Robot and dynamic vibration absorber

Abstract

A robot 100 comprises: a robotic hand 3; a robotic arm 4; and a dynamic vibration absorber 8 for dampening vibration of a vibrating object 61 that vibrates at a prescribed vibration frequency in conjunction with the movement of the robotic arm 4. The dynamic vibration absorber 8 includes: a base part 84; an elastic member 82 that is attached to the base part 84 and has a prescribed spring constant kt; and a mass body 81 that includes an oscillation member 81a having one end attached to the elastic member 82 with the other end protruding in a direction opposite to the elastic member 82, and a weight 81b attached to the oscillation member 81a and capable of oscillation together with the oscillation member 81a, and that is configured to be adjustable so that, in order to dampen the vibration of the vibrating object 61 vibrating at the prescribed vibration frequency, the vibration frequency of the dynamic vibration absorber 8 becomes close to said prescribed vibration frequency.

Description

Robots and Dynamic Vibration Absorbers

[0001] The present invention relates to a robot and a dynamic vibration absorber, and more particularly to a robot and a dynamic vibration absorber that include an elastic member.

[0002] 2. Description of the Related Art Dynamic vibration absorbers equipped with elastic members are known in the art.

[0003] Japanese Patent Laid-Open Publication No. 8-233028 discloses a vibration suppression device (dynamic vibration absorber) that includes a viscoelastic material (elastic member).

[0004] The vibration suppression device disclosed in JP-A-8-233028 includes a support base, a first leaf spring, a viscoelastic material, a second leaf spring, and a weight. The support base is a base for mounting the vibration suppression device to a vibrating structure. The first leaf spring is attached to the support base. The viscoelastic material is attached to the first leaf spring. The second leaf spring is attached to the viscoelastic material. Weights are attached to both left and right ends of the second leaf spring.

[0005] The vibration suppression device disclosed in JP-A-8-233028 is configured to resonate at a natural frequency due to vibrations of a structure. In the vibration suppression device, the vibration energy is converted into thermal energy and released as a result of deformation of the viscoelastic material caused by resonance, thereby suppressing the vibration of the structure. Here, the natural frequency of the vibration suppression device is preset based on the spring constant of the viscoelastic material and the mass of the weight.

[0006] Japanese Patent Application Publication No. 8-233028

[0007] However, the vibration suppression device disclosed in JP-A-8-233028 uses a weight with a mass preset to match the natural frequency of the structure and a viscoelastic material with a spring constant preset to match the natural frequency of the structure, and therefore, if the natural frequency is not set appropriately, the actual vibration of the structure cannot be sufficiently suppressed. In this case, the vibration suppression device must be redesigned and a new, redesigned vibration suppression device must be produced, which poses the problem that it is not easy to provide a vibration suppression device (dynamic vibration absorber) with a natural frequency (predetermined frequency) that matches the vibration of the actual structure (object to be vibrated).

[0008] The present invention has been made to solve the above-mentioned problems, and aims to provide a robot and a dynamic vibration absorber that can be equipped with a dynamic vibration absorber having a predetermined vibration frequency that matches the vibration of an actual object to be vibrated, without the need to create a new, redesigned dynamic vibration absorber.

[0009] According to a first aspect, a robot includes a robot hand, a robot arm having the robot hand attached to its tip, and a dynamic vibration absorber for suppressing vibration of a vibrating object that vibrates at a predetermined frequency as the robot arm moves. The dynamic vibration absorber includes a base, an elastic member attached to the base and having a predetermined spring constant, a swinging member having one end attached to the elastic member and the other end protruding in a direction opposite to the elastic member, and a weight attached to the swinging member and swinging together with the swinging member. The dynamic vibration absorber also includes a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of the vibrating object that vibrates at the predetermined frequency. Here, the predetermined spring constant is a value obtained by dividing the load applied to the elastic member by the deformation of the elastic member. The predetermined frequency is set by reducing the amplitude of the swinging axis at a point of the natural frequency based on the viscoelasticity of the elastic member, while changing the range of frequencies of the swinging axis that respond (resonate) to vibrations transmitted from the vibrating object to a predetermined range centered on the natural frequency.

[0010] In the robot according to the first aspect, as described above, the robot includes a oscillating member having one end attached to an elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, and is provided with a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of a vibrating object vibrating at a predetermined frequency. After the dynamic vibration absorber is attached to the vibrating object using the base, the dynamic vibration absorber can be adjusted to approach the actual predetermined frequency of the vibrating object by adjusting the mass of the mass body while checking the degree to which the dynamic vibration absorber is suppressing the actual vibration of the vibrating object. As a result, a dynamic vibration absorber having a predetermined frequency that matches the vibration of the actual vibrating object can be provided without having to redesign a new dynamic vibration absorber.

[0011] A robot according to a second aspect includes a robot hand that holds an item, a robot arm to which the robot hand is attached at its tip, an imaging unit that is attached to a predetermined location and that images the item held by the robot hand, and a dynamic vibration absorber that is adjusted so that the vibration frequency approaches a predetermined frequency in order to suppress vibrations at a predetermined location that vibrate at a predetermined frequency as the robot arm moves when the imaging unit images the item in order to hold the item with the robot hand.

[0012] In the robot according to the second aspect, as described above, in order to hold an object with the robot hand, a dynamic vibration absorber is provided whose vibration frequency is adjusted to approach the predetermined frequency in order to suppress vibrations at a predetermined location that vibrate at a predetermined frequency as the robot arm moves when the imaging unit captures an image of the object. This allows the dynamic vibration absorber to be adjusted to approach the actual predetermined frequency of the predetermined location (vibration target) by adjusting the mass of the mass body while checking how well the dynamic vibration absorber is suppressing the actual vibration of the predetermined location (vibration target). As a result, a robot can be provided that is capable of being provided with a dynamic vibration absorber having a predetermined frequency that matches the actual vibration of the predetermined location (vibration target) without having to newly create a new dynamic vibration absorber.

[0013] A dynamic vibration absorber according to a third aspect comprises a base portion, an elastic member attached to the base portion and having a predetermined spring constant, an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibrations of a vibrating object that vibrates at a predetermined frequency.

[0014] In a third aspect, the dynamic vibration absorber includes a oscillating member having a second end projecting in the opposite direction from the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, and is provided with a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of a vibrating object vibrating at a predetermined frequency. After the dynamic vibration absorber is attached to the vibrating object using the base, the dynamic vibration absorber can be adjusted to approach the actual predetermined frequency of the vibrating object by adjusting the mass of the mass body while checking the degree to which the dynamic vibration absorber is suppressing the actual vibration of the vibrating object. As a result, a dynamic vibration absorber having a predetermined frequency that matches the actual vibration of the vibrating object can be provided without having to redesign a new dynamic vibration absorber.

[0015] According to the present disclosure, as described above, it is possible to provide a dynamic vibration absorber having a predetermined vibration frequency that matches the vibration of an actual vibrating object, without having to create a new dynamic vibration absorber that has been redesigned.

[0016] 1 is a side view showing a state in which an article is held by the robot of the first embodiment. FIG. 2 is a plan view showing a state in which the image capturing unit captures an image of the next article to be held by the robot of the first embodiment. FIG. 3 is a cross-sectional view taken along the radial direction of the dynamic vibration absorber of the first embodiment. FIG. 4 is a cross-sectional view taken along the radial direction of the dynamic vibration absorber of the first embodiment after adjustment of the predetermined frequency. FIG. 5 is a side view showing a robot equipped with a dynamic vibration absorber of a second embodiment. FIG. 6 is a side view of the dynamic vibration absorber of the second embodiment as viewed from the Y2 direction side. FIG. 7 is a side view of the dynamic vibration absorber of the second embodiment as viewed from the X1 direction side. FIG. 8 is a plan view of the dynamic vibration absorber of the second embodiment as viewed from the Z1 direction side. FIG. 9 is a side view showing a state in which an article is held by a robot of a modified example of the first embodiment.

[0017] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0018] First Embodiment The configuration of a robot 100 to which a dynamic vibration absorber 8 according to a first embodiment is applied will be described with reference to FIGS. 1 to 4. FIG.

[0019] As shown in Fig. 1, the robot 100 autonomously transports items Ma stacked in a predetermined location P1 from the predetermined location P1 to a destination location P2 (see Fig. 2). In Fig. 1, a cardboard case is shown as an example of the items Ma, but the items Ma are not limited to packaged items such as cardboard cases, and may be other items such as unpackaged items.

[0020] Here, the up-down direction is defined as the Z direction, the upward direction of the Z direction is defined as the Z1 direction, and the downward direction of the Z direction is defined as the Z2 direction. A predetermined horizontal direction perpendicular to the Z direction is defined as the X direction, with one of the X directions defined as the X1 direction and the other defined as the X2 direction. A horizontal direction perpendicular to the X direction is defined as the Y direction, with one of the Y directions defined as the Y1 direction and the other defined as the Y2 direction.

[0021] The robot 100 includes a transport vehicle 1, a storage unit 2, a robot hand 3, a robot arm 4, a control unit 5, an imaging unit support unit 6, an imaging unit 7, and a dynamic vibration absorber 8. The imaging unit support unit 6 is an example of the "predetermined location" and "vibration target" in the claims.

[0022] The transport vehicle 1 is configured to autonomously move the robot 100 on a floor surface. The transport vehicle 1 includes wheels 11, a base 12, and a drive unit (not shown). The base 12 is a member to which the wheels 11, the storage unit 2, and the robot arm 4 are attached. The drive unit has a drive source such as a motor.

[0023] The storage unit 2 is a member that stores devices such as the control unit 5, power supply unit 200, and negative pressure generator 300. The power supply unit 200 is configured to supply power to each of the transport vehicle 1, the robot hand 3, the robot arm 4, the control unit 5, the imaging unit 7, and the negative pressure generator 300. The negative pressure generator 300 is configured to generate negative pressure for the robot hand 3 to adsorb the item Ma.

[0024] The robot hand 3 is configured to hold an item Ma. That is, the robot hand 3 is configured to approach one of the multiple items Ma stacked in a predetermined location P1 from the X2 direction, pick up the item Ma, and then pull out the item Ma in the X2 direction to hold and transport it. The robot hand 3 includes an attachment base 31, a suction unit 32, and a moving placement unit 33.

[0025] The mounting base 31 is a member for attaching the robot hand 3 to the tip of the robot arm 4. The suction unit 32 is configured to suction the side of the item Ma using multiple nozzles 32a. The multiple nozzles 32a are connected to a negative pressure generator 300. This generates a negative pressure in each of the multiple nozzles 32a for suctioning the side of the item Ma. The suction unit 32 is attached to the mounting base 31 so as to be movable in both directions toward and away from the mounting base 31. The moving placement unit 33 also has a conveyor (not shown) that drives in accordance with the movement of the suction unit 32. As a result, the item Ma suctioned by the suction unit 32 is moved in both directions toward and away from the mounting base 31 by the movement of the suction unit 32 by the moving placement unit 33 and the drive of the conveyor. The moving loading section 33 has a loading surface on which the item Ma is placed when it moves toward the mounting base 31 and away from the mounting base 31, and when it transports the item Ma to the destination location P2.

[0026] The robot arm 4 is configured to move the robot hand 3 toward the item Ma from the direction X2, move the robot hand 3 away from the item Ma, and move the robot hand 3 toward the destination location P2. The robot hand 3 is attached to the tip of the robot arm 4.

[0027] The robot arm 4 includes a fixed portion 41, a base 42, a drive unit 43, an arm portion 44, an arm portion 45, an arm portion 46, and an arm portion 47. The fixed portion 41 is a member for fixing the robot arm 4 to the transport vehicle 1. The base 42 is a member for attaching the drive unit 43, the arm portion 44, and the imaging unit support portion 6 to the fixed portion 41. The drive unit 43, the arm portion 44, and the imaging unit support portion 6 are attached to the base 42 so as to rotate integrally in the R1 direction (see FIG. 2) and the R2 direction (see FIG. 2) around a rotation center axis Cr (see FIG. 2) parallel to the Z direction. The base 42 has a joint JT1. The drive unit 43, the arm portion 44, and the imaging unit support portion 6 are attached to the joint JT1. The joint JT1 rotates in the R1 direction and the R2 direction by the driving force of the drive unit 43. The drive unit 43 has a drive source such as a motor and a speed reducing mechanism. The joint JT1 is an example of a "first joint" in the claims.

[0028] The arm portion 44 has joint portions JT2 and JT3. The base 42 is attached to the joint portion JT2 so as to be rotatable relative to the base 42. The joint portion JT2 has a drive portion 44a. The drive portion 44a has a drive source such as a motor and a reduction mechanism for rotating the arm portion 44 relative to the base 42. The arm portion 45 is attached to the joint portion JT3 so as to be rotatable relative to the base 42. The joint portion JT3 has a drive portion 44b. The drive portion 44b has a drive source such as a motor and a reduction mechanism for rotating the arm portion 44 relative to the arm portion 45.

[0029] The arm 45 has a joint JT4. The arm 44 is attached to the joint JT4 so as to be rotatable relative to the arm 44. The joint JT4 has a drive unit 45a. The drive unit 45a has a drive source such as a motor and a speed reduction mechanism for rotating the arm 45 relative to the arm 44. The arm 46 is attached to the joint JT4. The arm 46 has a joint JT5. The arm 47 is attached to the joint JT5 so as to be rotatable relative to the arm 44. The joint JT5 has a drive unit 46a. The drive unit 46a has a drive source such as a motor and a speed reduction mechanism for rotating the arm 47 relative to the arm 46. The arm 47 is attached to the joint JT5. The arm 47 has a joint JT6. The robot hand 3 is attached to the joint JT6 so as to be rotatable relative to the arm 44. The joint JT6 has a drive unit (not shown). The drive unit has a drive source such as a motor for rotating the robot hand 3 relative to the arm unit 47 and a reduction mechanism.

[0030] The control unit 5 is configured to control the robot 100. The control unit 5 is electrically connected to the robot hand 3, the robot arm 4, the imaging unit support unit 6, the imaging unit 7, and devices such as the power supply unit 200 and the negative pressure generating unit 300.

[0031] Specifically, the control unit 5 includes a CPU (Central Processing Unit), a storage unit having a HDD (Hard Disk Drive) and an SSD (Solid State Drive), and a memory having a ROM (Read Only Memory) and a RAM (Random Access Memory).

[0032] 1 , the imaging unit support part 6 is attached to the joint part JT1. As a result, the imaging unit support part 6 is configured to rotate integrally with the joint part JT1 in each of the R1 direction and the R2 direction and to support the imaging unit 7. Specifically, the imaging unit support part 6 has a support member 61 and a horizontal member 62.

[0033] The end of the support member 61 on the Z2 direction side is attached to the joint JT1. The support member 61 extends in the Z1 direction from the joint JT1. The support member 61 is configured to move the horizontal member 62 in both the Z1 direction and the Z2 direction. The support member 61 has a guide rail (not shown) and a linear movement mechanism such as a ball screw, and a drive source such as a motor.

[0034] When viewed from the Z1 direction side, the end of the horizontal direction member 62 on the rotation center axis Cr side is attached to the support member 61. The horizontal direction member 62 extends in the Dt1 direction (see FIG. 2) (or the Dt2 direction (see FIG. 2)), which is a tangential direction about the rotation center axis Cr. The horizontal direction member 62 is configured to move the imaging unit 7 in each of the Dt1 direction and the Dt2 direction. The horizontal direction member 62 has a guide rail (not shown) and a linear movement mechanism such as a ball screw, and a drive source such as a motor.

[0035] As shown in FIG. 2 , the imaging unit 7 is attached to the horizontal member 62. The imaging unit 7 is configured to capture an image of the item Ma held by the robot hand 3. Specifically, the imaging unit 7 is configured to capture an image of the item Ma in order to identify the position of the next item Ma (indicated by hatching in FIG. 2 ) to be transported among the multiple items Ma stacked at the predetermined location P1. The imaging unit 7 captures the image in parallel with the robot hand 3 transporting the item Ma to the destination location P2. That is, when the joint JT1 is rotated in the R1 direction (or R2 direction) to transport the item Ma held by the robot hand 3 to the destination location P2, the imaging unit 7 also rotates in the R1 direction (or R2 direction) together with the imaging unit support member 6. Therefore, the imaging unit 7 captures the image after the rotation of the joint JT1 in the R1 direction (or R2 direction) is completed.

[0036] (Dynamic Vibration Absorber) As shown in FIG. 2 , the robot 100 of the first embodiment is provided with a dynamic vibration absorber 8 to suppress vibration of the imaging unit 7 after the joint JT1 has completed rotation in the R1 direction (or the R2 direction). That is, the dynamic vibration absorber 8 is adjusted so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibration of the imaging unit support unit 6 (support member 61), which vibrates at the support-side predetermined frequency when the imaging unit 7 captures an image of the object Ma (shown by hatching in FIG. 2 ) in order to hold the object Ma with the robot hand 3. Specifically, the dynamic vibration absorber 8 is configured as an oscillating dynamic vibration absorber 8 that oscillates due to vibration after rotation of the imaging unit support unit 6 (support member 61), which rotates integrally with the joint JT1. The support-side predetermined frequency is an example of the "predetermined frequency" in the claims. The predetermined frequency on the dynamic vibration absorber side is an example of the "frequency of the dynamic vibration absorber" in the claims.

[0037] Here, the predetermined frequency on the support side is a predetermined range of frequencies centered on the natural frequency of the support member 61. The predetermined frequency on the dynamic vibration absorber side is a predetermined range of frequencies centered on the natural frequency f of the dynamic vibration absorber 8, which will be described later.

[0038] Such a dynamic vibration absorber 8 is attached to the horizontal member 62 of the imaging unit support part 6. That is, the dynamic vibration absorber 8 is attached to a part of the horizontal member 62 on the Z1 direction side that is adjacent to the support member 61 in the R2 direction.

[0039] Here, since the imaging unit 7 is attached to the horizontal member 62, it vibrates integrally with the vibration of the support member 61 that occurs when the joint JT1 stops after rotating in the R1 direction (or the R2 direction). At this time, the dynamic vibration absorber 8 oscillates and absorbs the vibration energy applied by the oscillation, thereby quickly converging the vibration of the support member 61, thereby suppressing the integral vibration of the imaging unit 7 and the support member 61. The detailed configuration of the dynamic vibration absorber 8 will be described in detail below with reference to Figures 3 and 4. Note that Figures 3 and 4 are each a cross-sectional view taken along the Ra direction, which is the radial direction of the oscillation central axis Cs of the oscillation shaft 81a, which will be described later.

[0040] As shown in FIG. 3 , the dynamic vibration absorber 8 includes a mass body 81, an elastic member 82, a cover member 83, and a base portion 84. Here, the dynamic vibration absorber-side predetermined frequency is set by the mass body 81 and the elastic member 82. In the dynamic vibration absorber 8, the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8 is set to match the support-side predetermined frequency of the strut member 61. The dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8 is a frequency within a predetermined range centered on the natural frequency f, which is set based on the viscoelasticity of the elastic member 82. As a result, the dynamic vibration absorber 8 does not resonate at a single point of the natural frequency f, but rather resonates at a predetermined range of frequencies centered on the natural frequency f due to the viscoelasticity of the elastic member 82. First, the mass body 81 and the elastic member 82 will be described.

[0041] <Mass Body> The mass body 81 is configured to be adjustable so that the predetermined vibration frequency on the dynamic vibration absorber side approaches the predetermined vibration frequency on the support side in order to suppress vibration of the support member 61, which vibrates at a predetermined frequency. Specifically, the mass body 81 has an oscillating shaft 81a, a weight 81b, multiple adjustment portions 81c, and an attachment portion 81d. The oscillating shaft 81a is an example of the "oscillating member" in the claims. The multiple adjustment portions 81c are also examples of the "adjustment portion" and "clamping portion" in the claims.

[0042] The oscillation shaft 81a has an end (one end) on the Z2 side attached to the elastic member 82, and an end (the other end) on the Z1 side protruding in the opposite direction from the elastic member 82. The oscillation shaft 81a is configured to oscillate in each of the Vb1 direction and the Vb2 direction relative to the direction of extension of the oscillation central axis Cs, with the end on the Z2 side as a fulcrum, in accordance with vibration of the support member 61. Here, although only the Vb1 direction and the Vb2 direction are shown in FIG. 3 , the oscillation shaft 81a oscillates in the Vb1 direction and the Vb2 direction in each of a plurality of radial directions perpendicular to the oscillation central axis Cs in a plan view.

[0043] The pivot shaft 81a has an outer peripheral surface on which a screw groove is formed. The end of the pivot shaft 81a on the Z2 direction side is screwed into the elastic member 82.

[0044] The weight 81b is a metal member having a predetermined mass. The weight 81b has a cylindrical shape with an insertion hole 811b into which the swing shaft 81a is inserted. The insertion hole 811b penetrates the center of the weight 81b along the central axis. The weight 81b is attached to the swing shaft 81a by a plurality of adjustment parts 81c while inserted into the swing shaft 81a. This allows the weight 81b to swing together with the swing shaft 81a in the Vb1 direction and the Vb2 direction. The weights 81b are individually and detachably attached to the swing shaft 81a by a plurality of adjustment parts 81c. In FIG. 3, the plurality (three) of weights 81b are attached to the swing shaft 81a by being clamped by a plurality of adjustment parts 81c. The plurality (three) of weights 81b have the same predetermined mass.

[0045] The plurality of adjustment parts 81c are configured to adjust the mounting position Pa on the oscillation shaft 81a by clamping the weight 81b after moving it on the oscillation shaft 81a. Each of the plurality of adjustment parts 81c is configured to be inserted into the oscillation shaft 81a. Each of the plurality of adjustment parts 81c has a nut 811c and a washer 812c. Of the plurality of adjustment parts 81c, the adjustment part 81c on the Z2 direction side supports the weight 81b from the Z2 direction side via the washer 812c while the washer 812c abuts against the weight 81b. Of the plurality of adjustment parts 81c, the adjustment part 81c on the Z1 direction side supports the weight 81b from the Z1 direction side via the washer 812c while the washer 812c abuts against the weight 81b. As a result, the weight 81b is clamped by the swing shaft 81a.

[0046] As shown in Fig. 3, the multiple adjustment units 81c are configured to adjust the mounting position Pa on the swing shaft 81a by clamping the weight 81b after moving it on the swing shaft 81a. As an example, with the dynamic vibration absorber 8 in the state shown in Fig. 3, an operator removes a side cover unit 83a (described later) of the cover member 83 from the lower cover unit 83b. Then, after removing the Z1-direction side adjustment unit 81c, the operator removes the multiple (three) weights 81b from the swing shaft 81a. After removing the weight 81b, the operator moves the Z2-direction side adjustment unit 81c in the Z1 direction to the mounting position Pa1.

[0047] 4, the worker inserts one weight 81b into the swing shaft 81a and abuts it against the adjustment part 81c on the Z2 direction side, and then inserts the adjustment part 81c on the Z1 direction side into the swing shaft 81a so that the weight 81b is sandwiched between the adjustment part 81c on the Z1 direction side and the adjustment part 81c on the Z2 direction side. The worker then attaches the removed side cover part 83a to the lower cover part 83b.

[0048] As a result, the attachment position Pa of the weight 81b moves to attachment position Pa1. Furthermore, due to the movement of the weight 81b, the length L from the root position Pb of the end of the oscillation shaft 81a on the Z2 direction side to the center of gravity Pg of the mass body 81 is adjusted to the length L1 from the end of the oscillation shaft 81a on the Z2 direction side to the center of gravity Pg1 of the mass body 81. Here, the root position Pb of the end of the oscillation shaft 81a on the Z2 direction side is the height position of the end of the elastic member 82 on the oscillation shaft 81a on the Z1 direction side. Furthermore, since the number of weights 81b is reduced, the weight of the mass body 81 is reduced.

[0049] In this way, the plurality of adjustment units 81c are members for adjusting at least one of the attachment position Pa of the weight 81b with respect to the oscillation shaft 81a and the mass m of the mass body 81. That is, the plurality of adjustment units 81c are members for adjusting at least one of the attachment position Pa of the weight 81b with reference to the base position Pb of the end of the oscillation shaft 81a in the Z2 direction and the mass m of the mass body 81. In the example of FIG. 4 , the number of weights 81b is changed to one, but, for example, it is also possible to keep the number of weights 81b at three and change only the attachment position Pa, or it is also possible to keep the attachment position Pa and change the number of weights 81b to one.

[0050] The mounting portion 81d is a member that attaches the pivot shaft 81a to the elastic member 82 by screwing the end of the pivot shaft 81a on the Z2 direction side into the elastic member 82, and then inserting the mounting portion 81d into the pivot shaft 81a and pressing the elastic member 82. The mounting portion 81d has a nut 811d and a washer 812d.

[0051] 3, the elastic member 82 is made of a rubber member 82a having a predetermined spring constant kt that can support the end of the pivot shaft 81a on the Z2 direction side. Specifically, the elastic member 82 has the rubber member 82a, a flange portion 82b, and a flange portion 82c.

[0052] The rubber member 82a is a cylindrical member having a predetermined spring constant kt, which is the spring constant kt in the bending direction of the swing shaft 81a caused by the swing of the swing shaft 81a in the Vb1 direction and the Vb2 direction.

[0053] The flange portion 82b is attached to the end portion of the rubber member 82a on the Z1 direction side. A thread groove is formed in the center portion of the flange portion 82b in the Ra direction, into which the end portion of the oscillation shaft 81a on the Z2 direction side is screwed. The flange portion 82c is attached to the end portion of the rubber member 82a on the Z2 direction side. A thread groove is formed in the center portion of the flange portion 82c in the Ra direction, into which a fastening member 84f (described later) is screwed.

[0054] <Predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber> The predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber 8 is set by the mounting position Pa of the weight 81b from the root side position Pb of the end of the oscillating shaft 81a on the Z2 direction side, and the mass m of the mass body 81.

[0055] That is, in the dynamic vibration absorber 8, a translational force F in a translational direction perpendicular to the extension direction of the oscillation shaft 81 a is generated at the tip in the Z1 direction of the oscillation shaft 81 a, which is supported by a rubber member 82 a having a predetermined spring constant kt in the bending direction. This translational force F is a restoring force when the oscillation shaft 81 a is oscillated.

[0056] The translational force F is calculated based on the displacement x of the tip of the oscillation shaft 81a in the translational direction and the spring constant kt in the translational direction relative to the tip of the oscillation shaft 81a. Specifically, it is calculated by F = kx = kLθ. The displacement x is calculated by multiplying the length L from the base position Pb of the end of the oscillation shaft 81a on the Z2 direction side to the center of gravity Pg of the mass body 81 by the angle change θ of the end of the oscillation shaft 81a on the Z2 direction side when it oscillates.

[0057] On the other hand, the translational force F can also be calculated based on the angle change θ of the end of the oscillation shaft 81a on the Z2 direction side during oscillation, a predetermined spring constant kt in the bending direction, and the length L from the base position Pb of the end of the oscillation shaft 81a on the Z2 direction side to the center of gravity Pg of the mass body 81. Specifically, F is calculated as F=ktθ / L.

[0058] Since the translational force F in the two equations above is equal, k = kt / L 2 Therefore, the natural frequency f of the dynamic vibration absorber 8 of the first embodiment is calculated by the following formula (1): In formula (1), m is the mass of the mass body 81. As described above, the specified frequency on the dynamic vibration absorber side is set by lowering the amplitude of the oscillating shaft 81a at one point of the natural frequency f based on the viscoelasticity of the elastic member 82, while changing the range of frequencies of the oscillating shaft 81a that responds to (vibrates together with) the vibrations transmitted from the vibrating object to a specified range centered on the natural frequency f.

[0059] <Adjusting the Dynamic Vibration Absorber-Side Predetermined Frequency of the Dynamic Vibration Absorber> The dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8 can be adjusted by adjusting at least one of the attachment position Pa of the weight 81b from the base position Pb of the end on the Z2 direction side and the mass m of the mass body 81. That is, as described above, after removing the weight 81b, the worker moves the adjustment part 81c on the Z2 direction side to change the attachment position Pa1 from the base position Pb, thereby changing the center of gravity position Pg of the mass body 81. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8. The worker may also change the attachment position Pa without removing the weight 81b. The worker may also change the mass m of the mass body 81 by increasing or decreasing the number of weights 81b attached to the oscillating shaft 81a. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8.

[0060] In addition, when the diameter of the oscillating shaft 81a is kept the same but the length is increased or decreased, the mass m of the mass body 81 is also changed, thereby adjusting the dynamic absorber-side predetermined frequency of the dynamic vibration absorber 8. In addition, when the spring constant kt of the rubber member 82a is increased or decreased, the dynamic absorber-side predetermined frequency of the dynamic vibration absorber 8 is also adjusted.

[0061] As a result, in order to suppress vibration of the strut member 61 that vibrates at the predetermined support-side frequency, the dynamic vibration absorber 8 of the first embodiment is configured to be adjustable so as to approach the predetermined support-side frequency of the strut member 61. Specifically, the dynamic vibration absorber 8 is configured to be adjustable so as to approach the predetermined support-side frequency of the strut member 61 by adjusting at least one of the attachment position Pa of the weight 81b from the base position Pb of the end of the oscillation shaft 81a on the Z2 direction side using the multiple adjustment parts 81c, and the mass m of the mass body 81. The dynamic vibration absorber 8 is also configured to be adjustable so as to approach the predetermined support-side frequency of the strut member 61 by adjusting the spring constant kt of the rubber member 82a.

[0062] The predetermined vibration frequency on the dynamic vibration absorber side of such dynamic vibration absorber 8 is adjusted at the operating location of the robot 100 by the operator making the above-mentioned adjustments to the length L and the mass m of the mass body 81 while measuring the time it takes for the vibration of the imaging unit 7 to subside when the joint JT1 is rotated in the R1 direction or the R2 direction.

[0063] Although this is merely an example of measurement results, without the dynamic vibration absorber 8, it took about 6 seconds for the vibration of the imaging unit 7 to settle, but with the dynamic vibration absorber 8 installed, the time for the vibration of the imaging unit 7 to settle was reduced to about 1 second.

[0064] <Cover Member> As shown in FIG. 3 , the cover member 83 is configured to cover the mass body 81 and the elastic member 82 from the sides (outside in the Ra direction) and the Z2 direction. The cover member 83 has a side cover portion 83a and a lower cover portion 83b. The side cover portion 83a is a cylindrical cover that covers the mass body 81 and the elastic member 82 from the sides. The Z2 side end of the side cover portion 83a is detachably attached to the lower cover portion 83b with bolts or the like. This allows the side cover portion 83a to be removed from the lower cover portion 83b when adjusting the dynamic absorber-side predetermined frequency of the dynamic vibration absorber 8 using the multiple adjustment portions 81c. Furthermore, after adjusting the dynamic absorber-side predetermined frequency of the dynamic vibration absorber 8 using the multiple adjustment portions 81c, the side cover portion 83a can be attached from the lower cover portion 83b. The lower cover portion 83b is a substantially circular cover that covers the mass body 81 and the elastic member 82 from the Z2 direction side. A central portion of the lower cover portion 83b in the Ra direction is attached to the base portion 84.

[0065] <Base> The base 84 is a member that detachably attaches the dynamic vibration absorber 8 to the imaging unit support 6. The base 84 has a plate-shaped member 84a, a plate-shaped member 84b, a plurality of collars 84c, a plurality of fastening members 84d, and a plurality of fastening members 84e. The plate-shaped member 84a, the plate-shaped member 84b, the plurality of collars 84c, the plurality of fastening members 84d, and the plurality of fastening members 84e are members for fixing the dynamic vibration absorber 8 to the plate 62a of the horizontal member 62 of the imaging unit support 6. The combined configuration of the plate-shaped member 84a, the plate-shaped member 84b, the plurality of collars 84c, the plurality of fastening members 84d, and the plurality of fastening members 84e is an example of a "fixing portion" in the claims.

[0066] The base portion 84 is configured to grip the plate 62a using plate-shaped members 84a and 84b. Thread grooves are formed on the inner circumferential surface of each of the plurality of collars 84c, into which a plurality of fastening members 84d and a plurality of fastening members 84e are threadedly engaged. The plurality of fastening members 84d and the plurality of fastening members 84e are the same fastening members.

[0067] Here, the plate 62a is gripped by the base portion 84 by inserting the plurality of fastening members 84d into the plate-shaped member 84a from the Z2 direction side and fastening the plurality of fastening members 84d to the Z2 direction side portions of the plurality of collars 84c, and by inserting the plurality of fastening members 84e into the plate-shaped member 84b from the Z1 direction side and fastening the plurality of fastening members 84e to the Z1 direction side portions of the plurality of collars 84c. With the plate 62a gripped by the base portion 84, a space is formed between the plate 62a and the lower cover portion 83b.

[0068] (Effects of First Embodiment) In the first embodiment, the following effects can be obtained.

[0069] In the first embodiment, as described above, the dynamic vibration absorber 8 is attached to the oscillation shaft 81 a and includes a weight 81 b that oscillates together with the oscillation shaft 81 a, and is provided with a mass body 81 that is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibration of the vibrating object (imaging unit support unit 6) that vibrates at a support-side predetermined frequency (predetermined frequency). As a result, after the dynamic vibration absorber 8 is attached to the vibrating object (imaging unit support unit 6) using the base part 84, the dynamic vibration absorber 8 can be adjusted so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency by adjusting the mass m of the mass body 81, etc., while checking how well the dynamic vibration absorber 8 is suppressing the actual vibration of the vibrating object (imaging unit support unit 6). As a result, it is possible to provide a dynamic vibration absorber 8 having a predetermined vibration frequency on the dynamic vibration absorber side that matches the vibration of the actual vibration target (imaging unit support part 6) without having to create a new dynamic vibration absorber 8 that has been redesigned.

[0070] Furthermore, in the first embodiment, as described above, the mass body 81 includes an adjustment unit 81c that adjusts the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) to approach the support-side predetermined frequency by adjusting at least one of the attachment position Pa (attachment position Pa1) of the weight 81b relative to the oscillation shaft 81a and the mass m of the mass body 81. As a result, the dynamic vibration absorber-side predetermined frequency can be adjusted within a predetermined range centered on the natural frequency f by adjusting the attachment position Pa (attachment position Pa1) of the weight 81b from one end of the oscillation shaft 81a and the mass m of the mass body 81 using the adjustment unit 81c. As a result, the dynamic vibration absorber-side predetermined frequency can be easily adjusted, making it possible to easily provide a dynamic vibration absorber 8 having a dynamic vibration absorber-side predetermined frequency that matches the vibration of an actual vibration target (the imaging unit support 6).

[0071] Furthermore, in the first embodiment, as described above, the adjustment unit 81c has a plurality of adjustment units 81c (clamping units) that are inserted into the swing shaft 81a and clamp the weight 81b on the swing shaft 81a. The plurality of adjustment units 81c (clamping units) are configured to adjust the attachment position Pa (attachment position Pa1) on the swing shaft 81a by clamping the weight 81b after moving it on the swing shaft 81a. This makes it easy to adjust the attachment position Pa (attachment position Pa1) of the weight 81b on the swing shaft 81a, thereby preventing an increase in the adjustment workload on the worker.

[0072] Furthermore, in the first embodiment, as described above, a plurality of weights 81b are detachably attached to the oscillation shaft 81a individually by the adjustment unit 81c. This makes it possible to adjust the dynamic vibration absorber-side predetermined frequency by attaching or detaching the weights 81b one by one to or from the oscillation shaft 81a, which makes it easy to adjust the mass m of the mass body 81 by the adjustment unit 81c, and also makes it possible to adjust the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) to match the support-side predetermined frequency of the vibration target (imaging unit support unit 6).

[0073] Furthermore, in the first embodiment, as described above, the weight 81b has a cylindrical shape with an insertion hole 811b formed therein, into which the oscillation shaft 81a is inserted. As a result, the cylindrical weight 81b has a point-symmetric shape in a plan view, and therefore the restoring force generated in the elastic member 82 by the moment when the weight 81b oscillates can be made constant regardless of the direction in which the oscillation shaft 81a oscillates. Therefore, the natural frequency of the dynamic vibration absorber 8, which is calculated by equation (1) based on the translational force F, which is the restoring force when the oscillation shaft 81a oscillates, can be set to a constant value.

[0074] Furthermore, in the first embodiment, as described above, the elastic member 82 is made of a rubber member 82a having a predetermined spring constant kt that is capable of supporting one end of the oscillating shaft 81a. As a result, the rubber member 82a has viscoelasticity, and can achieve the function of setting the predetermined dynamic vibration absorber frequency based on the natural frequency f of the dynamic vibration absorber 8, and the function of absorbing vibration energy, so the dynamic vibration absorber 8 can be realized with a simpler structure than when the above functions are achieved using a hydraulic damper.

[0075] In the first embodiment, as described above, the rubber member 82a is a cylindrical member having a predetermined spring constant kt that can support one end of the oscillation shaft 81a. As a result, the cylindrical rubber member 82a has a point-symmetric shape in a plan view, so that a constant restoring force can be applied to the oscillation shaft 81a with the predetermined spring constant kt regardless of the direction of oscillation of the oscillation shaft 81a. As a result, the natural frequency of the dynamic vibration absorber 8, which is calculated using Equation (1) based on the translational force F, which is the restoring force when the oscillation shaft 81a is oscillated, can be set to a constant value.

[0076] Furthermore, in the first embodiment, as described above, the base 84 includes fixing portions (plate-shaped member 84a, plate-shaped member 84b, multiple collars 84c, multiple fastening members 84d, and multiple fastening members 84e) for fixing to the vibration target (imaging unit support 6). This allows the dynamic vibration absorber 8 to be easily fixed to the vibration target (imaging unit support 6) using the fixing portions. Furthermore, since the vibration target (imaging unit support 6) can be transmitted to the dynamic vibration absorber 8 via the fixing portions, the dynamic vibration absorber 8 can also be vibrated at a predetermined dynamic vibration absorber-side frequency in conjunction with vibration of the vibration target (imaging unit support 6) at a predetermined support-side frequency. As a result, the dynamic vibration absorber 8 can suppress vibration of the vibration target (imaging unit support 6) at the predetermined support-side frequency.

[0077] Furthermore, in the first embodiment, as described above, the robot 100 includes the dynamic vibration absorber 8, which is adjusted so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency, in order to suppress vibrations of a predetermined location (imaging unit support 6, vibrating object) that vibrates at a support-side predetermined frequency as the robot arm 4 moves when the imaging unit 7 captures an image of the object Ma in order to hold the object Ma with the robot hand 3. This allows the dynamic vibration absorber 8 to be adjusted so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency while checking the degree to which the dynamic vibration absorber 8 suppresses the actual vibration of the predetermined location (imaging unit support 6), by adjusting the mass m of the mass body 81, etc. As a result, it is possible to provide the robot 100, which can be provided with a dynamic vibration absorber 8 having a dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual predetermined location (imaging unit support 6), without having to newly create a redesigned dynamic vibration absorber 8.

[0078] Furthermore, in the first embodiment, as described above, the robot 100 includes an imaging unit support unit 6 that is attached to the joint JT1 constituting the base 42 of the robot arm 4, rotates integrally with the joint JT1, and supports the imaging unit 7. The dynamic vibration absorber 8 is attached to the imaging unit support unit 6. As a result, when the rotation of the joint JT1 stops after the imaging unit 7 rotates integrally with the joint JT1, the imaging unit 7 vibrates along with the imaging unit support unit 6. However, the dynamic vibration absorber 8 can suppress vibrations of the imaging unit support unit 6 at a predetermined support-unit-side frequency, thereby reducing the time required to attenuate the vibration of the imaging unit support unit 6. As a result, the time required to attenuate the vibration of the imaging unit 7 is also reduced, allowing the imaging unit 7 to quickly capture an image of the object Ma after the joint JT1 rotates.

[0079] Furthermore, in the first embodiment, as described above, the imaging unit support section 6 is attached to the joint JT1 and includes a support member 61 extending upward from the joint JT1. The imaging unit support section 6 is attached to the support member 61, has the imaging unit 7 attached thereto, and includes a horizontal member 62 extending horizontally. The dynamic vibration absorber 8 is attached to the horizontal member 62. This allows the dynamic vibration absorber 8 to suppress vibration of the horizontal member 62 that accompanies vibration of the support member 61 when the rotation of the joint JT1 stops after rotating integrally with the joint JT1, thereby reducing the time required to attenuate vibration of the imaging unit 7 attached to the horizontal member 62.

[0080] Furthermore, in the first embodiment, as described above, the dynamic vibration absorber 8 is an oscillating dynamic vibration absorber 8 that oscillates in response to vibrations after rotation of the support member 61 that rotates integrally with the joint JT1. As a result, the dynamic vibration absorber 8 oscillates in response to the vibration of the support member 61 when the rotation of the joint JT1 stops, and the vibration energy applied to the dynamic vibration absorber 8 can be absorbed by the dynamic vibration absorber 8 as a result of the oscillation, thereby damping the vibration of the support member 61.

[0081] Furthermore, in the first embodiment, as described above, the oscillating dynamic vibration absorber 8 includes a base 84 and an elastic member 82 attached to the base 84 and having a predetermined spring constant kt. The oscillating dynamic vibration absorber 8 includes an oscillating shaft 81a having one end attached to the elastic member 82 and the other end protruding in the opposite direction from the elastic member 82, and a weight 81b attached to the oscillating shaft 81a and oscillating together with the oscillating shaft 81a, and includes a mass body 81 configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (the frequency of the oscillating dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibrations of a vibrating object (imaging unit support unit 6), which is a predetermined location (imaging unit support unit 6) that vibrates at a support-side predetermined frequency. As a result, after attaching the dynamic vibration absorber 8 to the vibrating object (imaging unit support part 6) using the base part 84, the extent to which the dynamic vibration absorber 8 suppresses the actual vibration of the vibrating object (imaging unit support part 6) can be checked, and by adjusting the mass m of the mass body 81, etc., the dynamic vibration absorber 8 can be adjusted so that it approaches the actual specified vibration frequency on the support part side of the vibrating object (imaging unit support part 6).

[0082] Furthermore, in the first embodiment, as described above, the mass body 81 further includes an adjustment unit 81c that adjusts the dynamic vibration absorber-side predetermined frequency (the frequency of the oscillating dynamic vibration absorber 8) to approach the support-side predetermined frequency by adjusting at least one of the attachment position Pa (attachment position Pa1) of the weight 81b from one end of the oscillating shaft 81a and the mass m of the mass body 81. This allows the adjustment unit 81c to adjust the attachment position Pa (attachment position Pa1) of the weight 81b from one end of the oscillating shaft 81a and the mass m of the mass body 81 to adjust the natural frequency f, thereby adjusting the dynamic vibration absorber-side predetermined frequency within a predetermined range centered on the natural frequency f. As a result, the dynamic vibration absorber-side predetermined frequency can be easily adjusted, making it possible to easily provide a dynamic vibration absorber 8 having a dynamic vibration absorber-side predetermined frequency that matches the vibration of an actual vibration target (the imaging unit support unit 6).

[0083] Second Embodiment The configuration of a robot 20 to which a dynamic vibration reducer 204 according to a second embodiment of the present disclosure is applied will be described. Note that in the drawings, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0084] The configuration of a robot 20 to which a dynamic vibration reducer 204 according to the second embodiment is applied will be described with reference to FIGS.

[0085] As shown in FIG. 5, the robot 20 is a robot that autonomously performs a predetermined task on an object.

[0086] Here, the up-down direction is defined as the Z direction, the upward direction of the Z direction is defined as the Z1 direction, and the downward direction of the Z direction is defined as the Z2 direction. A predetermined horizontal direction perpendicular to the Z direction is defined as the X direction, with one of the X directions defined as the X1 direction and the other defined as the X2 direction. A horizontal direction perpendicular to the X direction is defined as the Y direction, with one of the Y directions defined as the Y1 direction and the other defined as the Y2 direction.

[0087] The robot 20 includes a robot hand 201, a robot arm 202, a control unit 203, and a dynamic vibration absorber 204. The robot arm 202 is an example of the "predetermined location" and the "object to be vibrated" in the claims.

[0088] The robot hand 201 is configured to perform operations such as picking, painting, assembly, and welding, etc. That is, the robot hand 201 has a suction nozzle, a spray nozzle, a welding wire, etc.

[0089] The robot arm 202 is configured to perform a predetermined task on an object using the robot hand 201. The robot hand 201 is attached to the tip of the robot arm 202.

[0090] The robot arm 202 includes a base 221, an arm unit 222, an arm unit 223, an arm unit 224, an arm unit 225, an arm unit 226, and an arm unit 227. The arm unit 222 is attached to the base 221. The arm unit 222 is attached to the base 221 so as to be rotatable in one and the other circumferential directions about a rotation center axis Cr parallel to the Z direction. The base 221 has a joint JT1. The joint JT1 rotates in each of the one and the other circumferential directions by the driving force of the driving unit. The driving unit has a driving source such as a motor and a reduction mechanism.

[0091] The arm portion 223 has joint portions JT2 and JT3. The arm portion 222 is attached to the joint portion JT2 so as to be rotatable relative to the arm portion 222. The joint portion JT2 has a drive portion. The drive portion has a drive source such as a motor and a reduction mechanism for rotating the arm portion 223 relative to the arm portion 222. The arm portion 224 is attached to the joint portion JT3 so as to be rotatable relative to the arm portion 223. The joint portion JT3 has a drive portion. The drive portion has a drive source such as a motor and a reduction mechanism for rotating the arm portion 224 relative to the arm portion 223.

[0092] The arm unit 225 is attached to the joint unit JT4. The arm unit 225 is attached to the joint unit JT4 so as to be rotatable relative to the arm unit 225. The joint unit JT4 has a drive unit. The drive unit has a drive source such as a motor and a reduction mechanism for rotating the arm unit 225 relatively. The arm unit 226 is attached to the arm unit 225. The arm unit 227 is attached to the arm unit 226. The arm unit 227 has a joint unit JT5. The robot hand 201 is attached to the joint unit JT5 so as to be rotatable relative to the arm unit 227. The joint unit JT5 has a drive unit. The drive unit has a drive source such as a motor and a reduction mechanism for rotating the robot hand 201 relative to the arm unit 227.

[0093] The robot hand 201 has a joint JT6. The joint JT6 has a drive unit. The drive unit has a drive source such as a motor and a reduction mechanism for rotating the robot hand 201 relative to the arm unit 227.

[0094] The control unit 203 is configured to control the robot 20. The control unit 203 is electrically connected to devices such as the robot hand 201 and the robot arm 202.

[0095] Specifically, the control unit 203 includes a CPU, a storage unit 231 having an HDD, an SSD, and the like, and a memory having a ROM, a RAM, and the like.

[0096] 6, the robot 20 of the second embodiment is provided with a dynamic vibration absorber 204 in order to suppress vibration of the robot arm 202 after the movement of the robot arm 202 is stopped (particularly after an emergency stop). Here, an emergency stop refers to a stop in which the drive of all motors of the joints JT1, JT2, JT3, JT4, JT5, and JT6 is stopped while the robot arm 202 is moving.

[0097] That is, in order to suppress vibration of the robot arm 202 that vibrates at the arm-side predetermined frequency when the robot arm 202 is stopped, the dynamic vibration absorber 204 is adjusted so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 204) approaches the arm-side predetermined frequency. Specifically, the dynamic vibration absorber 204 is configured as an oscillating dynamic vibration absorber 204 that oscillates due to vibration caused by stopping (particularly, emergency stopping) of the robot arm 202 after movement. The arm-side predetermined frequency is an example of the "predetermined frequency" in the claims. The dynamic vibration absorber-side predetermined frequency is also an example of the "frequency of the dynamic vibration absorber" in the claims.

[0098] Here, the arm-side predetermined frequency is a predetermined range of frequencies centered on the natural frequency of the arm portion 223 of the robot arm 202. The dynamic vibration absorber-side predetermined frequency is a predetermined range of frequencies centered on the natural frequency f of the dynamic vibration absorber 204, which will be described later.

[0099] Such a dynamic vibration absorber 204 is fixed to the robot arm 202. The dynamic vibration absorber 204 is fixed near the joint JT3 in the arm section 223 of the robot arm 202. Specifically, the dynamic vibration absorber 204 is fixed to the tip side of the arm section 223 (the end portion of the arm section 223 on the joint Jt3 side, i.e., near the joint JT3) via a bracket 205 fixed by a fastening member 206. Note that the dynamic vibration absorber 204 may be fixed to another location on the robot arm 202, not necessarily near the joint JT3 in the arm section 223 of the robot arm 202.

[0100] Here, when vibration occurs as the robot arm 202 stops after moving, the dynamic vibration absorber 204 swings and absorbs the vibration energy applied by the swinging, thereby quickly converging the vibration of the robot arm 202 and suppressing the vibration of the robot arm 202. The detailed configuration of the dynamic vibration absorber 204 will be described in detail below with reference to Figures 6 to 8.

[0101] As shown in FIG. 6 , the dynamic vibration absorber 204 includes a mass body 241, an elastic member 242, and a base portion 243. Here, the dynamic vibration absorber-side predetermined frequency is set by the mass body 241 and the elastic member 242. In the dynamic vibration absorber 204, the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 is set to match the arm-side predetermined frequency of the robot arm 202. The dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 is a frequency within a predetermined range centered on the natural frequency f, which is set based on the viscoelasticity of the elastic member 242. As a result, the dynamic vibration absorber 204 does not resonate at a single point of the natural frequency f, but rather resonates at a predetermined range of frequencies centered on the natural frequency f due to the viscoelasticity of the elastic member 242. First, the mass body 241 and the elastic member 242 will be described.

[0102] <Mass Body> The mass body 241 is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency approaches the arm-side predetermined frequency in order to suppress vibration of the robot arm 202, which vibrates at a predetermined frequency. Specifically, the mass body 241 has a swinging plate-shaped member 241a, a weight 241b, a plurality of adjustment slots 241c, and fastening members 241d. The swinging plate-shaped member 241a is an example of a "swinging member" in the claims. The combination of the plurality of adjustment slots 241c and fastening members 241d is an example of an "adjustment unit" in the claims.

[0103] As shown in Figure 6, the swing plate member 241a has its end (one end) on the Z2 direction side attached to the elastic member 242, and its end (the other end) on the Z1 direction side protruding in the opposite direction from the elastic member 242.

[0104] The swinging plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b. The swinging plate member 241a has a first plate member 2411a and a second plate member 2412a. The first plate member 2411a is a plate-like member extending from the second plate member 2412a in the direction from the elastic member 242 toward the weight 241b. The second plate member 2412a is a plate-like member extending in a direction perpendicular to the direction from the elastic member 242 toward the weight 241b.

[0105] The first plate-shaped member 2411a connects the second plate-shaped member 2412a and the weight 241b. The first plate-shaped member 2411a is fixed to the weight 241b by fastening members 241d. The first plate-shaped member 2411a is fixed to the second plate-shaped member 2412a by welding. The second plate-shaped member 2412a is fixed to the elastic member 242 by fastening members 244, which will be described later.

[0106] The swinging plate member 241a is a plate-shaped member that swings by having one end attached to the elastic member 242 and the other end attached to a weight 241b. The swinging plate member 241a is configured to swing in the Vb1 direction and the Vb2 direction relative to the direction of the swing central axis Cs, with the connection point Pf between the elastic member 242 and the base 243 as a fulcrum, in response to vibration of the robot arm 202. The swing central axis Cs is a straight line that passes through a middle position Pm between two elastic members 242 (described later) and extends in a direction from the elastic members 242 toward the weight 241b. Although only the Vb1 direction and the Vb2 direction are shown in FIG. 6 , in plan view, the swinging plate member 241a swings in the Vb1 direction and the Vb2 direction in each of a plurality of radial directions perpendicular to the swing central axis Cs.

[0107] The weight 241b is a metal member having a predetermined mass (e.g., approximately 3 kg). The weight 241b has a hexahedral shape with screw holes 2411b into which fastening members 241d for connecting the weight 241b to the swing plate member 241a are threaded. The screw holes 2411b are recessed in the side of the weight 241b facing the first plate member 2411a, in a direction from the first plate member 2411a toward the weight 241b. The weight 241b is attached to the swing plate member 241a with the fastening members 241d fastened. This allows the weight 241b to swing in both the Vb1 and Vb2 directions together with the swing plate member 241a. The weight 241b is detachably attached to the swing plate member 241a by the fastening members 241d.

[0108] As shown in FIG. 7 , the adjustment slots 241c are formed in the swing plate member 241a. The adjustment slots 241c extend in the direction from the elastic member 242 toward the weight 241b (Z1 direction). The adjustment slots 241c are used to attach the weight 241b so that its position in the direction from the elastic member 242 toward the weight 241b can be adjusted. When viewed from the side (X1 direction) perpendicular to the direction from the elastic member 242 toward the weight 241b, two adjustment slots 241c are provided symmetrically with respect to the swing central axis Cs. The two adjustment slots 241c are arranged adjacent to each other in the direction (Y direction) perpendicular to the direction from the elastic member 242 toward the weight 241b. A fastening member 241d is inserted into each of the two adjustment slots 241c. The inserted fastening member 241d is then screwed into the screw hole 2411b, thereby fixing the weight 241b to the swinging plate member 241a.

[0109] The two adjustment elongated holes 241c are configured to adjust the attachment position Pa on the swing plate member 241a by moving the weight 241b on the swing plate member 241a and then fastening the weight 241b with the fastening members 241d. As an example, from the state of the dynamic vibration absorber 204 shown in FIG. 7 , an operator loosens the two fastening members 241d and then moves the weight 241b in the Z1 direction (or the Z2 direction). Then, the operator tightens the two fastening members 241d at the moved position, thereby moving the attachment position Pa of the weight 241b to another attachment position in the Z1 direction (or the Z2 direction).

[0110] This movement of weight 241b adjusts the length Lg from the intermediate position Pm between the two elastic members 242 to the center of gravity Pmg of the mass body 241, as viewed from the side (X1 direction) perpendicular to the direction from the elastic members 242 toward weight 241b. In this way, weight 241b is attached to the swinging plate member 241a so that its position in the direction from the elastic members 242 toward weight 241b (Z1 direction) can be adjusted. Here, the intermediate position Pm between the two elastic members 242 is the position midway between the center positions Pc1 and Pc2 of the two elastic members 242 in the direction in which the two elastic members 242 are arranged.

[0111] In this way, the two adjustment elongated holes 241c are configured to adjust the attachment position Pa of the weight 241b with respect to the swinging plate-shaped member 241a. That is, the two adjustment elongated holes 241c are configured to adjust the attachment position Pa of the weight 241b with reference to the intermediate position Pm. Although the example in FIG. 7 shows an example in which the weight 241b is moved, the mass of the weight 241b may also be changed.

[0112] As described above, the fastening member 241d is a member for fixing the weight 241b to the swinging plate member 241a.

[0113] 7, the elastic member 242 is made of a rubber member 242a having a predetermined spring constant kt that can support the end of the swing plate member 241a on the Z2 direction side. Specifically, the elastic member 242 has the rubber member 242a, a flange portion 242b, a flange portion 242c, a screw groove 242d, a screw groove 242e, a rubber washer 242f, and a rubber washer 242g.

[0114] The rubber member 242a is a cylindrical member having a predetermined spring constant kt, which is the spring constant kt in the bending direction of the swing plate member 241a caused by the swing of the swing plate member 241a in the Vb1 direction and the Vb2 direction.

[0115] The flange portion 242b is attached to the end portion of the rubber member 242a on the Z1 direction side. A screw groove 242d into which a fastening member 244 is screwed is formed in the center portion of the flange portion 242b. This fixes the swing plate member 241a to the flange portion 242b. The flange portion 242c is attached to the end portion of the rubber member 242a on the Z2 direction side. A screw groove into which a fastening member 245 is screwed is formed in the center portion of the flange portion 242c. This fixes the flange portion 242bc to the base portion 243. A rubber washer 242f is arranged between the swing plate member 241a and the flange portion 242b. A rubber washer 242g is arranged between the flange portion 242c and the base portion 243.

[0116] As shown in FIG. 8 , when viewed from the direction from the elastic members 242 toward the weight 241b (Z1 direction), the two elastic members 242 are arranged line-symmetrically with respect to a first line Lsy passing through the center position Pw of the weight 241b. When viewed from the direction from the elastic members 242 toward the weight 241b (Z1 direction), the two elastic members 242 are line-symmetric with respect to the first line Lsy and are arranged side by side with the weight 241b on a second line Lar perpendicular to the first line Lsy. When viewed from the direction from the elastic members 242 toward the weight 241b (Z1 direction), the two elastic members 242 and the weight 241b are arranged adjacent to each other with a partial overlap. When viewed from the direction from the elastic members 242 toward the weight 241b (Z1 direction), the weight 241b is arranged between the two elastic members 242.

[0117] <Predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber> As shown in Figure 7, the predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber 204 is set by the width Ax of the two elastic members 242, the intermediate position Pm between the widths Ax of the two elastic members 242, the length L from the intermediate position Pm to the mounting position Pa of the weight 241b, and the mass m of the mass body 241.

[0118] Here, in the dynamic vibration absorber 204, an oscillation motion occurs with the center of oscillation being the midpoint Pm between the two elastic members 242, with the center of gravity Pmg (mass point) of the mass body 241. This oscillation motion is caused by the application of a restoring force by the two elastic members 242 to the center of gravity Pmg of the mass body 241. If the amount of movement of the center of gravity Pmg of the mass body 241 in a direction perpendicular to the Z direction is x, then the force F applied to the center of gravity Pmg of the mass body 241 is F = k × Ax / Lg × x. As a result, the natural frequency f of the dynamic vibration absorber 204 is expressed by the following equation (21). Here, in equation (21), M is the mass of the mass body 241. Here, as described above, the predetermined frequency on the dynamic vibration absorber side is set by lowering the amplitude of the oscillating plate-like member 241a at one point of the natural frequency f based on the viscoelasticity of the elastic member 242, while changing the range of the vibration frequencies of the oscillating plate-like member 241a that responds to (vibrates together with) the vibrations transmitted from the vibrating object to a predetermined range centered on the natural frequency f.

[0119] <Adjusting the Dynamic Vibration Absorber-Side Predetermined Frequency of the Dynamic Vibration Absorber> As shown in FIG. 7 , the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 can be adjusted by adjusting at least one of the attachment position Pa of the weight 241b from the intermediate position Pm and the mass M of the mass body 241. That is, as described above, the worker moves the weight 241b in the Z1 direction (or the Z2 direction) along the adjustment elongated hole 241c, thereby changing the attachment position Pa from the intermediate position Pm and thereby changing the center of gravity position Pmg of the mass body 241. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204. The worker can also adjust the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 by changing the mass of the weight 241b.

[0120] Furthermore, increasing or decreasing the thickness of the oscillation plate-shaped member 241a also changes the mass M of the mass body 241. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204. Furthermore, increasing or decreasing the spring constant kt of the rubber member 242a also adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204. Furthermore, increasing or decreasing the width Ax of the two elastic members 242 also adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204.

[0121] As a result, the dynamic vibration absorber 204 of the second embodiment is configured to be adjustable so as to approach the predetermined arm-side frequency of the robot arm 202 in order to suppress vibration of the robot arm 202 that vibrates at the predetermined arm-side frequency. Specifically, the dynamic vibration absorber 204 is configured to be adjustable so as to approach the predetermined arm-side frequency of the robot arm 202 by adjusting at least one of the attachment position Pa of the weight 241b from the intermediate position Pm using the adjustment elongated hole 241c and the mass m of the mass body 241. The dynamic vibration absorber 204 is also configured to be adjustable so as to approach the predetermined arm-side frequency of the robot arm 202 by adjusting the spring constant kt of the rubber member 242a. The dynamic vibration absorber 204 is also configured to be adjustable so as to approach the predetermined arm-side frequency of the robot arm 202 by adjusting the width Ax of the two elastic members 242.

[0122] The predetermined vibration frequency on the dynamic vibration absorber side of such dynamic vibration absorber 204 is adjusted at the operating location of robot 100 by an operator making the above-mentioned adjustments to mounting position Pa and mass M of mass body 241 while measuring the time it takes for the vibration of robot arm 202 to subside when robot arm 202 is moved and then brought to an emergency stop.

[0123] Although this is merely an example of measurement results, without the dynamic vibration absorber 204, it took about 5 seconds for the vibration of the robot arm 202 to settle, but with the dynamic vibration absorber 204 installed, the time for the vibration of the robot arm 202 to settle was reduced to about 2 seconds.

[0124] 8, the base 243 is a member for detachably mounting near the joint JT3. The base 243 is fixed to the tip side of the arm 223 (the end portion of the arm 223 on the joint JT3 side, i.e., near the joint JT3) via a bracket 205. The base 243 is fixed to the bracket 205 with a fastening member 206. The combined configuration of the base 243, bracket 205, and fastening member is an example of a "fixed portion" in the claims.

[0125] The other configurations of the second embodiment are the same as those of the first embodiment, and therefore description thereof will be omitted.

[0126] (Effects of Second Embodiment) In the second embodiment, the following effects can be obtained.

[0127] In the second embodiment, similarly to the first embodiment, the dynamic vibration absorber 204 is attached to an oscillation plate-like member 241a and includes a weight 81b that oscillates together with the oscillation plate-like member 241a, and is provided with a mass body 241 that is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 204) approaches the arm-side predetermined frequency in order to suppress vibration of the vibrating object (robot arm 202) that vibrates at the arm-side predetermined frequency (predetermined frequency). This makes it possible to provide a dynamic vibration absorber 204 that has a dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual vibrating object (robot arm 202) without having to newly create a redesigned dynamic vibration absorber 204.

[0128] In the second embodiment, as described above, the swinging member includes a plate-like swinging plate member 241a that swings by having one end attached to the elastic member 242 and the other end attached with a weight 241b. As a result, compared to when a weight is attached to the swinging shaft, the contact area (support area) between the swinging shaft and the weight is smaller on the swinging shaft, but the plate-like swinging plate member 241a can increase the contact area (support area) with the weight 241b, so that the weight 241b can be supported more stably.

[0129] Furthermore, in the second embodiment, as described above, the weight 241b is attached to the swinging plate member 241a so that its position in the direction from the elastic member 242 toward the weight 241b can be adjusted. Thus, by adjusting the position of the weight 241b, the position of the center of gravity Pwg of the mass body 241 can be changed, and the natural frequency of the dynamic vibration absorber 204 can be adjusted. As a result, the predetermined frequency on the dynamic vibration absorber side can be matched to the vibration of the vibration target (robot arm 202).

[0130] Furthermore, in the second embodiment, as described above, the swinging plate member 241a is formed with the adjustment slot 241c, which extends in the direction from the elastic member 242 toward the weight 241b and attaches the weight 241b so that the position of the weight 241b can be adjusted in the direction from the elastic member 242 toward the weight 241b. This makes it possible to adjust the position of the weight 241b by the adjustment slot 241c in both the direction from the elastic member 242 toward the weight 241b and the direction from the weight 241b toward the elastic member 242, so that the position of the weight 241b in two directions can be adjusted with the simple structure of the adjustment slot 241c.

[0131] Furthermore, in the second embodiment, as described above, the swinging plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b. As a result, by arranging the weight 241b in the space formed by the L-shaped swinging plate member 241a, it is possible to prevent the weight 241b from protruding from the swinging plate member 241a, and therefore it is possible to suppress interference between the dynamic vibration absorber 204 and structures outside the robot 20.

[0132] Furthermore, in the second embodiment, as described above, the dynamic vibration absorber 204 is fixed to the robot arm 202, which is the vibration target. As a result, even if the robot arm 202 vibrates in the event of an emergency stop while the robot arm 202 is moving, the dynamic vibration absorber 204 can quickly converge the vibration of the robot arm 202.

[0133] In the second embodiment, as described above, two elastic members 242 are arranged symmetrically with respect to the first line Lsy passing through the center position Pw of the weight 241b when viewed from the direction from the elastic member 242 toward the weight 241b. This stabilizes the oscillation of the mass body 241 including the weight 241b, thereby preventing an excessive load from being applied to either of the two elastic members 242.

[0134] In the second embodiment, as described above, when viewed from the direction from the elastic members 242 toward the weight 241b, the two elastic members 242 are line-symmetrical with respect to the first line Lsy and are arranged side by side with the weight 241b on the second line Lar that is perpendicular to the first line Lsy. This allows the mass body 241 to oscillate more stably than when the two elastic members 242 and the weight 241b are arranged at positions offset from the second line Lar.

[0135] The other effects of the second embodiment are the same as those of the first embodiment, and therefore will not be described.

[0136] [Modifications] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and includes all modifications (modifications) within the meaning and scope of the claims.

[0137] For example, in the first embodiment, an example was shown in which the dynamic vibration absorber 8 was attached to the horizontal member 62 of the imaging unit support 6, but the present disclosure is not limited to this. In the present disclosure, as in the modified example shown in FIG. 9 , in the robot 400, the dynamic vibration absorber 8 may be attached to the tip of the support member 61 of the imaging unit support 6 on the Z1 direction side, which is located near the horizontal member 62. Furthermore, the dynamic vibration absorber may be attached to a transport vehicle, a storage unit, or a robot arm other than the imaging unit support. Furthermore, the dynamic vibration absorber may be attached to a location other than the first joint (joint JT1).

[0138] In the first and second embodiments, the robot arm 4 includes the joints JT1, JT2, JT3, JT4, JT5, and JT6, but the present disclosure is not limited to this. In the present disclosure, the robot arm may include one to five joints, or seven or more joints.

[0139] In the first and second embodiments, the elastic member 82 is the rubber member 82a, but the present disclosure is not limited to this. In the present disclosure, the elastic member may be an elastically deformable resin member other than a rubber member.

[0140] In addition, in the first embodiment, the weight 81b has a cylindrical shape, but the present disclosure is not limited to this. In the present disclosure, the weight may have a polygonal shape, such as a rectangular shape, in a plan view.

[0141] Furthermore, in the first embodiment described above, an example has been shown in which the dynamic vibration absorber 8 is applied to the robot 100, but the present disclosure is not limited to this. In the present disclosure, the dynamic vibration absorber may be applied to an autonomous mobile vehicle or a robot that does not have a guided vehicle.

[0142] In the first embodiment, the robot 100 autonomously performs the task of transporting items Ma stacked at a predetermined location P1 from the predetermined location P1 to a destination location P2, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot other than a robot that autonomously performs a transport task.

[0143] In the first embodiment, the side cover portions 83a are detachably attached to the lower cover portion 83b with bolts or the like, and thereby attached to the base portion 84. However, the present disclosure is not limited to this. In the present disclosure, the cover member may have another configuration, such as one in which the side cover portions are directly attached to the base portion without providing a lower cover portion.

[0144] In the first embodiment, the cover member 83 covers the mass body 81 and the elastic member 82 from the sides with the side cover portions 83a and covers the mass body 81 and the elastic member 82 from below with the bottom cover portion 83b. However, the present disclosure is not limited to this. In the present disclosure, the cover member may be configured to cover all of the top, bottom, and sides.

[0145] In the first embodiment, the side cover portion 83 a is a cylindrical cover, but the present disclosure is not limited to this. In the present disclosure, the side cover portion may be a cover having a shape other than a cylindrical shape. In this case, the lower cover portion may or may not be a cover having a shape that matches the shape of the side cover portion.

[0146] In the second embodiment, one weight 241b is detachably attached to the swing plate member 241a by the fastening member 241d, but the present disclosure is not limited to this. In the present disclosure, two or more weights may be detachably attached to the swing plate member by fastening members.

[0147] In the second embodiment, the weight 241b has a hexahedral shape, but the present disclosure is not limited to this. In the present disclosure, the weight may have a polyhedral shape.

[0148] Furthermore, in the second embodiment described above, an example was shown in which the weight 241b was attached to the swinging plate member 241a so that its position in the direction from the elastic member 242 toward the weight 241b was adjustable, but the present disclosure is not limited to this. In the present disclosure, the weight may also be attached to the swinging plate member so that its position in a direction perpendicular to the direction from the elastic member toward the weight is adjustable. Furthermore, the mass body may be attached to the elastic member so that its position relative to the elastic member is adjustable in a direction perpendicular to the direction from the elastic member toward the weight. This makes it possible to adjust the center of gravity of the mass body and the intermediate position to overlap when viewed from the direction from the elastic member toward the weight.

[0149] In the second embodiment, the swinging plate member 241a is provided with the adjustment slots 241c that extend in the direction from the elastic member 242 toward the weight 241b and that allow the weight 241b to be attached so that its position in the direction from the elastic member 242 toward the weight can be adjusted. However, the present disclosure is not limited to this. In the present disclosure, the weight may be provided with a plurality of screw holes, and the swinging plate member 241a may be provided with through holes at positions that correspond to the plurality of screw holes.

[0150] In the second embodiment, the swinging plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b, but the present disclosure is not limited to this. In the present disclosure, the swinging plate member may have a U-shape or the like when viewed from the side perpendicular to the direction from the elastic member toward the weight.

[0151] In the second embodiment, two elastic members 242 are arranged line-symmetrically with respect to the first line Lsy passing through the center position Pw of the weight 241b when viewed from the direction from the elastic member 242 toward the weight 241b. However, the present disclosure is not limited to this. In the present disclosure, the elastic members do not have to be arranged line-symmetrically, and one, or three or more elastic members may be arranged.

[0152] In the second embodiment, the two elastic members 242 are symmetrical with respect to the first line Lsy when viewed from the direction from the elastic members 242 toward the weights 241b, and are arranged side by side with the weights 241b on the second line Lar that is perpendicular to the first line Lsy. However, the present disclosure is not limited to this. In the present disclosure, the two elastic members and the weights may be arranged at positions offset from the second line when viewed from the direction from the elastic members toward the weights.

[0153] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0154] (Mode 1) A robot comprising: a robot hand; a robot arm having the robot hand attached to its tip; and a dynamic vibration absorber that suppresses vibrations of a vibrating object that vibrates at a predetermined frequency as the robot arm moves, wherein the dynamic vibration absorber includes: a base; an elastic member attached to the base and having a predetermined spring constant; an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member; and a weight attached to the oscillating member that oscillates together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibrations of the vibrating object that vibrates at the predetermined frequency.

[0155] (Aspect 2) The robot according to Aspect 1, wherein the mass body further includes an adjustment unit that adjusts the vibration frequency of the dynamic vibration absorber to approach the predetermined vibration frequency by adjusting at least one of an attachment position of the weight relative to the oscillating member and a mass of the mass body.

[0156] (Aspect 3) The robot described in Aspect 2, wherein the oscillating member includes an oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, the adjustment unit has a clamping unit inserted into the oscillating shaft and clamping the weight on the oscillating shaft, and the clamping unit is configured to adjust the mounting position on the oscillating shaft by clamping the weight after moving it on the oscillating shaft.

[0157] (Aspect 4) The robot according to aspect 3, wherein the weight is a plurality of weights detachably attached to the swing shaft by the adjustment unit.

[0158] (Aspect 5) The robot according to aspect 3, wherein the weight has a cylindrical shape with an insertion hole formed therein into which the swing shaft is inserted.

[0159] (Aspect 6) The robot according to aspect 1, wherein the elastic member is made of a rubber member having the predetermined spring constant and capable of supporting the one end of the swinging member.

[0160] (Aspect 7) The robot according to aspect 6, wherein the rubber member is configured by a cylindrical member having the predetermined spring constant and capable of supporting the one end of the swinging member.

[0161] (Aspect 8) The robot according to aspect 1, wherein the base portion includes a fixing portion for fixing to the vibration target object.

[0162] (Aspect 9) The robot according to aspect 2, wherein the swinging member includes a swinging plate member having one end attached to the elastic member and the weight attached to the other end, thereby swinging the swinging plate member.

[0163] (Aspect 10) The robot according to aspect 9, wherein the weight is attached to the swinging plate member so that the position of the weight in a direction from the elastic member toward the weight can be adjusted.

[0164] (Aspect 11) The robot according to Aspect 10, wherein the swinging plate member has an adjustment slot formed therein, the adjustment slot extending in a direction from the elastic member toward the weight, and adapted to attach the weight so that the position of the weight in the direction from the elastic member toward the weight can be adjusted.

[0165] (Aspect 12) The robot according to Aspect 9, wherein the swinging plate member has an L-shape when viewed from a side perpendicular to a direction from the elastic member toward the weight.

[0166] (Aspect 13) The robot according to aspect 8, wherein the dynamic vibration absorber is fixed to the robot arm as the vibration target.

[0167] (Aspect 14) The robot according to Aspect 9, wherein the elastic members are arranged in two line symmetrical fashion with respect to a first line passing through a center position of the weight when viewed from a direction from the elastic members toward the weight.

[0168] (Aspect 15) The robot according to Aspect 14, wherein, when viewed from the direction from the elastic members toward the weight, the two elastic members are symmetrical with respect to the first line and are arranged alongside the weight on a second line perpendicular to the first line.

[0169] (Mode 16) A robot comprising: a robot hand that holds an item; a robot arm to which the robot hand is attached at its tip; an imaging unit that is attached at a predetermined location and that images the item held by the robot hand; and a dynamic vibration absorber that is adjusted so that the frequency approaches a predetermined frequency in order to suppress vibrations at the predetermined location that vibrate at a predetermined frequency as the robot arm moves when the imaging unit images the item in order to hold the item with the robot hand.

[0170] (Aspect 17) The robot according to Aspect 16, further comprising an imaging unit support section attached to a first joint section constituting a base of the robot arm, rotating integrally with the first joint section, and supporting the imaging unit, wherein the dynamic vibration reducer is attached to the imaging unit support section.

[0171] (Aspect 18) The robot according to Aspect 17, wherein the imaging unit support section includes: a support member attached to the first joint section and extending upward from the first joint section; and a horizontal member attached to the support member, to which the imaging unit is attached, and which extends horizontally; and the dynamic vibration absorber is attached to the horizontal member or in the vicinity of the horizontal member.

[0172] (Aspect 19) The robot according to aspect 18, wherein the dynamic vibration absorber is a swinging dynamic vibration absorber that swings due to vibration after rotation of the support member that rotates integrally with the first joint portion.

[0173] (Aspect 20) The robot described in Aspect 16, wherein the oscillating dynamic vibration absorber includes: a base portion; an elastic member attached to the base portion and having a predetermined spring constant; an oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member; and a weight attached to the oscillating shaft and oscillating together with the oscillating shaft, and a mass body configured to be adjustable so that the frequency of the oscillating dynamic vibration absorber approaches the predetermined frequency in order to suppress vibrations of a vibrating object that is the predetermined location vibrating at the predetermined frequency.

[0174] (Aspect 21) The robot according to Aspect 20, wherein the mass body further includes an adjustment unit that adjusts the frequency of the oscillating dynamic vibration absorber to approach the predetermined frequency by adjusting at least one of the attachment position of the weight from the one end of the oscillating shaft and the mass of the mass body.

[0175] (Mode 22) A dynamic vibration absorber comprising: a base portion; an elastic member attached to the base portion and having a predetermined spring constant; an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member; and a mass body including a weight attached to the oscillating member and oscillating together with the oscillating member, the mass body being configured to be adjustable so that the frequency of the dynamic vibration absorber approaches a predetermined frequency in order to suppress vibrations of a vibrating object vibrating at the predetermined frequency.

Claims

1. A robot comprising: a robot hand; a robot arm having the robot hand attached to its tip; and a dynamic vibration absorber that suppresses vibration of a vibrating object that vibrates at a predetermined frequency as the robot arm moves, wherein the dynamic vibration absorber includes: a base portion; an elastic member attached to the base portion and having a predetermined spring constant; an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member; and a weight attached to the oscillating member and oscillating together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of the vibrating object that vibrates at the predetermined frequency.

2. A robot as described in claim 1, wherein the mass body further includes an adjustment section which adjusts the vibration frequency of the dynamic vibration reducer to approach the predetermined vibration frequency by adjusting at least one of the attachment position of the weight relative to the oscillating member and the mass of the mass body.

3. The robot described in claim 2, wherein the oscillating member includes a oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, the adjustment unit has a clamping unit that is inserted into the oscillating shaft and clamps the weight on the oscillating shaft, and the clamping unit is configured to adjust the mounting position on the oscillating shaft by clamping the weight after moving it on the oscillating shaft.

4. The robot according to claim 3, wherein the weights are attached individually and detachably to the pivot shaft by the adjustment unit.

5. The robot according to claim 3, wherein the weight has a cylindrical shape with an insertion hole formed therein into which the pivot shaft is inserted.

6. The robot according to claim 1, wherein said elastic member is made of a rubber member having said predetermined spring constant and capable of supporting said one end of said oscillating member.

7. The robot according to claim 6, wherein said rubber member is made of a cylindrical member having said predetermined spring constant and capable of supporting said one end of said oscillating member.

8. The robot according to claim 1, wherein the base portion includes a fixing portion for fixing to the object to be vibrated.

9. A robot as described in claim 2, wherein the oscillating member includes a plate-shaped oscillating plate member having one end attached to the elastic member and having the weight attached to the other end portion thereof, thereby causing the oscillating plate member to oscillate.

10. The robot according to claim 9, wherein the weight is attached to the swinging plate member so that its position in the direction from the elastic member toward the weight can be adjusted.

11. A robot as described in claim 10, wherein the oscillating plate member is formed with an adjustment long hole extending in a direction from the elastic member toward the weight, and for attaching the weight so that the position in the direction from the elastic member toward the weight can be adjusted.

12. The robot according to claim 9, wherein the swinging plate member has an L-shape when viewed from a side perpendicular to the direction from the elastic member toward the weight.

13. The robot according to claim 8, wherein the dynamic vibration absorber is fixed to the robot arm as the object to be vibrated.

14. The robot according to claim 9, wherein the elastic members are arranged in pairs symmetrically with respect to a first line passing through a center position of the weight when viewed from a direction from the elastic members toward the weight.

15. The robot described in claim 14, wherein, when viewed from a direction from the elastic members toward the weight, the two elastic members are symmetrical with respect to the first line, and are arranged next to the weight on a second line perpendicular to the first line.

16. A robot comprising: a robot hand for holding an object; a robot arm having the robot hand attached to its tip; an imaging unit attached to a predetermined location for imaging the object held by the robot hand; and a dynamic vibration absorber whose vibration frequency is adjusted to approach a predetermined frequency in association with movement of the robot arm when imaging the object with the robot hand.

17. The robot described in claim 16, further comprising an imaging unit support section that is attached to a first joint section that constitutes a base of the robot arm, rotates integrally with the first joint section, and supports the imaging unit, and the dynamic vibration reducer is attached to the imaging unit support section.

18. The robot described in claim 17, wherein the imaging unit support section includes: a support member attached to the first joint section and extending upward from the first joint section; and a horizontal member attached to the support member, to which the imaging unit is attached, and which extends horizontally; and the dynamic vibration reducer is attached to the horizontal member or in the vicinity of the horizontal member.

19. The robot according to claim 18, wherein the dynamic vibration absorber is an oscillating dynamic vibration absorber that oscillates due to vibrations generated after the support member rotates integrally with the first joint portion.

20. The robot described in claim 16, wherein the oscillating dynamic vibration absorber includes a base portion, an elastic member attached to the base portion and having a predetermined spring constant, an oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member, and a weight attached to the oscillating shaft and oscillating together with the oscillating shaft, and a mass body configured to be adjustable so that the frequency of the oscillating dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of a vibrating object at the predetermined location vibrating at the predetermined frequency.

21. A robot as described in claim 20, wherein the mass body further includes an adjustment section that adjusts the vibration frequency of the oscillating dynamic vibration absorber to approach the predetermined vibration frequency by adjusting at least one of the attachment position of the weight from the one end of the oscillating shaft and the mass of the mass body.

22. A dynamic vibration absorber comprising: a base portion; an elastic member attached to the base portion and having a predetermined spring constant; an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member; and a weight attached to the oscillating member and oscillating together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches a predetermined frequency in order to suppress vibrations of a vibrating object vibrating at the predetermined frequency.

Images