Articulated robot and mobile robot

Abstract

This articulated robot comprises: a joint serving as a substantial starting point of operation on the distal end side of a second link that is a variable position away from the base part; a hand connected via a third link to a third link adjustment portion including a joint on the distal end side of the second link. The third link adjustment portion comprises at least two joints connected in series, of which the directions of the rotation axes are orthogonal to each other, and can orient the length direction of the third link in an arbitrary direction.

Description

Articulated robots and mobile robots

[0001] The present disclosure relates to articulated robots and mobile robots.

[0002] Japanese Patent Application Laid-Open Publication No. 2020-181485 describes a six-axis articulated robot. Specifically, the robot includes a rotating body rotatably supported relative to a base, a first arm rotatably supported relative to the rotating body, and a second arm rotatably supported relative to the first arm. The robot further includes a three-axis wrist unit at the tip of the second arm, and a hand, which is a tool used to perform tasks such as gripping a workpiece, is attached to the tip of the wrist unit. By combining the movement of the rotating body relative to the base, the first arm relative to the rotating body, and the second arm relative to the first arm, the wrist unit can be positioned at any three-dimensional position within its operating range, and the posture of the hand can be arbitrarily moved by operating the three-axis wrist unit.

[0003] Articulated robots can be used in applications where the base of the arm is located low, close to the floor, such as on a low-profile cart, and the hand supported by the arm manipulates an object at a certain height above the floor. One example of such manipulation involves grasping an object placed on a desk and changing its position or orientation. Another example involves grasping an object placed at the back of a multi-tiered shelf and pulling it out without the object or arm coming into contact with the shelves above or below it or other objects placed next to it. In the first example, the joint that serves as the effective starting point of the manipulation (equivalent to the shoulder in the human body) must be positioned higher than the desk surface, and the part of the arm closer to the joint must be able to move freely to manipulate the object. In the second example, the joint that serves as the effective starting point of the manipulation must be positioned at the height of the shelf on which the object is placed, and the part of the arm closest to the hand must be maintained in a horizontal position while the joint that serves as the effective starting point of the manipulation must be moved horizontally (in the direction of pulling the object out). The object manipulation represented by the first and second examples is called starting point type object manipulation.

[0004] In the six-axis articulated robot described in JP 2020-181485 A, the joint whose three-dimensional position can be freely adjusted is the joint at the tip of the second arm, and since the tip of the second arm is only equipped with a three-axis wrist unit, it is not possible to manipulate an object starting from the joint at the tip of the second arm. On the other hand, if the number of joints in the articulated robot is sufficiently large, operations such as those in the first and second examples are possible, but having more joints than necessary is disadvantageous in terms of increased cost, weight, and power consumption.

[0005] The present disclosure aims to provide an articulated robot capable of starting point-based object manipulation with a structure that has as few joints as possible, and that allows the joint that serves as the actual starting point of the operation to be positioned at a variable position away from the base in the direction of the turning axis, assuming that the base is provided with a turning axis.

[0006] One aspect of the present disclosure is a multi-joint robot comprising: a first joint connected to a base and having a first rotation axis in a specific direction relative to the base; a second joint connected to the first joint without any other joint therebetween and having a second rotation axis perpendicular to the first rotation axis; a first link connected at one end to the second joint and having a length in a direction perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link connected at one end to the third joint and having a length in a direction perpendicular to the third rotation axis; a third link provided at the other end of the second link; a third link connected at one end to the third link; and an end effector connected to the third link adjuster via the third link, wherein the third link adjuster has at least two joints connected in series and whose rotation axes are perpendicular to each other, and the length of the third link can be directed in any direction.

[0007] Another aspect of the present disclosure is a mobile robot comprising: a first joint connected to a base and having a first rotation axis oriented in a specific direction relative to the base; a second joint connected to the first joint without any intervening joint and having a second rotation axis orthogonal to the first rotation axis; a first link connected at one end to the second joint and having a length perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link connected at one end to the third joint and having a length perpendicular to the third rotation axis; a third link adjuster provided at the other end of the second link; a third link having one end connected to the third link adjuster; and an end effector connected to the third link adjuster via the third link, wherein the third link adjuster has at least two joints connected in series and whose rotation axes are orthogonal to each other, so that the length direction of the third link can be directed in any direction; and a movement mechanism that moves the articulated robot.

[0008] According to the present disclosure, assuming that the base is provided with a pivot axis, it is possible to position a joint that serves as the actual starting point of operation at the tip side of the second link, which is a variable position away from the base in the direction of the pivot axis, and it is possible to perform starting point-based object manipulation with a structure that keeps the total number of joints as small as possible.

[0009] FIG. 1 is a perspective view showing a multi-joint robot according to a first embodiment. FIG. 2A is an explanatory diagram showing the operation of a joint of the multi-joint robot according to the first embodiment. FIG. 2B is an explanatory diagram showing the operation of a joint of the multi-joint robot according to the first embodiment. FIG. 2C is an explanatory diagram showing the operation of a joint of the multi-joint robot according to the first embodiment. FIG. 3 is a schematic side view showing a multi-joint robot according to the first embodiment. FIG. 4 is a schematic plan view showing a multi-joint robot according to the first embodiment. FIG. 5 is a schematic side view showing the operation of the multi-joint robot according to the first embodiment. FIG. 6 is a schematic side view showing the operation of the multi-joint robot according to the first embodiment. FIG. 7 is a schematic side view showing the operation of the multi-joint robot according to the first embodiment. FIG. 8 is a schematic plan view showing the operation of the multi-joint robot according to the first embodiment. FIG. 9A is an explanatory diagram showing an example of a combination of links of the multi-joint robot according to the first embodiment. FIG. 9B is an explanatory diagram showing an example of a combination of links of the multi-joint robot according to the first embodiment. FIG. 10 is an explanatory diagram showing an example of a combination of joints of the multi-joint robot according to the first embodiment. FIG. 11 is a schematic side view showing a multi-joint robot according to a specific example of a first modified example. FIG. 12A is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a specific example of the first modification. FIG. 12B is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a specific example of the first modification. FIG. 12C is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a specific example of the first modification. FIG. 12D is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a specific example of the first modification. FIG. 12E is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to a specific example of the first modification. FIG. 13 is a schematic side view showing a multi-joint robot according to a specific example of the second modification. FIG. 14 is a schematic side view showing the operation of the multi-joint robot according to the second modification. FIG. 15 is a schematic side view showing the operation of the multi-joint robot according to the second modification. FIG. 16 is a schematic side view showing the operation of the multi-joint robot according to the second modification. FIG. 17 is a schematic side view showing the operation of the multi-joint robot according to the second modification. FIG. 18A is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to the second modification. FIG. 18B is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to the second modification. Figure 19 is a schematic side view showing the operation of the articulated robot of the second modified example, Figure 20 is a schematic plan view showing the operation of the articulated robot of the second modified example, and Figure 21 is a schematic plan view showing the operation of the articulated robot of the second modified example.FIG. 22 is a schematic side view showing an example of a combination of joints in a multi-joint robot according to a third modified example. FIG. 23 is a schematic side view showing the operation of the multi-joint robot according to the third modified example. FIG. 24 is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to the third modified example. FIG. 25 is a schematic side view showing the joints of the multi-joint robot according to the first embodiment. FIG. 26 is a schematic side view showing the operation of the joints of the multi-joint robot according to the first embodiment. FIG. 27 is a schematic side view showing the operation of the multi-joint robot according to the first embodiment. FIG. 28A is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to the first embodiment. FIG. 28B is an explanatory diagram showing an example of a combination of joints in a multi-joint robot according to the first embodiment. FIG. 29 is a schematic side view showing the multi-joint robot according to the first embodiment. FIG. 30 is a schematic side view showing the multi-joint robot according to a fourth modified example. FIG. 31 is a schematic side view showing the multi-joint robot according to a fifth modified example. FIG. 32 is a schematic side view showing the multi-joint robot according to a sixth modified example. FIG. 33 is a schematic side view showing the mobile robot according to the first embodiment. FIG. 34 is a schematic side view showing the mobile robot according to the first embodiment.

[0010] An example of an embodiment of the present disclosure will be described below with reference to the drawings. In each drawing, the same or substantially equivalent elements, components, and parts are designated by the same reference numerals. Furthermore, the dimensions and proportions of the drawings are exaggerated for the sake of explanation and may differ from the actual proportions.

[0011] As shown in FIG. 1, the articulated robot 20 according to the first embodiment is, for example, a robot having eight degrees of freedom.

[0012] The articulated robot 20 has a base 22. In the example shown in Fig. 1, the base 22 is rectangular parallelepiped. In the following, an X-axis, a Y-axis, and a Z-axis are set as a coordinate system of the base 22. The X-axis direction is the front-rear direction of the base 22, the Y-axis is the left-right direction of the base 22, and the Z-axis is the height direction of the base 22. The left-right direction is also the width direction of the base 22.

[0013] A movement mechanism 24 is provided on the base 22. The mobile robot 26 includes the articulated robot 20 and the movement mechanism 24.

[0014] The movement mechanism 24 has two drive wheels 24A and two driven wheels 24B. The two drive wheels 24A are mounted on the base 22 and spaced apart in the left-right direction, and the two driven wheels 24B are also mounted on the base 22 and spaced apart in the left-right direction. The drive wheels 24A and driven wheels 24B support the mobile robot 26.

[0015] The drive wheels 24A are driven to rotate by a drive source (not shown). For example, by rotating the two drive wheels 24A at a constant rotation speed, the base 22 can be moved linearly. Furthermore, by differentiating the rotation speeds of the two drive wheels 24A (differentially rotating the left and right wheels), the base 22 can be rotated. In contrast, the driven wheels 24B can rotate freely. Furthermore, the rotation axis of the driven wheels 24B can freely change direction within a horizontal plane. In other words, the driven wheels 24B are swivel casters (swivel casters).

[0016] The articulated robot 20 includes a first joint 31, a second joint 32, a third joint 33, a fourth joint 34, a fifth joint 35, a sixth joint 36, a seventh joint 37, and an eighth joint 38. The articulated robot 20 further includes a first link 41, a second link 42, a third link 43, a fourth link 44, and an end effector 50.

[0017] The end effector 50 may be a hand or a suction pad, and will be referred to hereinafter as a hand 50 in this disclosure.

[0018] The first joint 31 has a first rotation axis J1 in a specific direction relative to the base 22. In this embodiment, the specific direction is a normal direction to the upper surface 22A of the base 22. In the illustrated example, the upper surface 22A of the base 22 is parallel to the floor surface LF. Therefore, the normal direction to the upper surface 22A of the base 22 is also a normal direction to the floor surface LF. When the floor surface LF is horizontal, the direction of the first rotation axis J1 is vertical.

[0019] The second joint 32 is connected to the first joint 31 without any other joint therebetween. The second joint 32 has a second rotation axis J2 that is perpendicular to the first rotation axis J1.

[0020] One end 41A of the first link 41 is connected to the second joint 32. The first link 41 has a length extending from the one end 41A in a direction perpendicular to the second rotation axis J2.

[0021] The third joint 33 is provided at the other end 41B of the first link 41. The third joint 33 has a third rotation axis J3 that is parallel to the second rotation axis J2.

[0022] One end 42A of the second link 42 is connected to the third joint 33. The second link 42 has a length extending from the one end 42A in a direction perpendicular to the third rotation axis J3.

[0023] The fourth joint 34 is connected to the other end 42B of the second link 42. The fourth joint 34 has a fourth rotation axis J4 that is parallel to the third rotation axis J3.

[0024] The fifth joint 35 is connected to the fourth joint 34. The fifth joint 35 has a fifth rotation axis J5 that is perpendicular to the fourth rotation axis J4.

[0025] In the technology of the present disclosure, "orthogonal" includes not only a case where one or both of the target axes intersect at a right angle when extended, but also a case where the target axes intersect at a right angle when viewed from a specific direction, such as when the target axes are in a twisted position. The same applies to "perpendicular" in the technology of the present disclosure.

[0026] One end 44A of the fourth link 44 is connected to the fifth joint 35. The fourth link 44 has a length from the one end 44A in a direction parallel to the fifth rotation axis J5.

[0027] The sixth joint 36 is provided at the other end 44B of the fourth link 44. The sixth joint 36 has a sixth rotation axis J6 that is perpendicular to the longitudinal direction of the fourth link. The fourth rotation axis J4 and the sixth rotation axis J6 are spaced apart in the direction of the fifth rotation axis J5. In other words, there is a predetermined distance L1 between the fourth rotation axis J4 and the sixth rotation axis J6 in the direction of the fifth rotation axis J5.

[0028] The seventh joint 37 and the eighth joint 38 are provided between the third link 43 and the hand 50. The joint closer to the third link 43 is the seventh joint 37, and the joint closer to the hand 50 is the eighth joint 38.

[0029] The seventh rotation axis J7 of the seventh joint 37 and the eighth rotation axis J8 of the eighth joint 38 are perpendicular to each other. In the illustrated example, the seventh rotation axis J7 is parallel to the sixth rotation axis J6.

[0030] The hand 50 is connected to the eighth joint 38. The third link 43 is a link located close to the hand 50. One end 43A of the third link 43 is connected to the sixth joint 36, and the other end 43B of the third link 43 is connected to the seventh joint 37. It can be said that the hand 50 is connected to the third link 43 via the seventh joint 37 and the eighth joint 38.

[0031] 3, the third link adjustment portion 46 is a portion that includes the fourth joint 34, the fifth joint 35, the fourth link 44, and the sixth joint 36. The fourth joint 34 is one end of the third link adjustment portion 46, and the sixth joint 36 is the other end of the third link adjustment portion 46.

[0032] The hand 50 is an element that performs a predetermined operation or processing on the target object TT (see FIGS. 14 and 15 ). The specific structure of the hand 50 is not limited as long as it is capable of performing such a predetermined operation or processing on the target object TT. For example, the hand 50 is configured to be able to grasp the target object TT.

[0033] Each of the above-mentioned joints is driven by a drive source (not shown) to rotate around its respective rotation axis. Similarly, the hand 50 is also driven by a drive source (not shown) to perform a predetermined operation or processing on the target object TT.

[0034] Hereinafter, the "longitudinal angle" of the third link 43 is defined as the angle it forms with the axial direction of the first rotation axis J1. In the example of FIG. 1, the direction of the first rotation axis J1 is vertical. In this case, if the "longitudinal angle" is 90 degrees, the posture of the third link 43 is horizontal.

[0035] In the following, the "reference plane" is defined as a plane that passes through the first rotation axis J1 and is perpendicular to the second rotation axis J2 (with the second rotation axis J2 as its normal). The up-down direction of the articulated robot 20 is defined as follows: Upward direction: A direction away from the base in the axial direction of the first rotation axis J1 Downward direction: A direction 180 degrees opposite to the upward direction As shown in FIG. 4 , the forward direction, rearward direction, and left-right direction of the articulated robot 20 when the orientation of the third link 43 is parallel to the "reference plane" are defined as follows: Forward direction: A direction from the first rotation axis J1 toward the position of the hand 50 Rearward direction: A direction opposite to the forward direction Left-right direction: A direction at an angle of 90 degrees from the forward direction and the direction of the first rotation axis J1 When the fifth rotation axis J5 is parallel to the front-to-rear direction of the base 22, the forward direction, rearward direction, and left-right directions of the articulated robot 20 coincide with the forward direction, rearward direction, and left-right directions of the base 22.

[0036] The articulated robot 20 includes an imaging device 60 (see FIG. 29 ). The imaging device 60 is provided near the fourth joint 34.

[0037] Here, the "near" the fourth joint 34 as the position where the imaging device 60 is to be installed is defined as a position closer to the fourth joint 34 than the fifth joint 35 on the hand 50 side of the fourth joint 34, and a position closer to the fourth joint 34 than the third joint 33 on the base 22 side of the fourth joint 34.

[0038] In the articulated robot 20 of the first embodiment, the imaging device 60 is fixed to a fixed base 62 that extends upward from the second link 42. The fixed base 62 is an example of a support member that supports the imaging device 60.

[0039] The imaging device 60 may be a camera that captures still images or a camera that captures moving images.

[0040] Next, the operation and function of the articulated robot 20 (mobile robot 26) of this embodiment will be described. The symbols shown in Figures 2A to 2C are used in the drawings explaining the operation of the articulated robot 20 (mobile robot 26). Each of the examples shown in Figures 2A to 2C illustrates a joint 30 and a link 40 as representative of various joints and links. Each symbol indicates that the link 40 rotates in the direction of arrow R1 around the joint 30.

[0041] 3 and 4 represent the articulated robot 20 using the joint and link diagrams shown in FIGS. 2A to 2C . In FIGS. 3 and 4 , the connection order of each joint and link, the direction of the rotation axis of each joint, and the direction of each link are correctly depicted. However, the three-dimensional positions of each joint and link are not necessarily correctly depicted. For example, referring to FIG. 1 , it can be seen that the first joint 31 and the second joint 32 are spaced apart from each other in the Y direction. However, in FIG. 4 , the first joint 31 and the second joint 32 are depicted as if they are not spaced apart from each other in the Y direction. Furthermore, the three-dimensional positional relationship between the fourth joint 34 and the fifth joint 35 in FIG. 3 may be such that the fifth joint 35 is in the X direction, the Y direction, or the Z direction relative to the fourth joint 34. Regardless of the positional relationship, the direction of the rotation axis J5 of the fifth joint 35 rotates within the XZ plane in accordance with the rotation of the fourth joint 34.

[0042] In addition, in the drawings illustrating the operation of the articulated robot 20 (mobile robot 26), joints that are not used in the explanation may be omitted. For example, in Figure 5, the seventh joint 37 and the eighth joint 38 are not shown.

[0043] As shown in FIG. 5, the articulated robot 20 of this embodiment includes a first joint 31 connected to the base 22 and having a first rotation axis J1 in a specific direction relative to the base 22; a second joint 32 connected to the first joint 31 without any other joint therebetween and having a second rotation axis J2 in a direction perpendicular to the first rotation axis J1; a first link 31 having one end 31A connected to the second joint 32 and having a length in a direction perpendicular to the second rotation axis J2; a third joint 33 provided at the other end 31B of the first link 31 and having a third rotation axis J3 parallel to the second rotation axis J2; a second link 42 having one end 42A connected to the third joint 33 and having a length in a direction perpendicular to the third rotation axis J3; and a third link adjustment unit 46 provided at the other end 42B of the second link 42. Here, the third link adjustment unit 46 includes a fourth joint 34 having a fourth rotation axis J4 that is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 that is provided between the fourth joint 34 and the third link 43 and has a fifth rotation axis J5 that is perpendicular to the fourth rotation axis J4, and a sixth joint 36 that is provided between the fifth joint 35 and the third link 43 and has a sixth rotation axis J6 that is perpendicular to the fifth rotation axis J5, the fourth rotation axis J4 and the sixth rotation axis J6 being spaced apart in a direction parallel to the fifth rotation axis J5. Furthermore, the length direction of the third link 43 is perpendicular to the sixth rotation axis J6.

[0044] According to the structure of the articulated robot 20 of this embodiment, the position of the fourth joint 34 can be freely moved in three-dimensional space by rotating the first joint 31, the second joint 32, and the third joint 33. Furthermore, by rotating only the fourth joint 34, the fifth joint 35, and the sixth joint 36 without rotating the first joint 31, the second joint 32, and the third joint 33, the position of the hand 50 can be freely moved in three-dimensional space while keeping the position of the fourth joint 34 fixed.

[0045] 6 to 8 show, as an example, a situation in which a work platform 122 is located in front of the articulated robot 20 and an obstacle ST is located behind the first link 41 and the second link 42. In FIG.

[0046] In this situation, the articulated robot 20 has the fourth joint 34 positioned higher than the surface of the work table 122, and the part of the robot closer to the hand 50 than the fourth joint 34 can move freely, which is necessary for manipulating the object. This corresponds to a first example of object manipulation using a starting point.

[0047] Furthermore, in this situation, when the articulated robot 20 operates an object with the hand 50, the posture of the first link 41 and the second link 42 does not change, so the third joint 33, the first link 41 or the second link 42 will not come into contact with the obstacle ST.

[0048] 5, the fourth link 44 is provided between the fifth joint 35 and the sixth joint 36, but this is not limiting. As another example, as shown in FIG. 9A, a fifth link 45 may be provided between the fourth joint 34 and the fifth joint 35, or as shown in FIG. 9B, only the fifth link 45 may be provided between the fourth joint 34 and the fifth joint 35. In the examples of FIGS. 9A and 9B as well, the fourth rotation axis J4 and the sixth rotation axis J6 are spaced apart in a direction parallel to the fifth rotation axis J5.

[0049] Furthermore, the direction of the fourth joint 34 is not limited to the direction shown in Fig. 5 , and can be exemplified by the direction shown in Fig. 10 . The direction of the fourth rotation axis J4 in Fig. 10 is perpendicular to the length direction of the second link 42 and perpendicular to the second rotation axis J2 and the third rotation axis J3. Considering the cases of Fig. 5 and Fig. 10 , the direction of the fourth rotation axis J4 may be perpendicular to the length direction of the second link 42 and parallel to or perpendicular to the second rotation axis J2 and the third rotation axis J3.

[0050] In a first modified example, the third link adjuster 46 may include a fourth joint 34 having a fourth rotation axis J4 that is perpendicular to the length direction of the second link 42 and parallel to or perpendicular to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 provided between the fourth joint 34 and the third link 43 and having a fifth rotation axis J5 that is perpendicular to the fourth rotation axis J4, a fourth link 44 having one end 44A connected to the fifth joint 35 and having a length that is perpendicular to the fifth rotation axis J5, and a sixth joint 36 provided at the other end 44B of the fourth link 44 and having a sixth rotation axis J6 that is perpendicular to the length direction of the fourth link 44 and parallel to or perpendicular to the fifth rotation axis J5, in which case the length direction of the third link 43 is perpendicular to the sixth rotation axis J6. The articulated robot 90 of the first modified example is also an aspect of the articulated robot of the disclosed technology.

[0051] 11 shows a specific example of the first modified example. In FIG. 11, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3. The direction of the sixth rotation axis J6 is perpendicular to the length direction of the fourth link 44 and parallel to the fifth rotation axis J5.

[0052] Even in the structure of the multi-joint robot 90 of the first variant, by rotating only the fourth joint 34, the fifth joint 35 and the sixth joint 36 without rotating the first joint 31, the second joint 32 and the third joint 33, the position of the hand 50 can be freely moved within three-dimensional space while keeping the position of the fourth joint 34 fixed.

[0053] As specific examples of the first modified example other than that shown in FIG. 11, the directions of the fourth joint 34, the fifth joint 35 and the sixth joint 36 are shown in FIGS. 12A to 12E.

[0054] In a second modified example, the third link adjuster 46 may include a fourth joint 34 having a fourth rotation axis J4 parallel to the length direction of the second link 42 or perpendicular to the length direction of the second link 42 and parallel to or perpendicular to the second rotation axis J2 and the third rotation axis J3, and a fifth joint 35 provided between the fourth joint 34 and the third link 43 and having a fifth rotation axis J5 perpendicular to the fourth rotation axis J4, in which case the length direction of the third link 43 is perpendicular to the fifth rotation axis J5. The articulated robot 91 of the second modified example is also one aspect of the articulated robot of the disclosed technology.

[0055] Fig. 13 shows a specific example of the second modified example. In Fig. 13, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3.

[0056] In the second modified articulated robot 91, when the first joint 31, the second joint 32, and the third joint 33 are rotated to freely move the position of the fourth joint 34 in three-dimensional space, by setting the fourth joint 34 and the fifth joint 35 at appropriate angles, the ``longitudinal angle'' of the third link 43, i.e., the posture of the third link 43, can be set to any posture regardless of the position of the hand 50.

[0057] 14 and 15 show a schematic diagram of an articulated robot 91 of the second modified example together with an object TT to be manipulated.

[0058] In the example shown in Fig. 14, the target object TT is located in a workspace 108 between the bottom plate 102 and the ceiling plate 104. The bottom plate 102 and the ceiling plate 104 are both horizontal and parallel to each other. In the workspace 108 between the bottom plate 102 and the ceiling plate 104, an opening 106 is located on the front side (left side in Figs. 14 and 15) as viewed from the articulated robot 91. The target object TT is located between the bottom plate 102 and the ceiling plate 104, on the rear side (right side in Figs. 14 and 15) as viewed from the opening 106.

[0059] In this case, as shown in FIG. 15 , in the articulated robot 91, by appropriately setting the second joint 32 and the third joint 33 at an appropriate angle, the fourth joint 34 can be moved forward while maintaining the height of the workspace 108, and the hand 50 can be inserted into the workspace 108 through the front opening 106 and moved to the rear. Furthermore, by appropriately rotating the fourth joint 34 and the fifth joint 35 when moving the hand 50 to the rear, the "longitudinal angle" of the third link 43 can be maintained at 90 degrees while moving the hand 50 closer to the target object TT, thereby maintaining the horizontal orientation of the third link 43. Maintaining the horizontal orientation of the third link 43 prevents interference with the bottom plate 102 and the ceiling plate 104 regardless of the position of the third link 43 within the workspace 108. This "horizontal" does not only refer to a strictly horizontal position, but also includes a case where the third link 43 is tilted to such an extent that it does not come into contact with the bottom plate 102 and the ceiling plate 104. This manipulation corresponds to a second example of starting point-based object manipulation.

[0060] 16 , an object TT exists in a workspace 118 surrounded by a front plate 112, a rear plate 114, and a bottom plate 116. The front plate 112 and the rear plate 114 are both vertical and parallel to each other. The bottom plate 116 is located below the front plate 112 and the rear plate 114. Openings 120 are provided at the tops of the front plate 112 and the rear plate 114. The object TT is placed on the bottom plate 116.

[0061] In this case, as shown in FIG. 17 , in the articulated robot 91, by appropriately setting the second joint 32 and the third joint 33 at appropriate angles, the fourth joint 34 can be moved downward while maintaining a forward distance to the workspace 108, and the hand 50 can be inserted into the workspace 118 through the upper opening 120 and moved downward. Furthermore, by appropriately rotating the fourth joint 34 and the fifth joint 35 when moving the hand 50 downward, it is possible to maintain the “longitudinal angle” of the third link 43 at 180 degrees while moving the hand 50 closer to the target object TT, thereby maintaining the vertical orientation of the third link 43. Maintaining the vertical orientation of the third link 43 prevents interference with the front panel 112 and the rear panel 114 regardless of the position of the third link 43 within the workspace 118. This “vertical” refers not only to a strictly vertical position but also to a position where the third link 43 is tilted to such an extent that it does not come into contact with the front panel 112 or the rear panel 114.

[0062] Furthermore, even when the front plate 112 and the rear plate 114 are parallel to each other but tilted relative to the vertical direction, by appropriately rotating the fourth joint 34 and the fifth joint 35, it is possible to keep the "longitudinal angle" of the third link 43 constant and maintain the posture of the third link 43 parallel to the front plate 112 and the rear plate 114.

[0063] As specific examples of the second modified example other than that shown in FIG. 13, the directions of the fourth joint 34 and the fifth joint 35 are shown in FIGS. 18A and 18B.

[0064] Furthermore, in the articulated robot 91 of the second modified example, the third link 43 can be oriented in any direction without moving the first link 41 and the second link 42. For example, in the example shown by the dashed line in Fig. 19, the direction of the third link 43 relative to the first rotation axis J1 can be changed by rotating the fourth joint 34.

[0065] 19 , the orientation of the third link 43 relative to the reference plane can be changed by rotating the fifth joint 35. In other words, by rotating only the fourth joint 34 and the fifth joint 35, the third link 43 can be oriented in any direction, and the position of the hand 50 can be moved within the two-dimensional curved surface.

[0066] As a result, the articulated robot 91 of the second variant can move the position of the hand 50 in three-dimensional space by rotating the second joint 32 and the third joint 33 to move the first link 41 and the second link 42 while maintaining them within the above-mentioned "reference plane," and by rotating the fourth joint 34 and the fifth joint 35 to point the third link 43 in any direction.

[0067] 20 shows a situation in which a workbench 122 is located in front of the articulated robot 91, and an obstacle ST is located to the left and right of the first link 41 and the second link 42. In this situation, when the position of the hand 50 is moved left and right on the workbench 122, if the first joint 31 is rotated as shown by the two-dot chain line in FIG. 21, the first link 41 and the second link 42 will swing left and right and may collide with the obstacle ST. In contrast, in the articulated robot 91 of the first embodiment, the hand 50 can be moved left and right by rotating the fifth joint 35 as shown by the two-dot chain line in FIG. 20 without rotating the first joint 31. Because the first joint 31 is not rotated, the first link 41 and the second link 42 will not swing left and right and there is no risk of them colliding with the obstacle ST.

[0068] In a third modified example, the third link adjuster 46 may include a fourth joint 34 having a fourth rotation axis J4 that is orthogonal to the length direction of the second link 42 and parallel to or orthogonal to the second rotation axis J2 and the third rotation axis J3, a fifth joint 35 connected to the fourth joint 34 without a link and having a fifth rotation axis J5 that is orthogonal to the fourth rotation axis J4, and a sixth joint 36 connected to the fifth joint 35 without a link and having a sixth rotation axis J6 that is orthogonal to the fifth rotation axis J5, in which case the length direction of the third link 43 is perpendicular to the sixth rotation axis J6. The articulated robot 92 of the third modified example is also an aspect of the articulated robot of the disclosed technology.

[0069] 22 shows a specific example of the third modified example. In FIG. 22, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the second rotation axis J2 and the third rotation axis J3.

[0070] 23 , by rotating the fifth joint 35 and the sixth joint 36, the third link 43 can be oriented in any direction, and the hand 50 can be moved on a spherical surface centered on the sixth joint 36. Furthermore, when there is a rotatable range for the fifth joint 35 and the sixth joint 36, there exists a corresponding directional movable range for the third link 43, but by rotating the fourth joint 34, the center direction of the directional movable range of the third link 43 can be changed.

[0071] As a specific example of the third modified example other than that shown in Fig. 22, the orientation of the fourth joint 34 can be shown in Fig. 24. In Fig. 24, the direction of the fourth rotation axis J4 is perpendicular to the length direction of the second link 42 and parallel to the reference plane.

[0072] In any of these articulated robots 20, 90, 91, and 92, the third link adjustment unit 46 includes at least two joints connected in series and having mutually orthogonal rotation axes, and can orient the length direction of the third link 43 in any direction. However, with regard to the "any direction," there may be directional restrictions due to restrictions on the range of motion of each joint.

[0073] 25 , the articulated robot 20 of the first embodiment is provided with a seventh joint 37 and an eighth joint 38 between the third link 43 and the hand 50. Because the seventh joint 37 and the eighth joint 38 have rotation axes (seventh rotation axis J7 and eighth rotation axis J8) that are perpendicular to each other, the articulated robot 20 can change the posture of the hand 50 relative to the third link 43 with two degrees of freedom.

[0074] 26 shows a situation in which a cup CT containing liquid is placed on the support plate 124 as an example of the target object TT. As shown in FIG. 27 , when the cup CT is grasped by the hand 50 and moved (lifted) along a movement trajectory ML4 on a spherical surface around the sixth joint 36, it is possible to move the cup CT with the top facing up. In other words, when the cup CT is grasped by the hand 50 and moved on a spherical surface, the orientation of the hand 50 can be maintained in a constant direction relative to the direction of the first rotation axis J1 regardless of the position on the spherical surface.

[0075] Note that when adjusting the posture of the hand 50 in this manner, a structure capable of adjustment with three degrees of freedom, rather than two, may be used. That is, a structure including a joint having a rotation axis perpendicular to both the seventh rotation axis J7 and the eighth rotation axis J8 as the third degree of freedom. This allows, for example, when grasping and lifting a cup CT, the cup CT to be rotated around a vertical axis (the vertical center of the cup CT). However, if such rotation around the vertical axis is not necessary or is only slightly necessary when actually grasping and lifting the cup CT, two degrees of freedom may be sufficient. The cup CT is an example of an object TT that does not need to be rotated around a vertical axis. By making the posture of the hand 50 adjustable with two degrees of freedom in this manner, the structure and control can be simplified while reducing the substantial impact compared to a structure capable of adjustment with three degrees of freedom.

[0076] The directions of the seventh joint 37 and the eighth joint 38 are not limited to those described above, and examples thereof include the directions shown in Figures 28A and 28B. In both of the examples shown in Figures 28A and 28B, the seventh rotation axis J7 and the eighth rotation axis J8 are perpendicular to each other.

[0077] Furthermore, the articulated robot 20 of the first embodiment may be configured to lack either or both of the seventh joint 37 and the eighth joint 38. Even in a configuration that lacks both the seventh joint 37 and the eighth joint 38, it is possible to grasp the target object TT with the hand 50 and move it to a predetermined location.

[0078] Furthermore, the articulated robot 20 of the first embodiment may be configured without the sixth joint 36. That is, even in the case of a configuration without the sixth joint 36, it is possible to position the hand 50 at a desired position while maintaining a constant posture of the third link 43 by appropriately moving, for example, the fourth joint 34 and the fifth joint 35.

[0079] As shown in Fig. 29, the articulated robot 20 is provided with an imaging device 60 near the fourth joint. It is possible to perform work while capturing an image of the hand 50 or the object TT using the imaging device 60. In this case, if the fourth joint 34 is secured at a position higher than the surface of the work table 122 and the object is manipulated using a part of the fourth joint 34 closer to the hand 50 (a first example of starting point-based object manipulation), the imaging device 60, being provided near the fourth joint 34, is located at a higher position than the object TT on the work table 122. This makes it possible to view the object TT from above (overlook it).

[0080] In particular, even if, for example, multiple objects are placed on the workbench 122 and these multiple objects are located at positions close to and far from the imaging device 60 and appear to overlap partially from the imaging device 60, it is easy to recognize each of the multiple objects by looking down on them.

[0081] In the articulated robot 20 of the first embodiment, the image capturing device 60 can capture images of the target object TT at multiple positions while the hand 50 is moved toward the target object TT. In this case, the image capturing device 60 is provided near the fourth joint 34 and therefore moves roughly along the "reference plane." Compared to a configuration in which the image capturing device 60 is provided near the hand 50 and the image capturing device 60 extends significantly outside the "reference plane" due to movement of the hand 50, the image capturing position and image capturing direction of the image capturing device 60 relative to the target object TT change less. Therefore, for example, if the image capturing device 60 is a type that captures still images, the change in the position of the target object TT in multiple captured images is also small. Furthermore, even if the image capturing device 60 is a type that captures video, the position of the target object TT does not change significantly in the video.

[0082] Furthermore, since the imaging device 60 is provided near the fourth joint 34, it can capture an image from a position close to the base of the third link 43. Therefore, for example, as in the example shown in Figures 14 and 15, when the hand 50 approaches the object TT placed in the workspace 108 between the bottom plate 102 and the ceiling plate 104 in a posture nearly parallel to the bottom plate 102 and the ceiling plate 104, the object TT located deep within the workspace 108 can be imaged by the imaging device 60 without being obstructed by the bottom plate 102 and the ceiling plate 104.

[0083] In a configuration including the imaging device 60, it is also possible to configure the articulated robots 93 to 95 of the various modifications shown in FIGS.

[0084] An articulated robot 93 of a fourth modified example shown in Fig. 30 is provided with a movable base 72 instead of the fixed base 62 (see Fig. 29). An articulated robot 94 of a fifth modified example shown in Fig. 31 is also provided with a movable base 73 instead of the fixed base 62. An articulated robot 95 of a sixth modified example shown in Fig. 32 is provided with an imaging device 60 and a movable base 73 closer to the hand 50 than the fourth joint 34.

[0085] The movable base 72 shown in FIG. 30 can rotate the imaging device 60 in a tilt direction. This tilt direction is a rotation direction around an axis parallel to the third rotation axis J3, and is a direction in which the imaging direction can be tilted up and down. For example, if the imaging device 60 is provided closer to the base 22 than the fourth joint 34, moving the hand 50 forward while maintaining the attitude and height of the third link 43 constant will gradually reduce the tilt of the second link 42 (approaching horizontal). In this case, if the imaging device 60 does not rotate in the tilt direction, the imaging direction will change downward as the tilt of the second link 42 changes. In contrast, in the articulated robot 93 of the fourth modified example, rotating the imaging device 60 in the tilt direction can maintain the imaging direction of the imaging device 60 parallel to the third link 43.

[0086] 31 can rotate the imaging device 60 in a pan direction. This pan direction is a rotation direction around an axis (pan axis 74) that is perpendicular to the optical axis of the imaging device 60 and the third rotation axis J3, and is a direction in which the imaging direction can be swung left and right. For example, when the fifth joint 35 is rotated to move the hand 50 left and right, in the articulated robot 94 of the fifth modified example, the imaging direction of the imaging device 60 can be aligned with the direction in which the hand 50 is moved by rotating the imaging device 60 in the pan direction.

[0087] In the fourth and fifth modified examples, a movable base may be used that allows the imaging device 60 to rotate in both the pan direction and the tilt direction.

[0088] Furthermore, when the imaging device 60 is provided closer to the base 22 than the fourth joint 34, as in the fourth and fifth modified examples, there is no need to rotate the imaging device 60 in the roll direction. The roll direction is the direction of rotation around an axis parallel to the optical axis of the imaging device 60. In the fourth and fifth modified examples, when the direction of the first rotation axis J1 is vertical, if the target object is at the center of the field of view of the imaging device 60, the horizontal direction of the target object TT, which is perpendicular to the direction of the optical axis of the imaging device 60, is reflected horizontally within the field of view of the imaging device 60, even if the imaging device 60 is not rotated in the roll direction. By not providing a mechanism for rotating the imaging device 60 in the roll direction, the structures of the movable bases 72 and 73 can be simplified.

[0089] In an articulated robot 95 of a sixth modified example shown in Fig. 32, an imaging device 60 is provided on the hand 50 side. In this case, the imaging device 60 is realized by being provided between the fourth joint 34 and the fifth joint 35 by a movable base 73. The movable base 73 shown in Fig. 32 can rotate the imaging device 60 in the pan direction (around a pan axis 74). Furthermore, a fourth rotation axis J4 is parallel to the third rotation axis J3.

[0090] In the articulated robot 95 of the sixth modified example, there is no need to rotate the imaging device 60 in the roll direction. When the direction of the first rotation axis is vertical, if the target object is in the center of the field of view of the imaging device 60, the horizontal direction of the target object TT, which is perpendicular to the direction of the optical axis of the imaging device 60, will be displayed horizontally within the field of view of the imaging device 60, even if the imaging device 60 is not rotated in the roll direction. By not providing a mechanism for rotating the imaging device 60 in the roll direction, the structure of the movable base 73 can be simplified.

[0091] Furthermore, in the articulated robot 95 of the sixth modified example, the fourth rotation axis J4 is parallel to the third rotation axis J3, and the imaging device 60 is provided closer to the hand 50 than the fourth joint 34. Therefore, the third link 43 and the hand 50 move up and down due to rotation of the fourth joint 34, and the imaging range of the imaging device 60 also moves up and down. In other words, if it is acceptable for the up and down change in the imaging direction to be linked to the up and down change in the direction of the third link 43, it is not necessary to provide the movable base 73 with a structure for rotating the imaging range of the imaging device 60 in the tilt direction, which allows for a simplification of the structure.

[0092] In the above-described embodiment and each modified example, it is also possible to configure the robot without the moving mechanism 24. That is, in a configuration without the moving mechanism 24, an articulated robot is configured in which the base 22 does not move.

[0093] 33 and 34 show a mobile robot 26 having a movement mechanism 24. That is, the mobile robot 26 includes an articulated robot because the base 22 can be moved with the movement mechanism 24. The mobile robot 26 includes the articulated robot 20, and the broad concept of an articulated robot includes mobile robots.

[0094] An articulated robot 20 without a moving mechanism 24 may have a structure in which the floor, wall, or ceiling of a building serves as the base 22, and the first joint 31 is connected to this floor, wall, or ceiling. In this case, the position of the articulated robot is fixed to an attachment position relative to the floor, wall, or ceiling of the building. In contrast, if the articulated robot is not fixed to the floor, wall, or ceiling of the building, the articulated robot can be installed in any position. Furthermore, a mobile robot 26 with a moving mechanism 24 can move to multiple work locations and perform various tasks using an articulated robot.

[0095] The mobile robot 26 shown in FIG. 34 is equipped with an imaging device 60. Therefore, the imaging device 60 can capture images of the surroundings while the mobile robot 26 is moving. In particular, the imaging device 60 is provided near the fourth joint 34, which is located higher than, for example, the third joint 33. That is, when the mobile robot is moving, the imaging device 60, located in a higher position, can capture images of the surroundings. For example, even if an object higher than the third joint 33 is present around the mobile robot while the mobile robot is moving, the imaging device 60 can capture images of the surroundings of the mobile robot while minimizing the area blocked by the object.

[0096] From this perspective, even in the mobile robot 26, if the imaging device 60 is located near the fourth joint 34, particularly higher than the fourth joint 34, as in the examples shown in Figures 29 to 32, the imaging range that is blocked by surrounding objects will be narrowed, and as a result, a wider range of the surroundings can be imaged.

[0097] The following are supplementary notes related to the present disclosure: (Supplementary Note 1) A first joint (31) connected to a base (22) and having a first rotation axis (J1) in a specific direction relative to the base (22), A second joint (32) connected to the first joint (31) without any other joint therebetween and having a second rotation axis (J2) in a direction perpendicular to the first rotation axis (J1), A first link (41) connected at one end to the second joint (32) and having a length in a direction perpendicular to the second rotation axis (J2), A third joint (32) provided at the other end of the first link (41) and having a third rotation axis (J3) parallel to the second rotation axis (J2), A second link (42) connected at one end to the third joint (32) and having a length in a direction perpendicular to the third rotation axis (J3), A third link adjustment part (46) provided at the other end of the second link (42), a third link (43) having one end connected to the third link adjustment unit (46); and an end effector (50) connected to the third link adjustment unit (46) via the third link (43), wherein the third link adjustment unit (46) has at least two joints (34, 35, 36) connected in series and having rotation axes perpendicular to each other, and the longitudinal direction of the third link (43) can be directed in any direction. (Supplementary Note 2) The articulated robot (20) according to Supplementary Note 1, wherein the third link adjustment unit (46) comprises: a fourth joint (34) having a fourth rotation axis (J4) that is perpendicular to the longitudinal direction of the second link (42) and parallel to or perpendicular to the second rotation axis (J2) and the third rotation axis (J3); a fifth joint (35) that is provided between the fourth joint (34) and the third link (43) and has a fifth rotation axis (J5) that is perpendicular to the fourth rotation axis (J4); and a sixth joint (36) that is provided between the fifth joint (35) and the third link (43) and has a sixth rotation axis (J6) that is perpendicular to the fifth rotation axis (J5), wherein the fourth rotation axis (J4) and the sixth rotation axis (J6) are spaced apart in the direction of the fifth rotation axis (J5), and the longitudinal direction of the third link (43) is perpendicular to the sixth rotation axis (J6).(Supplementary Note 3) The third link adjustment unit (46) includes a fourth joint (34) having a fourth rotation axis (J4) parallel to the length direction of the second link (42) or perpendicular to the length direction of the second link (42) and parallel to or perpendicular to the second rotation axis (J2) and the third rotation axis (J3), a fifth joint (35) provided between the fourth joint (34) and the third link (43) and having a fifth rotation axis (J5) perpendicular to the fourth rotation axis (J4), a fourth link (43) having one end connected to the fifth joint (35) and having a length in a direction perpendicular to the fifth rotation axis (J5), and a sixth joint (36) provided at the other end of the fourth link (43) and perpendicular to the length direction of the fourth link (43) and parallel to or perpendicular to the fifth rotation axis (J5), The articulated robot (20) according to Supplementary Note 1, wherein the length direction of the third link (43) is perpendicular to the sixth rotation axis (J6). (Supplementary Note 4) The third link adjustment unit (46) includes a fourth joint (34) having a fourth rotation axis (J4) parallel to the length direction of the second link (42) or perpendicular to the length direction of the second link (42) and parallel to or perpendicular to the second rotation axis (J2) and the third rotation axis (J3), and a fifth joint (35) provided between the fourth joint (34) and the third link (43) and having a fifth rotation axis (J5) perpendicular to the fourth rotation axis (J4), and the length direction of the third link (43) is perpendicular to the fifth rotation axis (J5). (Supplementary Note 5) The articulated robot (20) according to any one of Supplementary Notes 1 to 4, further comprising two joints (37, 38) provided between the third link (43) and the end effector (50), the two joints having rotation axes directed orthogonal to each other. (Supplementary Note 6) The articulated robot (20) according to any one of Supplementary Notes 1 to 5, further comprising an imaging device (60) provided in the vicinity of a joint (34) provided closest to the second link (42) among the joints provided in the third link adjustment unit (46).(Supplementary Note 7) The articulated robot (20) according to Supplementary Note 6, further comprising a mount (72, 73, 74) that supports the imaging device (60) rotatably in at least one of a tilt direction and a pan direction. (Supplementary Note 8) The articulated robot (20) according to Supplementary Note 7, wherein the imaging device (60) is provided closer to the base (22) than a joint provided in the third link adjustment unit (46) that is closest to the second link (42), and the mounts (72, 73) do not rotate the imaging device (60) in a roll direction. (Appendix 9) The articulated robot (20) according to Appendix 7, wherein, among the joints provided in the third link adjustment unit (46), the joint provided closest to the second link (42) is a fourth joint (34) having a fourth rotation axis (J4) parallel to the second rotation axis (J2) and the third rotation axis (J3), the imaging device (60) is provided closer to the end effector (50) than the fourth joint (34), and the base (74) does not rotate the imaging device (60) in the roll direction. (Supplementary Note 10) The articulated robot (20) according to Supplementary Note 6, wherein the joint of the third link adjustment unit (46) closest to the second link (42) is a fourth joint (34) having a fourth rotation axis (J4) parallel to the second rotation axis (J2) and the third rotation axis (J3), and the imaging device (60) is provided closer to the end effector (50) than the fourth joint (34). (Supplementary Note 11) A mobile robot (26) comprising: the articulated robot (20) according to any one of Supplements 1 to 5; and a movement mechanism (24) that moves the articulated robot. (Supplementary Note 12) The mobile robot (20) according to Supplementary Note 11, wherein the imaging device (60) is provided near the joint of the third link adjustment unit (46) of the articulated robot (20) closest to the second link (42).

[0098] The disclosure of Japanese Patent Application No. 2023-170785, filed on September 29, 2023, is incorporated herein by reference in its entirety.

[0099] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference.

Claims

1. A multi-joint robot comprising: a first joint connected to a base and having a first rotation axis in a specific direction relative to the base; a second joint connected to the first joint without any other joint therebetween and having a second rotation axis in a direction perpendicular to the first rotation axis; a first link one end of which is connected to the second joint and has a length in a direction perpendicular to the second rotation axis; a third joint provided at the other end of the first link and having a third rotation axis parallel to the second rotation axis; a second link one end of which is connected to the third joint and has a length in a direction perpendicular to the third rotation axis; a third link adjustment unit provided at the other end of the second link; a third link one end of which is connected to the third link adjustment unit; and an end effector connected to the third link adjustment unit via the third link, wherein the third link adjustment unit has at least two joints connected in series and whose rotation axes are perpendicular to each other, and the length direction of the third link can be oriented in any direction.

2. The articulated robot according to claim 1, wherein the third link adjustment part comprises a fourth joint having a fourth rotation axis perpendicular to the longitudinal direction of the second link and parallel or perpendicular to the second rotation axis and the third rotation axis, a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, and a sixth joint provided between the fifth joint and the third link and having a sixth rotation axis perpendicular to the fifth rotation axis, wherein the fourth rotation axis and the sixth rotation axis are spaced apart in the direction of the fifth rotation axis, and the longitudinal direction of the third link is perpendicular to the sixth rotation axis.

3. The articulated robot according to claim 1, wherein the third link adjustment part comprises a fourth joint having a fourth rotation axis parallel to the longitudinal direction of the second link or a fourth rotation axis perpendicular to the longitudinal direction of the second link and perpendicular to the second rotation axis and the third rotation axis, a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, a fourth link having one end connected to the fifth joint and having a length in a direction perpendicular to the fifth rotation axis, and a sixth joint provided at the other end of the fourth link and having a sixth rotation axis perpendicular to the longitudinal direction of the fourth link and perpendicular to the fifth rotation axis, and the longitudinal direction of the third link is perpendicular to the sixth rotation axis.

4. The articulated robot of claim 1, wherein the third link adjustment part comprises a fourth joint having a fourth rotation axis parallel to the longitudinal direction of the second link or a fourth rotation axis perpendicular to the longitudinal direction of the second link and perpendicular to the second rotation axis and the third rotation axis, and a fifth joint provided between the fourth joint and the third link and having a fifth rotation axis perpendicular to the fourth rotation axis, and the longitudinal direction of the third link is perpendicular to the fifth rotation axis.

5. The articulated robot according to claim 1, further comprising two joints provided between said third link and said end effector, the directions of the rotation axes of which are perpendicular to each other.

6. The articulated robot according to claim 1, further comprising an imaging device disposed near the joint provided closest to the second link among the joints of the third link adjustment section.

7. The articulated robot according to claim 6, further comprising a stand for supporting said imaging device so as to be rotatable in at least one of a tilt direction and a pan direction.

8. A multi-joint robot as described in claim 7, wherein the imaging device is provided on the side of the base relative to a joint of the third link adjustment unit that is located closest to the second link, and the mount does not rotate the imaging device in the roll direction.

9. A multi-joint robot as described in claim 7, wherein the joint of the third link adjustment unit that is closest to the second link is a fourth joint having a fourth rotation axis parallel to the second rotation axis and the third rotation axis, the imaging device is provided on the end effector side of the fourth joint, and the mount does not rotate the imaging device in the roll direction.

10. The articulated robot according to claim 6, wherein the joint of the third link adjustment unit that is closest to the second link is a fourth joint having a fourth rotation axis parallel to the second rotation axis and the third rotation axis, and the imaging device is provided on the end effector side of the fourth joint.

11. A mobile robot comprising: a multi-joint robot according to any one of claims 1 to 5; and a movement mechanism for moving the multi-joint robot.

12. The mobile robot according to claim 11, further comprising an imaging device disposed adjacent to the joint of the third link adjustment unit of the articulated robot that is closest to the second link.

Images