Robot

Abstract

This robot includes: a base part; a first motor that has a first drive shaft and is attached to the base part; a first link that is rotated by the first motor about the first drive shaft; a first joint that is provided to the first link and has a first rotary shaft; a second joint that is provided to the base part and has a second rotary shaft coaxial with the first drive shaft; a second link of which one end part is connected to the second joint and of which the other end part is connected to the first link in an interval from the first drive shaft to the first-rotary-shaft-side distal end of the first link in the direction of a line segment linking the first drive shaft and the first rotary shaft, the second link being capable of rotating about the second rotary shaft; and a third link that is connected to the first joint and is capable of rotating about the first rotary shaft.

Description

robot

[0001] The present disclosure relates to robots.

[0002] Japanese Patent Application Laid-Open No. 2000-300823 describes an air hockey game device equipped with a robot arm that can hit back the puck.

[0003] The arm of a robot that operates in a horizontal plane, such as a horizontal articulated robot, has a cantilever structure in which one side of the link of the arm is held by the base, so the link must be strong.

[0004] However, increasing the strength of the links increases the weight of the links, which in turn increases the weight of the entire arm. This increases the weight of the arm, which can lead to problems such as a decrease in the energy efficiency for driving the robot and a decrease in the movement speed of the arm.

[0005] An object of the present disclosure is to provide a robot having a lightweight arm section.

[0006] One aspect of the present disclosure is a robot having a base, a first motor having a first drive shaft attached to the base, a first link rotated by the first motor around the first drive shaft, a first joint provided on the first link and having a first rotation shaft, a second joint provided on the base and having a second rotation shaft coaxial with the first drive shaft, a second link having one end connected to the second joint and the other end connected to the first link between the first drive shaft and the tip of the first link on the first rotation shaft side in the direction of a line segment connecting the first drive shaft and the first rotation shaft, and rotatable around the second rotation shaft, and a third link connected to the first joint and rotatable around the first rotation shaft.

[0007] According to the present disclosure, the arm portion of the robot can be made lighter.

[0008] It is a top view of the robot of the embodiment.It is a side view of the robot of the embodiment.It is a top view of the robot of another aspect of the embodiment.It is a side view of the robot of another aspect of the embodiment.

[0009] 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.

[0010] The robot 10 can be used, for example, in a game in which players hit a puck on a board (a so-called air hockey game), by moving a mallet (described later) on the board to hit the puck used in the game.

[0011] As shown in Figures 1 and 2, the robot 10 according to this embodiment is a five-link robot arm consisting of a first motor 21, a second motor 22, a first link 31, a third link 33, a fourth link 34, and a fifth link 35, to which a second link 32 has been added.

[0012] In detail, the robot 10 has a base 11 and an arm 12 .

[0013] The base 11 has a first motor 21 having a first drive shaft D1, a second motor 22 having a second drive shaft D2 coaxial with the first drive shaft D1, a second joint 42 having a second rotation shaft R2 coaxial with the first drive shaft D1 and the second drive shaft D2, and a support 13 whose tip functions as the second joint 42.

[0014] The arm unit 12 has a first link 31, a second link 32, a third link 33, a fourth link 34, a fifth link 35, a first joint 41, a third joint 43, and a fourth joint 44. Each link constituting the arm unit 12 operates within a horizontal plane.

[0015] The first link 31 is made of resin and is rotated by the first motor 21 around the first drive shaft D1.

[0016] The second link 32 is formed of a resin wire, which is a linear member, and has one end 32 a connected to a second joint 42 having a second rotation axis R2, and is configured to be rotatable around the second rotation axis R2. Specifically, the one end 32 a of the second link 32 is fixed to the tip of the support 13, and this fixed portion functions as the second rotation axis R2 of the second joint 42.

[0017] In addition, the other end 32b of the second link 32 is connected to the first link 31 between the first drive shaft D1 and the tip of the first link 31 on the first rotation axis R1 side in the direction of the line segment L1 connecting the first drive shaft D1 and the first rotation axis R1.

[0018] In addition, it is preferable that the other end 32b of the second link 32 is connected to the first link 31 at a position on the first rotation axis R1 side of the center position C of the section L2 between the first drive shaft D1 and the tip of the first link 31 on the first rotation axis R1 side in the direction of the line segment L1 connecting the first drive shaft D1 and the first rotation axis R1.

[0019] In the present embodiment, as an example, the other end 32b of the second link 32 is connected to a first joint 41 having a first rotation axis R1. Note that the other end 32b of the second link 32 does not necessarily need to be rotatably connected to the first link 31, and may be connected in a non-rotatable state.

[0020] The third link 33 is made of resin, connected to the first joint 41, and configured to be rotatable about a first rotation axis R1. The third link 33 has a mallet attachment portion 33a to which a mallet 51 for hitting the puck is attached. The mallet 51 is an example of an end effector in the technology of the present disclosure.

[0021] The mallet 51 may be configured to be detachable from the mallet attachment portion 33a, or may be configured integrally with the mallet attachment portion 33a (i.e., the third link 33). In this embodiment, the mallet 51 is configured integrally with the mallet attachment portion 33a (i.e., the third link 33).

[0022] The fourth link 34 is made of resin and is rotated around the second drive shaft D2 by the second motor 22. The fifth link 35 is made of resin and is connected to the fourth joint 44 so as to be rotatable around the fourth rotation axis R4.

[0023] The first joint 41 is provided on the first link 31 and has a first rotation axis R1. The third joint 43 is provided on the third link 33 and has a third rotation axis R3, and is rotatably connected to the fifth link 35. The fourth joint 44 is provided on the fourth link 34 and has a fourth rotation axis R4.

[0024] The robot 10 can move the mallet 51 at the tip of the third link 33 to any position in a horizontal plane by rotating the first link 31 with the first motor 21 and rotating the fourth link 34 with the second motor 22.

[0025] Next, the operation of the robot 10 according to this embodiment will be described in detail.

[0026] As shown in FIG. 2, in the robot 10 according to this embodiment, a second link 32 is provided that rotates around a second rotation axis R2 that is coaxial with the rotation axis of the first link 31 (i.e., the first drive axis D1 of the first motor 21), and the other end 32b of the second link 32 is connected to the first link 31.

[0027] In this way, by providing the second link 32 and using the second link 32 to support the weight applied to the tip side of the first link 31 (i.e., the first joint 41 side), the strength of the first link 31 can be reduced, and therefore the first link 31 can be made lighter.

[0028] Furthermore, the second link 32 is a link for supporting the weight applied to the tip side of the first link 31 (i.e., the first joint 41 side), and does not need to have the same strength as a link that operates alone. Therefore, compared to when the first link 31 is formed with high strength so as not to deform at all, combining a lightweight first link 31 and a second link 32, as in the robot 10 according to this embodiment, can reduce the weight of the entire arm unit 12.

[0029] As described above, in the robot 10 according to this embodiment, the arm section 12 is made lighter, which improves the energy efficiency for driving the robot 10 and increases the movement speed of the arm section 12.

[0030] In addition, the other end 32b of the second link 32 is connected to the first link 31 at a position in section L3 on the first rotation axis R1 side rather than the center position C of section L2 between the first drive shaft D1 and the tip of the first link 31 on the first rotation axis R1 side, in the direction of the line segment L1 connecting the first drive shaft D1 and the first rotation axis R1.

[0031] With this configuration, the weight applied to the tip side of the first link 31 (i.e., the first joint 41 side) can be effectively supported.

[0032] The second link 32 is configured to have lower bending rigidity than the first link 31 in the direction of the line segment L1 connecting the first drive shaft D1 and the first rotation shaft R1.

[0033] The second link 32 is a link for supporting the weight applied to the tip side of the first link 31 (i.e., the first joint 41 side), and does not need to have the same strength as a link that operates independently. Therefore, by adopting such a configuration, it is possible to reduce the weight of the second link 32. The reduction in weight of the second link 32 contributes to the reduction in weight of the arm unit 12.

[0034] The second link 32 is also provided vertically above the first link 31. By supporting the first link 31 from above using the second link 32 in this way, the strength of the second link 32 can be reduced compared to when the first link 31 is supported from below, thereby reducing the weight of the second link 32. The reduction in weight of the second link 32 contributes to the reduction in weight of the arm portion 12.

[0035] Furthermore, in the robot 10 according to the embodiment, the first motor 21 and the second motor 22 are provided on the base 11, and no heavy motors are placed in the joints of the arm portion 12, thereby making it possible to reduce the weight of the arm portion 12.

[0036] [Modifications] The robot 10 according to one embodiment of the present disclosure has been described above, but the technology of the present disclosure is not limited to the above embodiment and can be modified as appropriate.

[0037] For example, the second link 32 is not limited to a flexible resin wire, but may be another linear member such as a flexible metal wire or an inflexible metal wire. It goes without saying that, in the case of a material such as an inflexible metal wire that cannot rotate about the second rotation axis R2 simply by being connected to the tip of the support 13 that functions as the second joint 42, it is necessary to form a bearing at the end of the linear member so that it can be rotatably held at the second joint 42.

[0038] Furthermore, the second link 32 is not limited to the linear member described above, and may have any configuration, such as a belt-shaped member like the second link 132 shown in Figures 3 and 4. When the second link 132 is a belt-shaped member, for example, a member such as a flexible resin film, an inflexible resin plate, or an inflexible metal plate can be used. Furthermore, one end 132a of the second link 132 is rotatably connected to the tip of the support 13, and the other end 132b of the second link 132 is connected to the first link 31.

[0039] In addition, the second link 32 may be provided vertically below the first link 31, and the first link 31 may be supported by the second link 32 from below.

[0040] Furthermore, the connection destination of the other end 32b of the second link 32 in the first link 31 is not limited to the line segment L1 connecting the first drive shaft D1 and the first rotation shaft R1 and the extension line of the line segment L1, but may also be a position away from the line segment L1 and the extension line of the line segment L1.

[0041] The other end 32b of the second link 32 may be bifurcated. In this case, it is preferable that the other end 32b of the second link 32 is connected to the first link 31 at symmetrical positions on either side of the line segment L1 and an extension of the line segment L1.

[0042] Furthermore, a plurality of second links 32 that rotate around the second rotation axis R2 may be provided. In this case, it is preferable that an even number of second links 32 are provided, and that the other ends 32b of the plurality of second links 32 in the first link 31 are connected to symmetrical positions on either side of the line segment L1 and an extension of the line segment L1.

[0043] The other end 32b of the second link 32 may be connected to the first link 31 in a non-rotatable state. In this case, the second link 32 does not strictly function as a link but functions as a holding member that holds the first link 31. However, even in this embodiment, the weight of the arm unit 12 can be reduced.

[0044] Furthermore, in the five-link robot arm of the robot 10, which is composed of the first motor 21, the second motor 22, the first link 31, the third link 33, the fourth link 34, and the fifth link 35, the first drive shaft D1 of the first motor 21 and the second drive shaft D2 of the second motor 22 do not necessarily have to be arranged coaxially, and they may be arranged in different positions.

[0045] Furthermore, the robot arm of the robot 10 is not limited to a five-link robot arm, but may be a robot arm of any type, such as a serial link robot arm.

[0046] Furthermore, the arm unit 12 only needs to operate in a plane including a horizontal component on a coaxial rotation axis of at least the first link 31 and the second link 32. That is, the operating plane of the first link 31 and the second link 32 may be an inclined plane inclined with respect to a horizontal plane at any inclination angle other than the vertical direction. In other words, the first drive shaft D1 and the second rotation shaft R2 may be coaxial and may be axes extending in the vertical direction, or axes inclined from the vertical direction so as to include a vertical component. Furthermore, the operating planes of the links of the arm unit 12 other than the first link 31 and the second link 32 may be in any form.

[0047] Furthermore, in the technology disclosed herein, the use of the robot is not particularly limited, and the robot may be used for any purpose. For example, by appropriately modifying the end effector, the robot may be used as a robot for sorting or picking packages, or for transporting experimental equipment such as test tubes in a laboratory.

[0048] [Notes] The following are notes regarding the present disclosure.

[0049] (Supplementary Note 1) A robot having a base, a first motor having a first drive shaft attached to the base, a first link rotated by the first motor around the first drive shaft, a first joint provided on the first link and having a first rotation shaft, a second joint provided on the base and having a second rotation shaft coaxial with the first drive shaft, one end of the second link connected to the second joint and the other end of the second link connected to the first link between the first drive shaft and the tip of the first link on the first rotation shaft side in the direction of a line segment connecting the first drive shaft and the first rotation shaft, the second link being rotatable around the second rotation shaft, and a third link connected to the first joint and rotatable around the first rotation shaft.

[0050] (Supplementary Note 2) The robot described in Supplementary Note 1, wherein the other end of the second link is connected to the first link at a position closer to the first rotation axis than the center position between the first drive shaft and the tip of the first link on the first rotation axis side in the direction of a line segment connecting the first drive shaft and the first rotation axis.

[0051] (Supplementary Note 3) The robot according to Supplementary Note 1 or 2, wherein the second link has lower bending rigidity than the first link in a direction of a line segment connecting the first drive shaft and the first rotation shaft.

[0052] (Supplementary Note 4) The robot according to Supplementary Note 3, wherein the second link is provided vertically above the first link.

[0053] (Supplementary Note 5) The robot according to Supplementary Note 4, wherein an area of ​​the second link excluding at least an end portion thereof is formed by a linear member or a belt-shaped member.

[0054] (Supplementary Note 6) The robot according to any one of Supplementary Notes 1 to 5, further comprising: a second motor having a second drive shaft and attached to the base; a fourth link rotated by the second motor around the second drive shaft; a fourth joint provided on the fourth link and having a fourth rotation shaft; a fifth link connected to the fourth joint and rotatable around the fourth rotation shaft; a third joint provided on the third link and having a third rotation shaft, the third joint to which the fifth link is rotatably connected; and an end effector attachment portion provided on the third link.

[0055] (Supplementary Note 7) The robot according to Supplementary Note 6, further comprising an end effector attached to the end effector attachment portion.

[0056] The disclosure of Japanese Patent Application No. 2023-200023, filed on November 27, 2023, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards mentioned herein are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard was specifically and individually indicated to be incorporated by reference.

Claims

1. A robot having a base, a first motor having a first drive shaft attached to the base, a first link rotated by the first motor around the first drive shaft, a first joint attached to the first link and having a first rotation shaft, a second joint attached to the base and having a second rotation shaft coaxial with the first drive shaft, a second link having one end connected to the second joint and the other end connected to the first link between the first drive shaft and the tip of the first link on the first rotation shaft side in the direction of a line segment connecting the first drive shaft and the first rotation shaft, the second link being rotatable around the second rotation shaft, and a third link connected to the first joint and rotatable around the first rotation shaft.

2. The robot described in claim 1, wherein the other end of the second link is connected to the first link at a position closer to the first rotating shaft than the center position between the first driving shaft and the tip of the first link on the first rotating shaft side in the direction of a line segment connecting the first driving shaft and the first rotating shaft.

3. The robot according to claim 1, wherein the second link has a bending rigidity lower than that of the first link in the direction of a line segment connecting the first drive shaft and the first rotation shaft.

4. The robot according to claim 3, wherein the second link is provided vertically above the first link.

5. The robot according to claim 4, wherein at least the area of ​​the second link excluding the end portion is formed of a linear member or a belt-shaped member.

6. The robot according to claim 1, further comprising: a second motor having a second drive shaft and attached to the base; a fourth link rotated by the second motor about the second drive shaft; a fourth joint provided on the fourth link and having a fourth rotation shaft; a fifth link connected to the fourth joint and rotatable about the fourth rotation shaft; a third joint provided on the third link and having a third rotation shaft, and to which the fifth link is rotatably connected; and an end effector attachment portion provided on the third link.

7. The robot according to claim 6, further comprising an end effector attached to the end effector attachment portion.

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