Robot device and control method for same

Abstract

This robot device comprises: a base part; a robot arm connected to the base part and having a joint shaft; an arm drive unit having an arm motor disposed on the base part and an arm transmission mechanism for transmitting power from the arm motor to the joint shaft; an end effector unit provided at a tip of the arm and having a first drive shaft and a second drive shaft; and an end effector drive unit having a first end effector motor disposed on the base part, a second end effector motor disposed on the base part, a first transmission mechanism for transmitting power from the first end effector motor to the first drive shaft, and a second transmission mechanism for transmitting power from the second end effector motor to the second drive shaft.

Description

Robot device and control method thereof

[0001] This specification discloses a robotic device and a control method thereof.

[0002] In a conventional horizontal articulated industrial robot having a plurality of arms rotatably connected in sequence, with the support shaft of the lowest arm of the plurality of arms rotatably connected to a base, and a robot hand rotatably connected to the tip of the highest arm, a robotic arm has been proposed in which a plurality of rotary drive sources are housed in the base, and the rotary drive force from each rotary drive source is transmitted to each arm and robotic hand via a drive transmission mechanism installed in each arm and in the connecting portion (see, for example, Patent Document 1). By concentrating the rotary drive sources of each arm and robotic hand in the base, the reliability is not reduced by the rotation of each arm or robotic hand, and the moment of inertia can be reduced by reducing the weight of the moving parts.

[0003] Japanese Patent Application Laid-Open No. 2001-96480

[0004] Although the above-mentioned robot can reduce the weight of the moving parts, the robot hand has only one drive axis, making it difficult to make the robot perform complex tasks.

[0005] A primary object of the present disclosure is to provide a robot device that has lightweight moving parts and is capable of performing complex tasks.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The gist of the robot device disclosed herein is that it comprises: a base portion; a robot arm connected to the base portion and having a joint shaft; an arm drive portion having an arm motor arranged on the base portion and an arm transmission mechanism that transmits power from the arm motor to the joint shaft; an end effector portion provided at the tip of the arm and having a first drive shaft and a second drive shaft; and an end effector drive portion having a first end effector motor arranged on the base portion, a second end effector motor arranged on the base portion, a first transmission mechanism that transmits power from the first end effector motor to the first drive shaft, and a second transmission mechanism that transmits power from the second end effector motor to the second drive shaft.

[0008] In the robot device disclosed herein, the end effector has a first drive shaft and a second drive shaft, and the combination of the two drive shafts allows for complex tasks. Furthermore, the arm motor that drives the joint shaft of the arm, the first end effector motor that drives the first drive shaft of the end effector unit, and the second end effector motor that drives the second drive shaft of the end effector unit are all located in the base, which allows for a reduction in the weight of the moving parts.

[0009] a robot arm connected to the base and having a joint shaft; an arm drive unit having an arm motor disposed on the base and an arm transmission mechanism that transmits power from the arm motor to the joint shaft; an end effector unit provided at a tip of the arm and having a first drive shaft and a second drive shaft; and an end effector drive unit having a first end effector motor disposed on the base, a second end effector motor disposed on the base, a first transmission mechanism that transmits power from the first end effector motor to the first drive shaft, and a second transmission mechanism that transmits power from the second end effector motor to the second drive shaft, the method comprising: acquiring a work position; and controlling the arm motor so that the robot arm operates based on the acquired work position, and controlling the first end effector motor and the second end effector motor so that a tool held by the end effector unit operates.

[0010] In the robot device of the present disclosure, the movable part is lightweight, which reduces the impact force when the movable part collides with an obstacle. Therefore, by applying the control method of the present disclosure to the robot device of the present disclosure, it becomes possible to quickly move the movable part to perform complex tasks while ensuring safety.

[0011] FIG. 1 is an external perspective view of a robot device according to an embodiment of the present invention; FIG. 2 is a side cross-sectional view of the robot device; FIG. 3 is a partial enlarged view including a base portion and a first joint shaft of a first arm of the robot device; FIG. 4 is a partial enlarged view including a second joint shaft of a second arm of the robot device; FIG. 5 is a partial enlarged view including a tip end portion of an arm portion and an end effector portion of the robot device; and FIG. 6 is a block diagram showing the electrical connection relationship of a control device.

[0012] Next, embodiments of the present disclosure will be described with reference to the drawings. Fig. 1 is an external perspective view of a robot device 10. Fig. 2 is a side cross-sectional view of the robot device 10. Fig. 3 is a partial enlarged view including the base unit 20 and the first joint axis J1 of the first arm 31 of the robot device 10. Fig. 4 is a partial enlarged view including the second joint axis J2 of the second arm 32 of the robot device 10. Fig. 5 is a partial enlarged view including the tip end of the arm unit 30 and the end effector unit 40 of the robot device 10. Fig. 6 is a block diagram showing the electrical connections of the control device 100.

[0013] The robot device 10 of this embodiment is a horizontally articulated robot device, and as shown in FIGS. 1 and 2 , includes a base unit 20, an arm unit 30, an end effector unit 40, arm drivers (first arm driver 50, second arm driver 60) that drive the arm unit 30, end effector drivers (first end effector driver 70, second end effector driver 80) that drive the end effector unit 40, and a control device 100 (see FIG. 6 ) that controls the entire robot device 10.

[0014] As shown in Figures 1 to 3, the base portion 20 has a base plate 21 forming the bottom surface, a first arm support plate 22 fixed to the upper ends of multiple support pillars 23 erected on the base plate 21, and a follower arm support plate 24 fixed to the upper ends of support pillars 25 erected on the first arm support plate 22.

[0015] As shown in FIG. 1 , the arm unit 30 includes a first arm 31 rotatably supported on the first arm support plate 22 via a first joint axis J1, a second arm 32 rotatably supported at the distal end of the first arm 31 via a second joint axis J2, and a driven arm 33 extending parallel to the first arm 31 above the first arm 31 and driven by the rotation of the first arm 31. The first joint axis J1 and the second joint axis J2 extend parallel to each other in the vertical direction. The first arm 31 rotates (horizontally pivots) along a horizontal plane around the first joint axis J1. The second arm 32 rotates (horizontally pivots) along a horizontal plane around the second joint axis J2. As shown in FIG. 3 , one end of the driven arm 33 is supported on the driven arm support plate 24 via a bearing B33 above the first joint axis J1 so as to be rotatable coaxially. 4, a transmission shaft 75 is rotatably supported via a bearing B 75a at the other end of the driven arm 33, and the transmission shaft 75 is supported via a bearing B 75b on a support member 34 fixed to the second arm 32 above and coaxially with the second joint axis J2. As a result, the driven arm 33 rotates parallel to the first arm 31 in response to the rotation of the first arm 31.

[0016] As shown in FIG. 5 , the end effector unit 40 has an end effector body 41 serving as a holder for holding various tools (robot hands) for work, a rotation shaft 42 , and an elevation shaft 44 .

[0017] 5, the rotation shaft 42 is a splined shaft that extends in the vertical direction parallel to the first joint axis J1 and the second joint axis J2 and has spline grooves formed on its outer circumferential surface that extend in the axial direction, and the tip end (lower end) of the rotation shaft 42 is rotatably supported by the end effector body 41 via a bearing B42. A spline nut 43 is spline-fitted to the rotation shaft 42 so as to be relatively movable in the axial direction. The spline nut 43 is rotatably supported by the tip end of the second arm 32 via the bearing B43 and is rotationally driven by a first end effector driving unit 70, which will be described later.

[0018] 5 , the lift shaft 44 is a ball screw shaft that extends in the vertical direction parallel to the first joint axis J1 and the second joint axis J2 and has a helical screw groove formed on its outer circumferential surface, and the tip (lower end) of the lift shaft 44 is fixed non-rotatably to the end effector body 41. A ball screw nut 45 is threadedly engaged with the lift shaft 44. The ball screw nut 45 is rotatably supported on the tip of the second arm 32 via a bearing B45 and is rotationally driven by a second end effector driver 80 (described later). As a result, the lift shaft 44 moves up and down when the ball screw nut 45 is rotationally driven by the second end effector driver 80.

[0019] A tool is detachably attached to the tip of the rotating shaft 42. The tool rotates together with the rotating shaft 42 by rotationally driving the spline nut 43 by the first end effector driving unit 70. The rotating shaft 42 is spline-fitted to the spline nut 43 and can be raised and lowered relative to the spline nut 43. The tool rises and falls together with the elevation shaft 44 by rotationally driving the ball screw nut 45 by the second end effector driving unit 80. In this way, the tool can be rotated and raised and lowered by the first end effector driving unit 70 and the second end effector driving unit 80.

[0020] The first arm driving unit 50 drives the first arm 31 to rotate (horizontally rotate). As shown in FIG. 3 , the first arm driving unit 50 includes a first arm motor 51 fixed to the base plate 21, a first reducer 56 installed coaxially with the first joint axis J1, and a belt 54 that transmits driving force between the first arm motor 51 and the first reducer 56. The first reducer 56 is, for example, a wave reducer configured as a hollow reducer with a hollow shaft center. The belt 54 is stretched between a pulley 53 attached to the rotation shaft 52 of the first arm motor 51 and a pulley 55 attached to the input side of the first reducer 56, and transmits driving force from the first arm motor 51 to the input side of the first reducer 56. The output side of the first reducer 56 forms the first joint axis J1 of the first arm 31. The first arm 31 rotates horizontally by a driving force transmitted from the first arm motor 51 to the first joint axis J1 via the first reducer 56. In this embodiment, the driving force between the first arm motor 51 and the first reducer 56 is transmitted by the belt 54, but it may be transmitted by other power transmission members such as a chain or a shaft.

[0021] The second arm driving unit 60 drives the second arm 32 to rotate (horizontally pivot), and as shown in FIGS. 3 and 4 , includes a second arm motor 61 fixed to the base plate 21, a transmission shaft 63 rotatably inserted through the hollow portion of the first reducer 56 coaxially with the first joint axis J1, a second reducer 67 installed coaxially with the second joint axis J2, and a belt 65 that transmits driving force between the transmission shaft 63 and the second reducer 67. In this embodiment, the second arm motor 61 is fixed to the base plate 21 so that its rotation shaft 62 is coaxial with the transmission shaft 63 and rotates integrally with it. Note that the rotation shaft 62 and transmission shaft 63 of the second arm motor 61 may be connected via a power transmission member such as a belt. The second reducer 67 is, for example, a wave reducer configured as a hollow reducer with a hollow shaft center. The belt 65 is stretched along the first arm 31 between a pulley 64 attached to the upper part of the transmission shaft 63 and a pulley 66 attached to the input side of the second reducer 67, and transmits the driving force from the second arm motor 61 to the input side of the second reducer 67. A tension roller that applies a predetermined tension to the belt 65 is provided on the first arm 31. The output side of the second reducer 67 forms the second joint axis J2 of the second arm 32. The second arm 32 rotates horizontally by the driving force transmitted from the second arm motor 61 to the second joint axis J2 via the second reducer 67. In this embodiment, the driving force between the transmission shaft 63 and the second reducer 67 is transmitted by the belt 65, but it may be transmitted by other power transmission members such as a chain or a shaft.

[0022] The first end effector driving unit 70 drives the spline nut 43 to rotate the rotation shaft 42, and as shown in FIGS. 3 to 5 , includes a first end effector motor 71, a transmission shaft 75, a belt 74 that transmits driving force between the first end effector motor 71 and the transmission shaft 75, and a belt 78 that transmits driving force between the transmission shaft 75 and the spline nut 43. As shown in FIG. 3 , the first end effector motor 71 has a rotation shaft 72 fixed to the driven arm 33 so as to be rotatable above and coaxially with the first joint shaft J1. As shown in FIG. 4 , the transmission shaft 75 is supported by the driven arm 33 via a bearing B 75 a and by a support member 34 fixed to the second arm 32 via a bearing B 75 b so as to be rotatable above and coaxially with the second joint shaft J2. A belt 74 is stretched along the driven arm 33 between a pulley 73 attached to the rotation shaft 72 of the first end effector motor 71 and a pulley 76 attached to the upper part of the transmission shaft 75, and transmits the driving force from the first end effector motor 71 to the transmission shaft 75. A tension roller is provided on the driven arm 33 to apply a predetermined tension to the belt 74. A belt 78 is stretched along the second arm 32 between a pulley 77 attached to the lower part of the transmission shaft 75 and a pulley 79 attached to the spline nut 43, and transmits the driving force from the transmission shaft 75 to the spline nut 43. A tension roller is provided on the second arm 32 to apply a predetermined tension to the belt 78. As a result, the driving force from the first end effector motor 71 is transmitted from its rotating shaft 72 through the driven arm 33 and the transmission shaft 75 to the spline nut 43 spline-fitted to the rotating shaft 42, and the rotating shaft 42 rotates as the spline nut 43 rotates. Note that in this embodiment, the driving force between the first end effector motor 71 and the transmission shaft 75 is transmitted by the belt 74, but it may be transmitted by other power transmission members such as a chain or a shaft. Furthermore, the driving force between the transmission shaft 75 and the spline nut 43 is transmitted by the belt 78, but it may be transmitted by other power transmission members such as a chain or a shaft.

[0023] 3 to 5 , the second end effector driving unit 80 drives the ball screw nut 45 to rotate and raise and lower the lifting shaft 44, and includes: a second end effector motor 81 fixed to the base plate 21; a transmission shaft 86 coaxial with the first joint shaft J1 and rotatably inserted through a hollow portion of the first reducer 56; a belt 84 that transmits driving force between a rotation shaft 82 of the second end effector motor 81 and the transmission shaft 86; a transmission shaft 90 coaxial with the second joint shaft J2 and rotatably inserted through a hollow portion of the second reducer 67; and a belt 92 that transmits driving force between the transmission shaft 90 and the ball screw nut 45. The transmission shaft 86 is a hollow cylindrical shaft, and the transmission shaft 63 of the second arm driving unit 60 described above is inserted inside the transmission shaft 86. A belt 84 is stretched between a pulley 83 attached to the rotation shaft 82 of the second end effector motor 81 and a pulley 85 attached to the lower part of a transmission shaft 86, and transmits the driving force from the second end effector motor 81 to the transmission shaft 86. A belt 88 is stretched along the first arm 31 between a pulley 87 attached to the upper part of the transmission shaft 86 and a pulley 89 attached to the lower part of a transmission shaft 90, and transmits the driving force from the transmission shaft 86 to the transmission shaft 90. A tension roller is provided on the first arm 31 to apply a predetermined tension to the belt 88. A belt 92 is stretched along the second arm 32 between a pulley 91 attached to the upper part of the transmission shaft 90 and a pulley 93 attached to the ball screw nut 45, and transmits the driving force from the transmission shaft 90 to the ball screw nut 45. A tension roller is provided on the second arm 32 to apply a predetermined tension to the belt 92. As a result, the driving force from the second end effector motor 81 is transmitted from its rotation shaft 82 via the transmission shaft 86 and the transmission shaft 90 to the ball screw nut 45 that screws onto the lifting shaft 44, and the lifting shaft 44 rises and falls as the ball screw nut 45 rotates.

[0024] As described above, in the robot device 10 of this embodiment, the end effector unit 40 is provided with the rotation shaft 42 and the lifting shaft 44, and the first end effector motor 71 and the second end effector motor 81 are disposed on the base unit 20. In the robot device 10, the rotation shaft 42 is rotated by the driving force from the first end effector motor 71, and the lifting shaft 44 is raised and lowered by the driving force from the second end effector motor 81. This makes it possible to reduce the weight of the arm unit 30, the second arm 32, and the end effector unit 40, while also enabling complex tasks to be performed by combining the rotation shaft 42 and the lifting shaft 44.

[0025] Furthermore, in the robot device 10 of this embodiment, a driven arm 33 is provided above the first arm 31, extending parallel to the first arm 31 and following the rotation of the first arm 31, and the first end effector driving unit 70 transmits the driving force from the first end effector motor 71 to the end effector unit 40 via a transmission mechanism provided on the driven arm 33 and a transmission mechanism provided on the second arm 32. When transmitting the driving force from the first end effector motor 71 to the end effector unit 40 via a transmission mechanism provided on the first arm 31 and a transmission mechanism provided on the second arm 32, it is necessary to coaxially insert the transmission shaft of the first end effector drive unit 70 into the hollow portion of the first reducer 56, in addition to the transmission shaft 63 of the second arm drive unit 60 and the transmission shaft 86 of the second end effector drive unit 80 (for example, by forming the transmission shaft 63 into a hollow cylindrical shape and inserting the transmission shaft of the first end effector drive unit 70 into the hollow portion of the transmission shaft 63), which increases the size and weight of the first reducer 56. Furthermore, in addition to the transmission shaft 90 of the second end effector drive unit 80, it is necessary to coaxially insert the transmission shaft of the first end effector drive unit 70 into the hollow portion of the second reducer 67 (for example, by forming the transmission shaft 90 into a hollow cylindrical shape and inserting the transmission shaft of the first end effector drive unit 70 into the hollow portion of the transmission shaft 90), which increases the size and weight of the second reducer 67. In other words, the robot device 10 becomes larger in the horizontal direction and the weight of the first arm 31 and the second arm 32 increases. In contrast, in the robot device 10 of this embodiment, the driving force from the first end effector motor 71 is transmitted to the end effector unit 40 via the driven arm 33, so it is possible to prevent the robot device 10 from becoming larger in the horizontal direction.

[0026] The control device 100 is configured as a microprocessor centered around a CPU, and in addition to the CPU, is equipped with RAM, ROM, and input / output ports. The control device 100 receives detection signals from a first encoder 101 that detects the rotation angle of the first joint axis J1, a second encoder 102 that detects the rotation angle of the second joint axis J2, a third encoder 103 that detects the rotation angle of the rotation axis 42, a fourth encoder 104 that detects the elevation position of the elevation axis 44, etc. The control device 100 also outputs control signals to the first arm motor 51, the second arm motor 61, the first end effector motor 71, the second end effector motor 81, etc.

[0027] The robot device 10 of this embodiment configured as described above operates as follows. Specifically, when an operator or other user issues a command to start a task, the control device 100 acquires a target task position. Next, the control device 100 uses inverse kinematics to set target rotation angles for the joint axes J1 and J2 of the first and second arms 31 and 32, and also sets target rotation amounts and target elevation positions for the tool held by the end effector unit 40. The control device 100 then controls the corresponding motors through feedback control (such as PI control) so that the rotation angles, rotation amounts, and elevation positions detected by the encoders 101 to 104 coincide with the corresponding target rotation angles, target rotation amounts, and target elevation positions. As described above, the first arm motor 51, the second arm motor 61, the first end effector motor 71, and the second end effector motor 81 are disposed on the base unit 20, thereby reducing the weight of the arm unit 30 and the end effector unit 40 of the robot device 10. For this reason, the impact force when the arm unit 30 or the end effector unit 40 collides with an obstacle is smaller than when a motor is built into the arm unit 30 or the end effector unit 40. Therefore, a large control gain can be set when feedback controlling the arm unit 30 or the end effector unit 40, making it possible to quickly move to the work position and perform work while ensuring safety.

[0028] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the base unit 20 of the present embodiment is an example of a base unit of the present disclosure, the first arm 31 and the second arm 32 are examples of robot arms, the first arm motor 51 and the second arm motor 61 are examples of arm motors, the first reducer 56 and the belt 54, the transmission shaft 63, the second reducer 67, and the belt 65 are examples of arm transmission mechanisms, the end effector unit 40 is an example of an end effector unit, the rotation shaft 42 is an example of a first drive shaft, the lift shaft 44 is an example of a second drive shaft, the first end effector motor 71 is an example of a first end effector motor, the second end effector motor 81 is an example of a second end effector motor, the belts 74 and 78 and the transmission shaft 75 are examples of a first transmission mechanism, and the transmission shafts 86 and 90 and the belts 84 and 92 are examples of a second transmission mechanism.

[0029] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0030] For example, in the embodiment described above, the first end effector driving unit 70 drives the rotation shaft 42 of the end effector unit 40 to rotate, and the second end effector driving unit 80 drives the lift shaft 44 of the end effector unit 40 to move up and down. However, the first end effector driving unit 70 may drive the lift shaft 44 of the end effector unit 40 to move up and down, and the second end effector driving unit 80 may drive the rotation shaft 42 of the end effector unit 40 to rotate.

[0031] In the above-described embodiment, the robot device 10 includes the driven arm 33 that extends above the first arm 31 in parallel with the first arm 31 and follows the rotation of the first arm 31, and the first end effector driving unit 70 transmits the driving force from the first end effector motor 71 to the end effector unit 40 via a transmission mechanism provided on the driven arm 33 and a transmission mechanism provided on the second arm 32. However, similar to the second end effector driving unit 80, the first end effector driving unit 70 may transmit the driving force from the first end effector motor 71 to the end effector unit 40 via a transmission mechanism provided on the first arm 31 and a transmission mechanism provided on the second arm 32. In this case, the transmission shaft 63 of the second arm drive unit 60, the transmission shaft 86 of the second end effector drive unit 80, and the transmission shaft of the first end effector drive unit 70 may be coaxially inserted through the hollow portion of the first reducer 56, and the transmission shaft 90 of the second end effector drive unit 80 and the transmission shaft of the first end effector drive unit 70 may be coaxially inserted through the hollow portion of the second reducer 67. Note that in this case, the driven arm 33 may be omitted.

[0032] In the above-described embodiment, the second end effector driving unit 80 transmits the driving force from the second end effector motor 81 to the end effector unit 40 via a transmission mechanism provided in the first arm 31 and a transmission mechanism provided in the second arm 32. However, similar to the first end effector driving unit 70, the second end effector driving unit 80 may transmit the driving force from the first end effector motor 71 to the end effector unit 40 via a transmission mechanism provided in the driven arm 33 and a transmission mechanism provided in the second arm 32. In this case, the second end effector driving unit 80 may include a transmission shaft that rotates coaxially with the rotation shaft 72 of the first end effector motor 71 and a transmission shaft that rotates coaxially with the transmission shaft 75 of the first end effector driving unit 70.

[0033] In the above-described embodiment, the arm portion 30 is configured as a horizontal multi-joint arm having a first arm 31 and a second arm 32, but is not limited to this and may be configured, for example, as a vertical multi-joint arm.

[0034] As described above, in the robot device disclosed herein, the end effector has a first drive shaft and a second drive shaft, and the combination of the two drive shafts enables complex tasks to be performed. Furthermore, the arm motor that drives the joint shaft of the arm, the first end effector motor that drives the first drive shaft of the end effector unit, and the second end effector motor that drives the second drive shaft of the end effector unit are all located in the base, which allows for a reduction in the weight of the moving parts.

[0035] In the robot device of the present disclosure, the first drive shaft may be a rotation shaft that rotates relative to the robot arm, and the second drive shaft may be an elevation shaft that moves up and down relative to the robot arm. This allows the rotation shaft and the elevation shaft to perform more complex tasks.

[0036] Furthermore, in the robot device disclosed herein, the robot arm may have a first arm connected to the base via a first joint shaft and horizontally pivoting about the first joint shaft, the motor for the first end effector may be disposed above the first arm of the base, and the motor for the second end effector may be disposed below the first arm of the base. This makes it possible to prevent the robot device having a horizontally jointed arm from becoming too large in the horizontal direction.

[0037] In the robot device disclosed herein, the robot arm may include a first arm connected to the base via a first joint shaft and horizontally pivoting about the first joint shaft, and a second arm connected to the first arm via a second joint shaft and horizontally pivoting about the second joint shaft, wherein a rotation shaft that rotates using power from the first end effector motor is arranged coaxially with the first joint shaft and above the first joint shaft, and the first transmission mechanism may include a transmission shaft that is coaxial with the second joint shaft and above the second joint shaft, a motor-side transmission member that transmits power between the rotation shaft and the transmission shaft, and a drive shaft-side transmission member that transmits power between the transmission shaft and the first drive shaft. This configuration further reduces the horizontal size of the robot device.

[0038] Although the present disclosure has been described in the form of a robot device, it may also be described in the form of a control method for a robot device.

[0039] This specification also discloses the technical idea of ​​changing "the robot device according to claim 1" in claim 3 of the original application to "the robot device according to claim 1 or 2."

[0040] The present disclosure is applicable to the robot device manufacturing industry and the like.

[0041] 10 Robot device, 20 Base unit, 21 Base plate, 22 First arm support plate, 23 Support column, 24 Follower arm support plate, 25 Support column, 30 Arm unit, 31 First arm, 32 Second arm, 33 Follower arm, 34 Support member, 40 End effector unit, 41 End effector body, 42 Rotation shaft, 43 Spline nut, 44 Elevation shaft, 45 Ball screw nut, 50 First arm drive unit, 51 First arm motor, 52 Rotation shaft, 53 Pulley, 54 Belt, 55 Pulley, 56 First reducer, 60 Second arm drive unit, 61 Second arm motor, 63 Transmission shaft, 64 Pulley, 65 Belt, 66 Pulley, 67 Second reducer, 70 First end effector drive unit, 71 First end effector motor, 72 Rotation shaft, 73 Pulley, 74 Belt, 75 Transmission shaft, 76 Pulley, 77 Pulley, 78 Belt, 79 Pulley, 80 Second end effector drive unit, 81 Second end effector motor, 82 Rotation shaft, 83 Pulley, 84 Belt, 85 Pulley, 86 Transmission shaft, 87 Pulley, 88 Belt, 89 Pulley, 90 Transmission shaft, 91 Pulley, 92 Belt, 93 Pulley, 100 Control device, 101 First encoder, 102 Second encoder, 103 Third encoder, 104 Fourth encoder, J1 First joint shaft, J2 Second joint shaft, B33, B42, B43, B45, B75a, B75b Bearings.

Claims

1. A robot device comprising: a base portion; a robot arm connected to the base portion and having a joint shaft; an arm drive portion having an arm motor arranged on the base portion and an arm transmission mechanism for transmitting power from the arm motor to the joint shaft; an end effector portion provided at a tip of the arm and having a first drive shaft and a second drive shaft; an end effector drive portion having a first end effector motor arranged on the base portion, a second end effector motor arranged on the base portion, a first transmission mechanism for transmitting power from the first end effector motor to the first drive shaft, and a second transmission mechanism for transmitting power from the second end effector motor to the second drive shaft.

2. A robot device according to claim 1, wherein the first drive shaft is a rotation shaft that rotates relative to the robot arm, and the second drive shaft is an elevation shaft that moves up and down relative to the robot arm.

3. A robot device according to claim 1, wherein the robot arm has a first arm that is connected to the base portion via a first joint shaft and rotates horizontally around the first joint shaft as a fulcrum, the motor for the first end effector is disposed above the first arm of the base portion, and the motor for the second end effector is disposed below the first arm of the base portion.

4. A robot device according to any one of claims 1 to 3, wherein the robot arm comprises a first arm connected to the base via a first joint shaft and horizontally rotating around the first joint shaft as a fulcrum, and a second arm connected to the first arm via a second joint shaft and horizontally rotating around the second joint shaft as a fulcrum, a rotating shaft rotated by power from the first end effector motor is arranged coaxially with the first joint shaft and above the first joint shaft, and the first transmission mechanism comprises a transmission shaft arranged coaxially with the second joint shaft and above the second joint shaft, a motor-side transmission member that transmits power between the rotating shaft and the transmission shaft, and a drive shaft-side transmission member that transmits power between the transmission shaft and the first drive shaft.

5. A method for controlling a robot device comprising: a base portion; a robot arm connected to the base portion and having a joint shaft; an arm drive portion having an arm motor arranged on the base portion and an arm transmission mechanism for transmitting power from the arm motor to the joint shaft; an end effector portion provided at a tip of the arm and having a first drive shaft and a second drive shaft; an end effector drive portion having a first end effector motor arranged on the base portion, a second end effector motor arranged on the base portion, a first transmission mechanism for transmitting power from the first end effector motor to the first drive shaft, and a second transmission mechanism for transmitting power from the second end effector motor to the second drive shaft, the method comprising: acquiring a work position, and controlling the arm motor so that the robot arm operates based on the acquired work position, and controlling the first end effector motor and the second end effector motor so that a tool held in the end effector portion operates.

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