90° (+90°). As shown in Figure 4(a), angle θ4 is the angle of the fourth axis Ax4 with respect to the second attitude adjustment axis Axr in a plan view, with Axr being set to 0°. Furthermore, in the circumference around the intersection of the second attitude adjustment axis Axr, the fourth axis Ax4, and the fifth axis Ax5, the angle in the counterclockwise direction is defined as positive, and the angle in the clockwise direction is defined as negative.

[0044] The angle between the second attitude adjustment axis Axr and the fifth axis Ax5 (hereinafter referred to as "angle θ5") is greater than -90° and less than 0°. Angle θ5 is the angle of the fifth axis Ax5 with respect to the second attitude adjustment axis Axr when the arm tip 70 is in the above-mentioned reference state (a state in which the first adjustment unit 44 and the second adjustment unit 45 are not driving) and the second attitude adjustment axis Axr is set to 0° in a plan view. The absolute values ​​of angle θ4 and angle θ5 may be approximately the same or different from each other. The absolute values ​​of angle θ4 and angle θ5 may be between 10° and 80°, between 20° and 70°, or between 30° and 60°. In one example, when angle θ4 is 45°, angle θ5 is -45°.

[0045] Figure 4(b) shows, for illustrative purposes, the posture adjustment unit 40 and the arm tip 70 connected to the posture adjustment unit 40, as shown in Figures 3(a), 3(b), and 4(a). The posture adjustment unit 40 includes a posture adjustment base 47, a connecting member 48, and a connecting member 49. The posture adjustment base 47 is attached to the tip 34 of the second arm 30 so as to be rotatable around the third axis Ax3. The connecting member 48 is attached to the posture adjustment base 47 so as to be rotatable around the fourth axis Ax4 relative to the posture adjustment base 47. The connecting member 49 is attached to the connecting member 48 so as to be rotatable around the fifth axis Ax5 relative to the connecting member 48. The arm tip 70 (lifting base 72) is attached to the connecting member 49, and the workpiece holding unit 80 is attached to the movable part 74 of the arm tip 70.

[0046] The first adjustment unit 44 rotates the connecting member 48 around the fourth axis Ax4, causing the connecting member 49, the arm tip 70, and the workpiece holding unit 80 to rotate around the fourth axis Ax4. The second adjustment unit 45 rotates the connecting member 49 around the fifth axis Ax5, causing the arm tip 70 and the workpiece holding unit 80 to rotate around the fifth axis Ax5. The attitude adjustment unit 40 generates a force (torque) that rotates the workpiece holding unit 80 around the first attitude adjustment axis Axp, and generates a force (torque) that rotates the workpiece holding unit 80 around the second attitude adjustment axis Axr, using the torque generated by the first adjustment unit 44 around the fourth axis Ax4 and the torque generated by the second adjustment unit 45 around the fifth axis Ax5.

[0047] Unlike the attitude adjustment unit 40 illustrated above, the attitude adjustment unit 40 may rotate the arm tip 70 around the first attitude adjustment axis Axp using one actuator, and rotate the arm tip 70 around the second attitude adjustment axis Axr using another actuator. As shown in Figures 5(a) and 5(b), the first adjustment unit 44 may be provided such that the fourth axis Ax4 corresponds to the first attitude adjustment axis Axp. The second adjustment unit 45 may also be provided such that the fifth axis Ax5 corresponds to the second attitude adjustment axis Axr. The attitude adjustment unit 40 may be configured such that the angle of the fifth axis Ax5 with respect to the horizontal plane changes as the first adjustment unit 44 rotates around the fourth axis Ax4.

[0048] In the attitude adjustment unit 40 illustrated in Figures 5(a) and 5(b), the second adjustment unit 45 may be omitted, and only the first adjustment unit 44 may be provided. That is, the attitude adjustment unit 40 may rotate the arm tip 70 around the first attitude adjustment axis Axp instead of rotating the arm tip 70 around the second attitude adjustment axis Axr.

[0049] As shown in Figures 6(a), 6(b), and 7(a), the transport robot 1 may have a posture adjustment unit 40A instead of the posture adjustment unit 40. The posture adjustment unit 40A differs from the posture adjustment unit 40 in that it further includes a balancer member 50. The balancer member 50 is a member that generates a force (hereinafter referred to as "corrective force") that opposes the weight of the workpiece W around the first posture adjustment axis Axp. The balancer member 50 generates a corrective force that reduces the moment (gravity load moment) generated by the weight of the workpiece W and the distance from the first posture adjustment axis Axp, with the first posture adjustment axis Axp as the reference.

[0050] The posture adjustment unit 40 needs to generate a torque that exceeds the moment due to the weight of the workpiece W when it rotates the workpiece holding unit 80, which is the tip, around the first posture adjustment axis Axp, and lifts the end portion 80b. The balancer member 50 generates a corrective force that reduces the torque that needs to be generated by the posture adjustment unit 40 (for example, the first adjustment unit 44 and the second adjustment unit 45, or the first adjustment unit 44) when it rotates the arm tip portion 70 around the first posture adjustment axis Axp and lifts the end portion 80b.

[0051] As shown in Figure 7(a), when viewed from the vertical, the balancer member 50, the first attitude adjustment axis Axp (the intersection of the first attitude adjustment axis Axp and the virtual line IL), and the arm tip 70 may be arranged in this order on a virtual line IL passing through the third axis Ax3. The virtual line IL is, for example, a virtual line that passes through the third axis Ax3, along a direction extending toward the arm tip 70 so as to move away from the third axis Ax3 in a plan view. If the attitude adjustment unit 40 also rotates the workpiece holding unit 80 around the second attitude adjustment axis Axr, the virtual line IL corresponds to the second attitude adjustment axis Axr in a plan view.

[0052] The workpiece holding unit 80 may hold the workpiece W such that the center of gravity of the workpiece W is located on the virtual line IL. In this case, the balancer member 50, a point on the first attitude adjustment axis Axp (for example, the intersection of the fourth axis Ax4 and the fifth axis Ax5), and the center of gravity of the workpiece W are aligned in this order on the virtual line IL. In the top view shown in Figure 7(a), the center of the balancer member 50 is represented by "xb", the intersection of the virtual line IL and the first attitude adjustment axis Axp is represented by "x0", and the center of gravity of the workpiece W is represented by "xg". Figure 7(b) shows a schematic diagram to explain the function of the balancer member 50.

[0053] The intersection point x0 represents the origin in the rotation around the first attitude adjustment axis Axp. The center of gravity xg of the workpiece W is located at a certain distance horizontally from the intersection point x0. The moment due to the weight of the workpiece W can be obtained by multiplying the force Fw representing the weight of the workpiece W by the shortest distance between the intersection point x0 and the center of gravity xg. The balancer member 50 is located on the opposite side of the intersection point x0 from the center of gravity xg. If the balancer member 50 applies a force Fb to the arm tip 70, etc., the gravity moment (torque to be generated by the attitude adjustment unit 40) can be reduced by a value obtained by multiplying the force Fb by the shortest distance between the intersection point x0 and position xb.

[0054] The balancer member 50 is, for example, a coil spring, and generates the corrective force (force Fb) through the elastic force of the spring. In one example, the attitude adjustment base 47 and the connecting member 49 of the attitude adjustment unit 40 are configured to be connected to each other via the balancer member 50. The balancer member 50 is configured to apply a downward force to the connecting member 49. The balancer member 50 may be configured in any way as long as it can reduce the moment caused by the weight of the workpiece W.

[0055] Unlike the example shown in Figure 1, the attitude adjustment unit 40 may be provided below the tip 34 of the second arm 30. Unlike the example shown in Figure 1, the base end 32 of the second arm 30 may be provided below the tip 24 of the first arm 20. When the second arm 30 is located below the first arm 20, the attitude adjustment unit 40 may be provided above the tip 34 of the second arm 30, or below the tip 34 of the second arm 30.

[0056] Unlike the example shown in Figure 1, the lifting base portion 72 of the arm tip portion 70 may be positioned at a different height from the first arm 20 and the second arm 30. The lowest position of the lifting base portion 72 may be higher than the highest position of the second arm 30. At least a portion of the movable range when the lifting base portion 72 is rotated around the third axis Ax3 may overlap with the second arm 30 when viewed from the vertical direction.

[0057] Unlike the example shown in Figure 1, a mechanism for raising and lowering the arm tip 70 (workpiece W) may be provided between the base and the first arm in the transport robot. The transport robot 1B shown in Figure 8 comprises a base 12B, an arm base 14B, a first arm 20B, a second arm 30B, an arm tip 70B, a workpiece holding section 80B, and a posture adjustment section 40B.

[0058] The base 12B is fixed to the bottom surface or a wall surface, and the linear drive unit 16 raises and lowers the arm base 14B. The arm base 14B is mounted on the base 12B so as to be able to move up and down, and protrudes horizontally from the base 12B. The first arm 20B corresponds to the first arm 20 of the transport robot 1 and is mounted on the arm base 14B so as to rotate around a vertical first axis Ax1. The second arm 30B corresponds to the second arm 30 of the transport robot 1 and is mounted at the tip of the first arm 20B so as to rotate around a vertical second axis Ax2.

[0059] The arm tip 70B is provided at the tip of the second arm 30B via a posture adjustment unit 40B so as to rotate around a vertical third axis Ax3. The workpiece holding unit 80B is supported (connected) to the arm tip 70B and holds the workpiece W at a position away from the third axis Ax3.

[0060] The posture adjustment unit 40B is provided between the second arm 30B and the arm tip 70B. The posture adjustment unit 40B may also be provided below the second arm 30B. The posture adjustment unit 40B rotates the workpiece holding unit 80B at least around the first posture adjustment axis Axp. The posture adjustment unit 40B may also rotate the workpiece holding unit 80B around the first posture adjustment axis Axp and the second posture adjustment axis Axr, respectively. In the transport robot 1B, the first posture adjustment axis Axp intersects both the direction extending toward the arm tip 70B away from the third axis and the third axis Ax3, and the second posture adjustment axis Axr intersects both the first posture adjustment axis Axp and the third axis Ax3.

[0061] In one example, the attitude adjustment unit 40B includes an attitude adjustment base 47B connected to the tip of the second arm 30B, and a first adjustment unit 44B and a second adjustment unit 45B arranged vertically between the attitude adjustment base 47B and the arm tip 70B. The first adjustment unit 44B, upon receiving power, rotates the workpiece holding unit 80B around a first attitude adjustment axis Axp, which corresponds to a fourth axis Ax4 (not shown). The second adjustment unit 45B, upon receiving power, rotates the workpiece holding unit 80B around a second attitude adjustment axis Axr, which corresponds to a fifth axis Ax5 (not shown). There are no restrictions on the arrangement of the first attitude adjustment axis Axp and the second attitude adjustment axis Axr; they may be at the same height, or the second attitude adjustment axis Axr may be positioned above the first attitude adjustment axis Axp. Furthermore, the first adjustment unit 44B and the second adjustment unit 45B may be provided to rotate the workpiece holding unit 80B around the first posture adjustment axis Axp and the second posture adjustment axis Axr by combining rotation around the fourth axis Ax4 which does not coincide with the first posture adjustment axis Axp and rotation around the fifth axis Ax5 which does not coincide with the second posture adjustment axis Axr. In addition, the transport robot 1B may be equipped with a balancer member 50 to generate a corrective force that reduces the moment (gravity load moment) generated by the weight of the workpiece W and the distance from the first posture adjustment axis Axp.

[0062] In the transport robots 1 and 1B, a horizontally extending arm separate from the first arms 20 and 20B and the second arms 30 and 30B may be provided. In one of the various examples described above, at least some of the matters described in the other examples may be combined.

[0063] [summary] This disclosure includes the configurations described in (1) to (18) below.

[0064] (1) A transport robot 1, 1B comprising: (1) First arms 20, 20B provided to rotate around a vertical first axis Ax1 and extending away from the first axis Ax1; second arms 30, 30B provided on the first arms 20, 20B to rotate around a vertical second axis Ax2 and extending away from the second axis Ax2; arm tips 70, 70B connected to the second arms 30, 30B to rotate around a vertical third axis Ax3 and configured to support workpiece holding parts 80, 80B that hold the workpiece W; and attitude adjustment parts 40, 40A, 40B configured to rotate the workpiece W around a first attitude adjustment axis Axp that intersects both the direction extending to the arm tips 70, 70B away from the third axis Ax3 and the third axis Ax3. A SCARA-type articulated arm (horizontal articulated arm) has degrees of freedom in the horizontal direction, resulting in high rigidity in the vertical direction and a structure that is resistant to bending. However, when the weight of the workpiece is large, bending may occur, causing the tip of the articulated arm to sink, depending on the moment rigidity at the joint of the arm or the rigidity of the arm itself. As a result, the posture of the workpiece held at the tip of the articulated arm may not be maintained at the target posture (e.g., horizontal), and the accuracy of operations including transport may decrease. In contrast, in the transport robots 1 and 1B described above, the workpiece W is made rotatable around the first posture adjustment axis Axp, so the angle of the workpiece W around the first posture adjustment axis Axp can be corrected, and the effect of bending in the articulated arm caused by the weight of the workpiece W can be reduced. Therefore, operations including the transport of the workpiece W can be performed while the posture of the workpiece W is maintained at the target posture (e.g., horizontal) around the first posture adjustment axis Axp. Accordingly, the transport robots 1 and 1B are useful for improving work accuracy.

[0065] (2) The range of motion of the workpiece W around the first posture adjustment axis Axp by the posture adjustment units 40, 40A, 40B is within ±30°, as described in (1) above, for the transport robots 1, 1B. The above range of motion is sufficient to adjust the posture of the workpiece W. For example, in the posture adjustment unit 40A, the balancer member 50, which is designed and installed to match the above range of motion, can be simplified, miniaturized, or made lighter.

[0066] (3) The posture adjustment units 40, 40A, 40B are configured to further rotate the workpiece W around a second posture adjustment axis Axr that intersects both the first posture adjustment axis Axp and the third axis Ax3, in the transport robot 1, 1B described in (1) or (2) above. In this case, the workpiece W can be positioned at the target position (e.g., horizontal) around the second position adjustment axis Axr, and operations including the transport of the workpiece W can be performed. Therefore, this is even more useful for improving work accuracy.

[0067] (4) The range of motion of the workpiece W around the second posture adjustment axis Axr by the posture adjustment units 40, 40A, and 40B is within ±30°, as described in (3) above, for the transport robots 1 and 1B. The above range of motion is sufficient to adjust the posture of the workpiece W. For example, in the posture adjustment unit 40A, the balancer member 50, which is designed and installed to match the above range of motion, can be simplified, miniaturized, or made lighter.

[0068] (5) The posture adjustment units 40, 40A, 40B are provided between the second arms 30, 30B and the arm tips 70, 70B, and the posture adjustment units 40, 40A, 40B have a first adjustment unit 44, 44B that rotates the arm tips 70, 70B about the fourth axis Ax4 and a second adjustment unit 45, 45B that rotates the arm tips 70, 70B about the fifth axis Ax5, and the fourth axis Ax4 and the fifth axis Ax5 are included in the same plane that intersects the third axis Ax3 and intersect to have an intersection point, as described in (3) or (4) above, the transport robot 1, 1B. In this case, the posture of the workpiece W around the first posture adjustment axis Axp and the second posture adjustment axis Axr can be appropriately adjusted.

[0069] (6) The transport robot 1,1B described in (5) above, wherein the angle between the fourth axis Ax4 and the second attitude adjustment axis Axr is greater than 0° and less than 90°, and the angle between the fifth axis Ax5 and the second attitude adjustment axis Axr is greater than -90° and less than 0°. In this case, compared to rotating the workpiece W around the first attitude adjustment axis Axp with a single motor, the load torque per motor can be reduced, or the torque acting on the workpiece W around the first attitude adjustment axis Axp can be amplified.

[0070] (7) The transport robot 1,1B described in (5) above, wherein the fourth axis Ax4 corresponds to the first attitude adjustment axis Axp, and the fifth axis Ax5 corresponds to the second attitude adjustment axis Axr. In this case, the attitude around the first attitude adjustment axis Axp and the second attitude adjustment axis Axr can be adjusted independently.

[0071] (8) A transport robot 1 according to any one of (1) to (7) above, further comprising a base 10 fixed in a predetermined position, the base end 22 of the first arm 20 being provided on the base 10, the posture adjustment units 40, 40A being provided between the second arm 30 and the arm tip 70, the arm tip 70 including a lifting base 72 connected to the posture adjustment units 40, 40A, a movable part 74 provided on the lifting base 72 to support the workpiece holding unit 80 and move along the direction in which the lifting base 72 extends, and a linear drive unit 78 that drives the movable part 74 along the direction in which the lifting base 72 extends. The size of the mechanism for raising and lowering the part including the workpiece holding section 80 depends on the weight of the part that the lifting mechanism raises and lowers. In the above configuration, the weight of the part that the lifting mechanism raises and lowers can be reduced compared to the case where the lifting mechanism is provided between the base and the first arm. As a result, the structure of the part that supports from the first arm to the tip of the workpiece can be simplified, and the overall size of the transport robot 1 can be reduced.

[0072] (9) The transfer robot 1 as described in (8) above, wherein the movable part 74 is capable of supporting the workpiece holding part 80 such that the workpiece holding part 80 is positioned to the side of the arm tip part 70. In this case, even when the workpiece holding section 80 moves up and down, interference between the workpiece W held by the arm tip 70 and the lifting base section 72 of the arm tip 70 can be avoided. Therefore, the range of motion of the workpiece W in the direction in which the lifting base section 72 extends can be increased.

[0073] (10) The transport robot 1 described in (9) above, wherein the lifting base section 72 is located away from the third axis Ax3 and is connected to the second arm 30 via the attitude adjustment section 40. In this case, the lifting base 72 can be extended without interfering with the second arm 30. Therefore, the range of motion of the workpiece W in the direction in which the lifting base 72 extends can be increased.

[0074] (11) A transport robot 1,1B according to any one of (1) to (10) above, further comprising a balancer member 50 that generates a corrective force to resist the weight of the workpiece W around a first posture adjustment axis Axp. In this case, the torque required to rotate the workpiece W around the first attitude adjustment axis Axp can be reduced. Therefore, the motors included in the attitude adjustment units 40A and 40B can be made smaller or lighter.

[0075] (12) The balancer member 50 is arranged such that, when viewed from the direction in which the third axis Ax3 extends, the balancer member 50, the first attitude adjustment axis Axp, and the workpiece holding parts 80, 80B are arranged in this order on a virtual line IL passing through the third axis Ax3, as described in (11) above, in the transport robot 1, 1B. In this case, the torque required to rotate the workpiece W around the first posture adjustment axis Axp can be further reduced.

[0076] (13) The transport robot 1 according to any one of (1) to (7) above, wherein the posture adjustment units 40, 40A are arranged at a different height from the first arm 20 in the direction in which the third axis Ax3 extends. In this case, when the first arm 20 and the second arm 30 are positioned so that they overlap each other, interference between the attitude adjustment units 40, 40A and the first arm 20 can be avoided. Therefore, the range of motion of the first arm 20 and the second arm 30 can be increased.

[0077] (14) The transport robot 1 as described in (13) above, wherein the base end portion 32 of the second arm 30 is provided on the tip portion 24 of the first arm 20, and the attitude adjustment units 40, 40A are provided on the second arm 30. In this case, when the first arm 20 and the second arm 30 are positioned to overlap each other, interference between the attitude adjustment units 40, 40A and the first arm 20 can be more reliably avoided.

[0078] (15) The transport robot 1 according to (14) above, further comprising a base 10 fixed in a predetermined position, the base end 22 of the first arm 20 being provided on the base 10, the posture adjustment units 40, 40A being provided between the second arm 30 and the arm tip 70, the arm tip 70 including a lifting base 72 connected to the posture adjustment units 40, 40A, a movable part 74 provided on the lifting base 72 to support the workpiece holding unit 80 and move along the direction in which the lifting base 72 extends, and a linear drive unit 78 that drives the movable part 74 along the direction in which the lifting base 72 extends, the lifting base 72 being located away from the third axis Ax3 and connected to the second arm 30 via the posture adjustment units 40, 40A, and at least a portion of the lifting base 72 being at the same height as at least a portion of the first arm 20 and at least a portion of the second arm 30 in the direction in which the third axis Ax3 extends. In this case, the range of motion of the movable part 74 in the direction in which the lifting base part 72 extends extends to the same height as at least a portion of the first arm 20 and at least a portion of the second arm 30. Therefore, the workpiece holding part 80 that supports the workpiece W can be moved to the same height as the first arm 20 or the second arm 30.

[0079] (16) A transport robot 1, 1B according to any one of (1) to (15) above, further comprising workpiece holding sections 80, 80B, wherein the workpiece holding sections 80, 80B are configured to support the workpiece W from below at a position away from the third axis Ax3.

[0080] (17) A transport robot 1,1B according to any one of (1) to (15) above, further comprising workpiece holding sections 80, 80B and having a payload capacity of 300 kg or more. In this case, the degree of deflection of the multi-joint arm due to the weight of the workpiece W may become large, so it is more beneficial to adjust the posture of the workpiece W around the first posture adjustment axis Axp.

[0081] (18) A transport robot 1, 1B according to any one of (1) to (15) above, further comprising workpiece holding sections 80, 80B, wherein the workpiece W includes a battery module for driving an electric vehicle. In this case, the degree of deflection of the multi-joint arm due to the weight of the workpiece W may become large, so it is more beneficial to adjust the posture of the workpiece W around the first posture adjustment axis Axp. [Explanation of Symbols]

[0082] 1,1B...Transport robot, 10...Base, 20,20B...First arm, Ax1...First axis, 30,30B...Second arm, Ax2...Second axis, 40,40A,40B...Position adjustment unit, Ax3...Third axis, Ax4...Fourth axis, Ax5...Fifth axis, Axp...First posture adjustment axis, Axr...Second posture adjustment axis, 50...Balancer member, 70,70B...Arm tip, 72...Lifting base unit, 74...Movable part, 78...Linear drive unit, 80,80B...Workpiece holding unit, W...Workpiece.

Claims

1. A first arm is provided to rotate around a vertical first axis and extends in a direction away from the first axis, A second arm is provided on the first arm so as to rotate around a vertical second axis and extends in a direction away from the second axis, It is connected to the second arm so as to rotate around a vertical third axis, It is positioned away from the aforementioned third axis, A workpiece holder is configured to support the workpiece holder. The tip of the arm and A posture adjustment unit is configured to rotate the workpiece around a first posture adjustment axis that intersects both the direction extending from the arm tip away from the third axis and the third axis, The system includes a balancer member that generates a corrective force around the first posture adjustment axis that resists the weight of the workpiece, A transport robot in which the movable range of the workpiece around the first posture adjustment axis by the posture adjustment unit is within ±30°.

2. The transfer robot according to claim 1, wherein the posture adjustment unit drives the workpiece holding unit to eliminate the tilt caused by the workpiece's own weight while the workpiece holding unit is supporting the workpiece.

3. The transfer robot according to claim 1 or 2, wherein the posture adjustment unit is configured to further rotate the workpiece around a second posture adjustment axis that intersects both the first posture adjustment axis and the third axis.

4. The transfer robot according to claim 3, wherein the range of motion of the workpiece around the second posture adjustment axis by the posture adjustment unit is within ±30°.

5. The posture adjustment unit is provided between the second arm and the tip of the arm, The attitude adjustment unit includes a first adjustment unit that rotates the tip of the arm around a fourth axis, and a second adjustment unit that rotates the tip of the arm around a fifth axis. The transport robot according to claim 3, wherein the fourth axis and the fifth axis are included in the same plane intersecting the third axis and intersect with it such that they have an intersection point.

6. The angle between the fourth axis and the second attitude adjustment axis is greater than 0° and less than 90°. The transport robot according to claim 5, wherein the angle between the fifth axis and the second attitude adjustment axis is greater than -90° and less than 0°.

7. The fourth axis corresponds to the first attitude adjustment axis, The transport robot according to claim 5, wherein the fifth axis corresponds to the second attitude adjustment axis.

8. It further comprises a base fixed in a predetermined position, The base end of the first arm is provided on the base, The posture adjustment unit is provided between the second arm and the tip of the arm, The transport robot according to claim 1 or 2, wherein the tip of the arm includes a lifting base connected to the posture adjustment unit, a movable part provided on the lifting base that supports the workpiece holding unit and moves along the direction in which the lifting base unit extends, and a linear drive unit that drives the movable part along the direction in which the lifting base unit extends.

9. The transfer robot according to claim 8, wherein the movable part is capable of supporting the workpiece holding part such that the workpiece holding part is positioned to the side of the tip of the arm.

10. The transport robot according to claim 9, wherein the lifting base is located at a position away from the third axis and is connected to the second arm via the posture adjustment unit.

11. The transfer robot according to claim 1 or 2, wherein the balancer member is arranged such that, when viewed from the direction in which the third axis extends, the balancer member, the first attitude adjustment axis, and the workpiece holding portion are arranged in this order on a virtual line passing through the third axis.

12. The transport robot according to claim 1 or 2, wherein the posture adjustment unit is positioned at a different height from the first arm in the direction in which the third axis extends.

13. The base end of the second arm is provided on the tip of the first arm, The transport robot according to claim 12, wherein the posture adjustment unit is provided on the second arm.

14. It further comprises a base fixed in a predetermined position, The base end of the first arm is provided on the base, The posture adjustment unit is provided between the second arm and the tip of the arm, The tip of the arm includes a lifting base connected to the posture adjustment unit, a movable part provided on the lifting base that supports the workpiece holding unit and moves along the direction in which the lifting base unit extends, and a linear drive unit that drives the movable part along the direction in which the lifting base unit extends. The lifting base is positioned away from the third axis and connected to the second arm via the attitude adjustment unit. The transport robot according to claim 13, wherein in the direction in which the third axis extends, at least a portion of the lifting base portion is located at the same height as at least a portion of the first arm and at least a portion of the second arm.

15. The workpiece holding portion is further provided, The transfer robot according to claim 1 or 2, wherein the workpiece holding portion is configured to support the workpiece from below at a position away from the third axis.

16. The workpiece holding portion is further provided, A transport robot according to claim 1 or 2, wherein the carrying capacity is 300 kg or more.

17. The workpiece holding portion is further provided, The transport robot according to claim 1 or 2, wherein the workpiece includes a battery module for driving an electric vehicle.

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