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WO2023228857A1 - Robot articulé, procédé de commande pour un robot articulé, système de robot et procédé pour fabriquer un article - Google Patents

Robot articulé, procédé de commande pour un robot articulé, système de robot et procédé pour fabriquer un article Download PDF

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Publication number
WO2023228857A1
WO2023228857A1 PCT/JP2023/018592 JP2023018592W WO2023228857A1 WO 2023228857 A1 WO2023228857 A1 WO 2023228857A1 JP 2023018592 W JP2023018592 W JP 2023018592W WO 2023228857 A1 WO2023228857 A1 WO 2023228857A1
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WO
WIPO (PCT)
Prior art keywords
link
axis
motor
robot
drive mechanism
Prior art date
Application number
PCT/JP2023/018592
Other languages
English (en)
Japanese (ja)
Inventor
亮 田中
真一 稲田
皓太 藤井
宏幸 小島
知秀 繁田
秀行 中西
Original Assignee
ローレルバンクマシン株式会社
ローレル機械株式会社
ローレル精機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2022085993A external-priority patent/JP2023173620A/ja
Priority claimed from JP2022085994A external-priority patent/JP2023173621A/ja
Priority claimed from JP2022085995A external-priority patent/JP2023173622A/ja
Application filed by ローレルバンクマシン株式会社, ローレル機械株式会社, ローレル精機株式会社 filed Critical ローレルバンクマシン株式会社
Publication of WO2023228857A1 publication Critical patent/WO2023228857A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Definitions

  • Articulated robots are known as robots that perform actions similar to humans (see, for example, Patent Document 1).
  • articulated robots are sometimes required to perform movements that exceed those of humans.
  • the robot is made larger in order to widen the area that the tip of the robot can reach, there is a risk that it will not be possible to secure enough space to install the robot. For this reason, it is desired to widen the area that the tip of the robot can reach while suppressing the increase in the size of the robot.
  • An articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link.
  • a first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip.
  • An articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and the first link.
  • a first drive mechanism that connects the second link to the second link, wherein the second link is connected to the first link by using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a first drive mechanism that rotates with respect to the link, and a connection between the second link and a link other than the first link and the second link among the plurality of links, or the second link and the tip.
  • the present invention it is possible to widen the area that the tip of the robot can reach while suppressing the increase in size of the robot.
  • FIG. 1 is an explanatory diagram for explaining an overview of a robot system according to a first embodiment.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a telescoping mechanism.
  • FIG. 2 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 1.
  • FIG. 2 is a diagram showing an example of the hardware configuration of the robot controller shown in FIG. 1.
  • FIG. It is an explanatory view for explaining an outline of a robot system concerning a 2nd embodiment.
  • 7 is an explanatory diagram for explaining an example of the link shown in FIG. 6.
  • FIG. 7 is an explanatory diagram for explaining another example of the link shown in FIG. 6.
  • FIG. 2 is an explanatory diagram for explaining an example of a link including a joint mechanism and an expansion/contraction mechanism. It is an explanatory view for explaining an example of the link concerning modification B1. It is an explanatory view for explaining another example of the link concerning modification B1. It is an explanatory view for explaining an outline of a robot system concerning a 4th embodiment.
  • FIG. 2 is an explanatory diagram for explaining an example of a joint mechanism including a telescoping mechanism.
  • 15 is an explanatory diagram for explaining the advantages of the robot shown in FIG. 14.
  • FIG. 1 is an explanatory diagram for explaining an overview of a robot system 1 according to the first embodiment.
  • the body part BDP is an example of a "base”. Further, the link LK1 is an example of a “first link”, and the link LK2 is an example of a “second link”. Therefore, links LK1 and LK2 correspond to "a plurality of links”.
  • Link LK3 is an example of a "tip part.”
  • the joint mechanism AR1 is an example of a "fourth drive mechanism,” and the joint mechanism AR2 is an example of a "fifth drive mechanism.”
  • the joint mechanism AR3 is an example of a "first drive mechanism”
  • the joint mechanism AR5 is an example of a "second drive mechanism.”
  • the direction De1 corresponds to the longitudinal direction of each of the supporting portion LK11, the movable portion LK12, and the movable portion LK13. Moreover, in this embodiment, it is assumed that the direction De11 in which the support portion LK11 extends is the direction De1 in which the link LK1 extends.
  • the joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5 perpendicular to the direction De2 in which the link LK2 extends as a rotation axis.
  • the rotation direction Dr5 in FIG. 1 indicates the rotation direction of the link LK3 when rotating around the axis Ax5.
  • Axis Ax5 is an example of a "second rotation axis.”
  • the direction De2 in which the link LK2 extends corresponds to a specific direction
  • the direction De3 in which the link LK3 extends corresponds to a specific direction.
  • the axis Ax5 corresponds to an axis whose angle with the direction De2 in which the link LK2 extends is larger than a predetermined angle
  • the axis Ax6 corresponds to an axis whose angle with the direction De3 in which the link LK3 extends is a predetermined angle. It corresponds to the following axes.
  • the link LK1 can be expanded and contracted by the expansion and contraction mechanism TE1 provided between the joint mechanism AR2 that rotates the link LK1 and the joint mechanism AR3 that rotates the link LK2.
  • the link LK2 is extended and contracted and the movable portion LK23 is rotated by the extension mechanism TE2 and the joint mechanism AR4 provided between the joint mechanism AR3 and the joint mechanism AR5 that rotates the link LK3.
  • the telescopic mechanisms TE1 and TE2 can widen the reachable area of the robot 10's tip (for example, the end face LK3sf of the link LK3), and the end effector 20 attached to the robot 10 can reach. The area can be expanded.
  • the moving direction of the nut TE21 is switched between the direction Dm2p and the direction Dm2m.
  • the motor MOt2 rotates in the first rotational direction
  • the nut TE21 moves in the direction Dm2p
  • the motor MOt2 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE21 moves in the direction Dm2m.
  • the robot 10 can be controlled with high precision.
  • the link LK2 is configured such that the center of gravity of the movable portion LK23 is located on the axis Ax4 when the movable portion LK23 rotates. In this case, the inertia that occurs when the movable portion LK23 rotates about the axis Ax4 can be reduced, and the deflection, eccentricity, etc. of the entire link LK2 can be further suppressed.
  • link LK2 is not limited to the example shown in FIG. 2.
  • link LK2 contracts, at least a portion of movable portion LK22 may be stored in movable portion LK23.
  • a part of the movable part LK22 may be stored in the support part LK21, and another part of the movable part LK22 may be stored in the movable part LK23.
  • a part of the movable portion LK22 may not be stored inside the support portion LK21 but may be exposed from the support portion LK21.
  • the movable portion LK22 may be configured integrally with the movable portion LK23.
  • the link LK1 includes the support portion LK11, the movable portions LK12 and LK13, the telescoping mechanism TE1, and the motor MOt1.
  • Support portion LK11 is hollow.
  • a telescoping mechanism TE1 is provided inside the support portion LK11.
  • the moving direction of the nut TE11 By switching the rotational direction of the motor MOt1, the moving direction of the nut TE11, that is, the moving direction of the movable portion LK12, is switched between the direction Dm1p and the direction Dm1m.
  • the motor MOt1 rotates in the first rotational direction
  • the nut TE11 moves in the direction Dm1p
  • the motor MOt1 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE11 moves in the direction Dm1m.
  • the support portion LK11 and the movable portion LK12 are integrally constructed, and a telescoping mechanism for moving the movable portion LK13 relative to the integrally constructed support portion LK11 and movable portion LK12 is attached to the link LK1 as a telescoping mechanism TE1. may be provided.
  • FIG. 4 is an explanatory diagram for explaining the advantages of the robot 10 shown in FIG. 1.
  • a robot 10Z vertical 6-axis multi-joint robot
  • the advantages of the robot 10 will be explained using an example of work on articles GD placed on a shelf RK.
  • a robot 10Z which is compared to the robot 10, will be explained.
  • the robot 10Z of the comparative example is the same as the robot 10 except that it has links LK1z and LK2z instead of links LK1 and LK2.
  • Links LK1z and LK2z are fixed at predetermined lengths and do not expand or contract.
  • the length of link LK1z is approximately the same length as link LK1 when link LK1 is contracted to the maximum
  • the length of link LK2z is the length when link LK2 is expanded to the maximum.
  • the length is approximately the same as the length of link LK2 in the case of Note that the length of the link LK1z may be approximately the same length as the length of the link LK1 when the link LK1 is expanded to the maximum extent.
  • the robot 10Z in which one or both of the links LK1z and LK2z are simply made longer without making the links LK1z and LK2z extensible, the robot 10Z itself becomes larger. Therefore, when the robot 10Z is used, the space in which the robot 10Z is installed or the space in which the robot 10Z moves needs to be larger than when the robot 10 is used. Therefore, in a configuration in which the links LK1z and LK2z cannot be extended or contracted (for example, robot 10Z), it is difficult to widen the area that the tip of the robot can reach if space for installing a large robot cannot be secured.
  • the link LK2 expands and contracts, so the area that the tip of the robot 10 (for example, the link LK3) can reach while suppressing the overall size of the robot 10 is suppressed. can be made wider.
  • the robot 10 can be installed even in a narrow place where space for installing the robot 10Z cannot be secured.
  • the robot 10 can work on objects placed close to the robot 10 and work on objects placed far from the robot 10 by expanding and contracting the link LK2. Both tasks can be done efficiently.
  • the robot 10 can linearly move the link LK3 and the end effector 20, as shown by the broken arrow in FIG. 4, by expanding and contracting the link LK2. Therefore, in the present embodiment, even in a narrow space where there are obstacles such as the frame FRM of the shelf RK, the robot 10 can easily work on the article GD placed at the back of the shelf RK by extending and contracting the link LK2. can be done. Furthermore, in this embodiment, for example, the link LK3 and the end effector 20 can be linearly moved by driving the extension mechanism TE2 without simultaneously driving the joint mechanisms AR2 and AR3. Therefore, in the present embodiment, it is possible to suppress the control of the plurality of joint mechanisms AR from becoming complicated, and it is possible to improve the accuracy when moving the link LK3 and the end effector 20 linearly.
  • the link LK1 expands and contracts, so while suppressing the overall size of the robot 10, the area that the tip of the robot 10 can reach is configured so that the link LK1 does not expand or contract. It can be made wider.
  • the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract.
  • the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • FIG. 5 is a diagram showing an example of the hardware configuration of the robot controller 30 shown in FIG. 1.
  • the memory 33 includes, for example, a volatile memory such as a RAM (Random Access Memory) that functions as a work area of the processing device 32, and an EEPROM (Electrically Erasable Programmable Read-On Memory) that stores various information such as a control program PGr. ly Memory) etc. This includes one or both of non-volatile memory.
  • the memory 33 may be removably attached to the robot controller 30.
  • the memory 33 may be a storage medium such as a memory card that is detachable from the robot controller 30.
  • the memory 33 may be, for example, a storage device (for example, online storage) that is communicably connected to the robot controller 30 via a network or the like.
  • the processing device 32 is a processor that controls the entire robot controller 30, and includes, for example, one or more CPUs (Central Processing Units).
  • the processing device 32 controls the operation of the robot 10 by, for example, executing a control program PGr stored in the memory 33 and operating according to the control program PGr.
  • the control program PGr may be transmitted from another device via a network or the like.
  • the processing device 32 when the processing device 32 is configured to include a plurality of CPUs, some or all of the functions of the processing device 32 may be performed by the plurality of CPUs working together according to a program such as the control program PGr. It may be realized by In addition to one or more CPUs, or in place of a part or all of one or more CPUs, the processing device 32 may include a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA ( It may be configured to include hardware such as Field, Programmable, Gate, Array. In this case, part or all of the functions of the processing device 32 may be realized by hardware such as a DSP.
  • a DSP Digital Signal Processor
  • the communication device 34 is hardware for communicating with an external device existing outside the robot controller 30.
  • the communication device 34 has a function of communicating with an external device by short-range wireless communication.
  • the communication device 34 may further have a function of communicating with an external device via a mobile communication network or a network.
  • the operating device 35 is an input device (eg, keyboard, mouse, switch, button, sensor, etc.) that accepts input from the outside.
  • the operating device 35 receives an operation from a worker and outputs operation information corresponding to the operation to the processing device 32.
  • a touch panel that detects contact with the display surface of the display device 36 may be employed as the operating device 35.
  • the display device 36 is an output device such as a display that performs output to the outside.
  • the display device 36 displays images under the control of the processing device 32, for example.
  • the operating device 35 and the display device 36 may have an integrated configuration (for example, a touch panel).
  • the driver circuit 37 is hardware that outputs signals for driving the robot 10 to the robot 10 under the control of the processing device 32.
  • the driver circuit 37 outputs signals for driving the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, MOt2, etc. to the robot 10 under the control of the processing device 32.
  • the motors MOa1, MOa2, MOa2, MOa4, MOa5, and MOa6 are motors that drive the joint mechanisms AR1, AR2, AR3, AR4, AR5, and AR6, respectively.
  • the motors MOt1 and MOt2 are motors that drive the telescoping mechanisms TE1 and TE2, respectively.
  • the robot controller 30 controls the operation of the robot 10 by controlling the motors MOa1, MOa2, MOa2, MOa4, MOa5, MOa6, MOt1, and MOt2.
  • the robot 10 includes a body part BDP, a link LK3, a plurality of links LK1 and LK2 that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5.
  • the joint mechanism AR3 connects the link LK1 and the link LK2, and rotates the link LK2 with respect to the link LK1 using an axis Ax3, which is larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis.
  • the joint mechanism AR5 connects the link LK2 and the link LK3, and rotates the link LK3 with respect to the link LK2 using an axis Ax5, which is larger than a predetermined angle at an angle with the direction De2 in which the link LK2 extends, as a second rotation axis.
  • the link LK2 includes a support portion LK21 connected to the link LK1, a movable portion LK23 connected to the link LK3, a movable portion LK22 that connects the support portion LK21 and the movable portion LK23, a joint mechanism AR4, and a telescopic mechanism TE2. and has.
  • the support portion LK21 is hollow.
  • the link LK2 is retracted, at least a portion of the movable part LK22 is stored inside the support part LK21.
  • the motor MOa4 since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances caused by the revolution of the motor MOa4 itself.
  • the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10 can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10. As a result, in this embodiment, for example, the robot 10 can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10 moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • the support portion LK11 is hollow.
  • the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1.
  • the expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the reachable area of the tip for example, link LK3
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4, a motor MOa4 that drives the joint mechanism AR4, and a motor MOa4 that drives the joint mechanism AR4.
  • the operation of the robot 10 is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2. In this manner, in this embodiment, the robot controller 30 can easily control the operation of the robot 10.
  • the robot system 1 includes a robot 10, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10 and the end effector 20.
  • the robot 10 is used in the robot system 1 in which the area reachable by the tip portion (for example, the link LK3) is widened while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10 and operations on objects placed far from the robot 10. It can be carried out.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • the robot 10A is similar to the robot 10 shown in FIG. 1 except that it has a link LK2a instead of the link LK2 shown in FIG.
  • Link LK2a is another example of a "second link.” Below, link LK2a will be mainly explained.
  • the supporting part LK21a is another example of the "first part”
  • the movable part LK22a is another example of the "third part”
  • the movable part LK23a is another example of the "second part”.
  • the joint mechanism AR4a is another example of the "third drive mechanism”.
  • the link LK2a is configured such that the axis Axte2 along which the movable portion LK22a moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22a rotates. .
  • the joint mechanism AR4a is attached to, for example, one of the two ends of the support portion LK21a that is closer to the movable portion LK23a.
  • the joint mechanism AR4a includes a stay AR41a, a transmission shaft AR42a to which rotation of the motor MOa4 is transmitted, and a rotating gear AR47a attached to the transmission shaft AR42a.
  • the stay AR41a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a so as to protrude from the movable part LK22a.
  • a motor MOa4 is attached to a portion of the stay AR41a that protrudes from the movable portion LK22a. That is, the motor MOa4 is attached to the support portion LK21a, which does not move even if the movable portion LK22a moves, via the stay AR41a.
  • the stay AR41a is provided with a transmission shaft AR42a and a rotating gear AR47a.
  • the rotating gear AR47a is attached to the transmission shaft AR42a such that the transmission shaft AR42a is located at the center of the rotating gear AR47a when viewed in plan from the direction De2.
  • a plurality of grooves are provided on the outer periphery of the movable portion LK22a for operating the movable portion LK22a as a gear that meshes with the rotating gear AR47a.
  • Each of the plurality of grooves provided on the outer periphery of the movable portion LK22a extends in the longitudinal direction (direction De2) of the movable portion LK22a.
  • the movable portion LK22a moves relative to the support portion LK21a and the relative position of the rotating gear AR47a with respect to the movable portion LK22a changes, the movable portion LK22a meshes with the rotating gear AR47a. That is, when the link LK2a expands and contracts along the direction De21, the rotary gear AR47a can maintain a state of meshing with the movable part LK22a, no matter where the movable part LK22a stops.
  • the motor MOa4 since the motor MOa4 is attached to the support part LK21a via the stay AR41a, even if the movable parts LK22a and LK23a rotate, it does not rotate about the axis Ax4. Therefore, in this embodiment as well, even if the movable parts LK22a and LK23a rotate about the axis Ax4, the motor MOa4 itself does not rotate (revolution) around the axis Ax4, and therefore disturbances occur due to the rotation (revolution). can be restrained from doing so.
  • the nut TE21 fixed to the movable part LK22a rotates together with the movable part LK22a.
  • the ball screw TE22 rotates together with the nut TE21 so that the nut TE21 does not move along the ball screw TE22 as the nut TE21 rotates.
  • the ball screw TE22 is attached to the motor MOt2 so as to idle with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22a is rotated by the joint mechanism AR4a. Thereby, even when the movable part LK22a is rotated by the joint mechanism AR4a, it does not move along the axis Axte2.
  • the transmission shaft AR42a is attached to the motor MOa4 so as not to idle relative to the motor MOa4 when the ball screw TE22 rotates with the rotation of the motor MOt2.
  • the movable part LK22a in a state of meshing with the rotating gear AR47a does not rotate about the axis Ax4 even when the ball screw TE22 rotates. Therefore, when the ball screw TE22 rotates, the nut TE21 fixed to the movable part LK22a does not rotate about the axis Axte2 as the axis of rotation, but rather changes the relative position of the nut TE21 with respect to the ball screw TE22.
  • the movable parts LK22a and LK23a move along the axis Axte2 (ie, direction De21) as the nut TE21 moves.
  • the joint mechanism AR4a is attached to the end closer to the movable part LK23a of the two ends of the support part LK21a, and is able to move the movable part LK22a with respect to the support part LK21a regardless of the expansion/contraction state of the link LK2a. It is possible to rotate.
  • link LK2a including the joint mechanism AR4a and the telescoping mechanism TE2 will be described.
  • FIG. 8 is an explanatory diagram for explaining another example of link LK2a shown in FIG. 6. Elements similar to those described in FIGS. 1 to 7 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the upper part of FIG. 8 shows the link LK2a in a contracted state, and the lower part in FIG. 8 shows the link LK2a in an extended state.
  • the link LK2a shown in FIG. 8 is similar to the link LK2a shown in FIG. 7, except that the length of the movable portion LK23a along the direction De21 is shorter than the length of the movable portion LK23a shown in FIG. 7 along the direction De21. It is.
  • the length of the movable portion LK23a along the direction De21 may be shorter than the diameter of the movable portion LK23a, or may be the same as the diameter of the movable portion LK23a.
  • the length (longitudinal length) of the movable portion LK23a along the direction De2 is made long to some extent (for example, longer than the diameter of the movable portion LK23a). This increases the weight of the movable portion LK23a. Thereby, also in this embodiment, the natural vibration frequency of the movable portion LK23a can be made small.
  • the movable portions LK22a and LK23a are integrally configured.
  • the natural vibration frequency of can be reduced.
  • the joint mechanism AR4a is connected to the tip of the robot 10A (for example, the end of the link LK3).
  • the weight of the portion up to the end surface LK3sf) can be reduced.
  • the length of the support portion LK21a and the movable portion LK22a along the direction De21 is lengthened.
  • the expansion/contraction range of the link LK2a can be increased.
  • the expansion/contraction range of the link LK2a is, for example, the difference between the length of the link LK2a along the direction De2 when the link LK2a is contracted to the maximum and the length of the link LK2a along the direction De2 when the link LK2a is expanded to the maximum.
  • the range corresponds to
  • the joint mechanism AR4a rotates the movable part LK22a with respect to the support part LK21a using the axis Ax4, which has an angle equal to or less than a predetermined angle with the direction De21 in which the support part LK21a extends, as a third rotation axis, thereby rotating the movable part LK23a. is rotated relative to the support portion LK21a.
  • the expansion/contraction mechanism TE2 expands/contracts the link LK2a by moving the movable portion LK22a with respect to the support portion LK21a along the extending direction (direction De21) of the support portion LK21a. Also in this embodiment, the same effects as in the first embodiment described above can be obtained.
  • the movable part LK22b is hollow.
  • a motor MOa4 is attached inside the movable part LK22b. Therefore, in this modification, the transmission shaft AR42, pulley AR43, pulley AR44, and timing belt AR45 shown in FIG. 2 can be omitted, and the configuration of the joint mechanism AR4b can be simplified.
  • the joint mechanism AR4b includes a motor fixed portion AR41b provided at an end closer to the movable portion LK23 of the two ends of the movable portion LK22b (that is, near the boundary between the movable portion LK22b and the movable portion LK23); It has a transmission shaft AR46 and a gear AR47.
  • the transmission shaft AR46 is attached to the motor MOa4 so that the rotation of the motor MOa4 is transmitted. Further, the transmission shaft AR46 is connected to the movable portion LK23 via a gear AR47. Thereby, for example, when the motor MOa4 rotates, the rotation of the motor MOa4 is transmitted to the movable part LK23 via the transmission shaft AR46 and the gear AR47. As a result, the movable portion LK23 rotates about the axis Ax4. Note that since the motor MOa4 is attached to the movable part LK22, even if the movable part LK23 rotates about the axis Ax4, it does not rotate about the axis Ax4. Therefore, in this modification as well, even when the movable portion LK23 rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the link LK2b can be configured such that the center of gravity of the entire link LK2b is located on the axis Ax4 when the movable portion LK23 rotates. In this case, for example, it is possible to suppress the deflection of the link LK2b when the link LK2b is expanded or contracted by the expansion mechanism TE2.
  • the length of the ball screw TE22 along the direction De21 is determined so that the ball screw TE22 does not interfere with the motor MOa4 even when the link LK2b is contracted to the maximum. For example, if the length of the movable portion LK22b along the direction De21 is the same as the length of the movable portion LK22 along the direction De21 shown in FIG. It is shorter than the length along direction De21 of TE22.
  • link LK2b is not limited to the example shown in FIG. 9.
  • the movable portion LK22b may be configured to cover the outer periphery of the support portion LK21 by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22.
  • link LK2b contracts, at least a portion of support portion LK21 may be stored in movable portion LK22b.
  • the movable portion LK12 covers the outer periphery of the support portion LK11, and when the link LK1 contracts, at least a portion of the support portion LK11 becomes the movable portion. It may be configured to be stored in LK12.
  • a 6-axis 2-extensible articulated robot in which two extension mechanisms TE1 and TE2 are added to a vertical 6-axis articulated robot is illustrated as the robot 10 or 10A, but the present invention does not apply to such an aspect. It is not limited to.
  • the robot 10 or 10A may be a 6-axis, 1-extension, multi-joint robot obtained by adding one extension/contraction mechanism TE2 to a vertical 6-axis, multi-joint robot.
  • the robot 10 or 10A may have a configuration in which two telescopic mechanisms TE1 and TE2 are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2 is added to an articulated robot with seven or more axes. It may be an additional configuration.
  • the robot 10 or 10A may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10 or 10A may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3.
  • FIG. 10 is an explanatory diagram for explaining an overview of the robot system 1 according to the third embodiment.
  • the robot system 1 includes, for example, a robot 10B, an end effector 20 that is detachably attached to the robot 10B, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20.
  • the robot 10B is an example of an "articulated robot.”
  • the robot 10B is similar to the robot 10 shown in FIG. 1, except that it has a link LK2c instead of the link LK2 shown in FIG.
  • Link LK2c is an example of a "second link.” Therefore, links LK1 and LK2c correspond to "a plurality of links”. Below, link LK2c will be mainly explained. In addition, below, link LK2c may be called link LK2.
  • the link LK2c is configured to be expandable and contractible, for example, along the direction De2 in which the link LK2c extends.
  • the link LK2c includes a support portion LK21c connected to the link LK1, movable portions LK22c and LK23c, a telescoping mechanism TE2c, and a joint mechanism AR4c.
  • Movable portion LK22c connects support portion LK21c and movable portion LK23c.
  • Movable part LK23c is connected to link LK3.
  • a case is assumed in which each of the support portion LK21c, the movable portion LK22c, and the movable portion LK23c extends along the direction De2.
  • the direction De2 corresponds to the longitudinal direction of each of the supporting portion LK21c, the movable portion LK22c, and the movable portion LK23c. Furthermore, in this embodiment, it is assumed that the direction De22 in which the movable portion LK22c extends is the direction De2 in which the link LK2c extends.
  • the telescopic mechanism TE2c connects the movable part LK22c and the movable part LK23c, and moves the movable part LK23c with respect to the movable part LK22c along the direction De22 in which the movable part LK22c extends.
  • the link LK2c expands and contracts along the direction De22 (namely, the direction De2).
  • Direction Dm2 in FIG. 10 indicates the expansion/contraction direction (direction along direction De2) of link LK2c.
  • the joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4 parallel to the direction De21 in which the support portion LK21c extends as a rotation axis.
  • the rotation direction Dr4 in FIG. 10 indicates the rotation direction of the movable portion LK22c when rotating around the axis Ax4.
  • the movable part LK23c is connected to the movable part LK22c so as to rotate together with the movable part LK22c.
  • FIG. 11 is an explanatory diagram for explaining an example of the link LK2c including the joint mechanism AR4c and the telescopic mechanism TE2c.
  • the upper part of FIG. 11 shows the link LK2c in a contracted state, and the lower part of FIG. 11 shows the link LK2c in an expanded state.
  • the link LK2c drives the support portion LK21c, the movable portions LK22c and LK23c, the telescopic mechanism TE2c, the joint mechanism AR4c, the motor MOa4 that drives the joint mechanism AR4c, and the telescopic mechanism TE2c.
  • Movable portion LK22c is hollow.
  • a telescopic mechanism TE2c is provided inside the movable portion LK22c.
  • the motor MOt2 is attached inside the movable portion LK22c, and the motor MOa4 is attached inside the supporting portion LK21c.
  • Motor MOa4 is an example of a "first motor”
  • motor MOt2 is an example of a "second motor.”
  • the telescopic mechanism TE2c includes, for example, a nut TE21 fixed to one of the two ends of the movable part LK23c that is closer to the support part LK21c, and a ball screw extending along the direction De22 and inserted into the nut TE21. TE22.
  • the ball screw TE22 is attached to the motor MOt2, for example, so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22c.
  • the ball screw TE22 rotates about the axis Axte2 as the motor MOt2 rotates.
  • the axis Axte2 is, for example, the central axis of the ball screw TE22.
  • the nut TE21 moves along the axis Axte2 as the ball screw TE22 rotates. Since the nut TE21 is fixed to the movable portion LK23c, the movable portion LK23c moves along the axis Axte2 (ie, the direction De22) as the nut TE21 moves. In this way, the ball screw TE22 movably supports the movable portion LK23c.
  • the movable portion LK23c is configured to be able to store the ball screw TE22.
  • the central axis of the movable portion LK23c is the same axis as the central axis of the ball screw TE22, that is, the axis Axte2.
  • the movable portion LK23c is connected to the movable portion LK22c so as not to rotate about the axis Axte2 even when the ball screw TE22 rotates.
  • the nut TE21 fixed to the movable portion LK23c moves along the axis Axte2 as the ball screw TE22 rotates, as described above.
  • link LK2c extends in direction Dm2p.
  • the link LK2c extends at most by approximately the same length as the length of the movable portion LK23c.
  • the motor MOt2 is connected to the support portion of the two ends of the movable portion LK22c so that the movable portion LK23c does not move in the direction Dm2 even when the telescopic mechanism TE2c performs a telescopic operation to move the movable portion LK23c in the direction Dm2p or Dm2m. It is attached to the end near LK21c. That is, the motor MOt2 is attached to one of the two ends of the movable portion LK22c that is closer to the support portion LK21c so that the movable portion LK23c does not move in the direction Dm2 even if the movable portion LK23c moves in the direction Dm2p or Dm2m. .
  • the joint mechanism AR4c is attached to, for example, one of the two ends of the support portion LK21c that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21c and the movable portion LK22c).
  • the joint mechanism AR4c includes a motor fixed portion AR48, a transmission shaft AR46, and a gear AR47.
  • a motor MOa4 disposed inside the support portion LK21c is fixed to a motor fixed portion AR48 provided at the end closer to the movable portion LK22c of the two ends of the support portion LK21c. In this way, since the motor MOa4 is fixed to the support portion LK21c, it does not move in the direction Dm2 even when the expansion and contraction mechanism TE2c performs an expansion and contraction operation.
  • the motor MOa4 is attached to the support part LK21c, even if the joint mechanism AR4c performs a rotation operation of rotating the movable part LK22c with the axis Ax4 as the rotation axis, it cannot rotate with the axis Ax4 as the rotation axis. There isn't. Therefore, in the present embodiment, even when the movable portion LK22c rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the influence of disturbances such as external vibrations on eccentricity and speed control in the rotational movement is greater than in the turning movement by the joint mechanisms AR2, AR3, or AR5.
  • the relative positions of the motor MOa4 and the joint mechanism AR4c with respect to the movable portion LK22c do not change. Therefore, in this embodiment, it is possible to suppress the occurrence of disturbances that affect the rotational movement of the joint mechanism AR4c, and it is possible to accurately control the rotational movement of the joint mechanism AR4c. That is, in this embodiment, the robot 10B can be controlled with high precision.
  • the rotation axis of the movable portion LK22c is parallel to the central axis of the movable portion LK23c.
  • the axis Axte2 (the central axis of each of the ball screw TE22, the movable part LK22c, and the movable part LK23c) when the movable part LK23c moves is the same axis as the axis Ax4 when the movable part LK22c rotates, or They are configured to have almost the same axis.
  • the robot 10B can be controlled with high precision.
  • the link LK2c is configured such that the center of gravity of the movable parts LK22c and LK23c is located on the axis Ax4 when the movable part LK22c rotates. In this case, the inertia that occurs when the movable parts LK22c and LK23c rotate about the axis Ax4 can be reduced, and the deflection and eccentricity of the entire link LK2c can be further suppressed.
  • the expansion and contraction of the link LK2c is realized by moving the movable part LK23c along the axis Axte2 with respect to the movable part LK22c, and the rotation of the link LK2c is achieved by moving the movable part LK22c around the axis Ax4 as the rotation axis. This is achieved by rotating as .
  • the objects to be controlled when extending, contracting and rotating the link LK2c are separated into the movable portion LK22c and the movable portion LK23c, so that the control of the motors MOt2 and MOa4 for moving the link LK2c is difficult. Complications can be suppressed.
  • the length (longitudinal length) of the movable parts LK22c and LK23c along the direction De2 is made long to a certain extent (for example, longer than the diameter of the movable part LK22c), so that the movable parts LK22c and LK23c is increasing the weight.
  • the natural vibration frequency of the movable parts LK22c and LK23c can be reduced.
  • vibrations generated during work by the end effector 20 attached to the link LK3 can be absorbed, and vibrations of the link LK3 and the end effector 20 can be suppressed.
  • the natural vibration frequencies of the movable parts LK22c and LK23c are small, vibrations in the portion of the robot 10B from the joint mechanism AR5 to the base part BSP are suppressed from propagating to the link LK3 and the end effector 20. can do.
  • the operational accuracy of the link LK3 and the end effector 20 while the links LK1 and LK2c are being extended, contracted or extended may be important. In this case, it is important to increase the length of the movable parts LK22c and LK23c along the direction De2 and the weight of the movable parts LK22c and LK23c to some extent.
  • link LK2c is not limited to the example shown in FIG. 11.
  • a part of the movable portion LK23c may not be stored inside the movable portion LK22c, but may be exposed from the movable portion LK22c.
  • the movable portion LK23c may be configured to cover the outer periphery of the movable portion LK22c by devising the structure of the motor MOt2, the nut TE21, and the ball screw TE22.
  • the motor MOa4 may be arranged outside the support portion LK21c.
  • the robot 10B includes a body part BDP, a link LK3, a plurality of links LK1 and LK2c that connect the body part BDP and the link LK3, a joint mechanism AR3, and a joint mechanism AR5.
  • the joint mechanism AR3 connects the link LK1 and the link LK2c, and rotates the link LK2c with respect to the link LK1 using an axis Ax3, which makes an angle larger than a predetermined angle with the direction De1 in which the link LK1 extends, as a first rotation axis.
  • the joint mechanism AR5 connects the link LK2c and the link LK3, and rotates the link LK3 with respect to the link LK2c using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2c extends, as a second rotation axis.
  • the link LK2c includes a supporting portion LK21c connected to the link LK1, a movable portion LK23c connected to the link LK3, a movable portion LK22c connecting the supporting portion LK21c and the movable portion LK23c, a joint mechanism AR4c, and a telescopic mechanism TE2c. and has.
  • the joint mechanism AR4c rotates the movable portion LK22c with respect to the support portion LK21c using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21c extends, as a third rotation axis.
  • the expansion/contraction mechanism TE2c expands/contracts the link LK2c by moving the movable part LK23c with respect to the movable part LK22c along the extending direction (direction De22) of the movable part LK22c.
  • the rotation of the movable portion LK22c of the link LK2c is performed by the joint mechanism AR4c, and the expansion and contraction of the link LK2c is performed by the expansion and contraction mechanism TE2c. Therefore, in this embodiment, it is possible to suppress the rotation of the movable portion LK22c of the link LK2c and the control of the expansion and contraction of the link LK2c from becoming complicated.
  • the robot 10B further includes a motor MOa4 that drives the joint mechanism AR4c, and a motor MOt2 that drives the telescoping mechanism TE2c.
  • the motor MOa4 is configured not to move in the expansion/contraction direction (direction Dm2) of the link LK2c even when the link LK2c expands or contracts, and in the rotational direction Dr4 of the movable portion LK22c even when the movable portion LK22c rotates with respect to the support portion LK21c. It is attached to one of the two ends of the support part LK21c, which is closer to the movable part LK22c, so as not to move.
  • the third rotation axis (axis Ax4) of the movable portion LK22c when the movable portion LK22c is rotated by the joint mechanism AR4c is parallel to the central axis of the movable portion LK23c.
  • the link LK1 is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10B can reach can be made wider than in the case where the link LK1 does not extend or contract, while suppressing the overall size of the robot 10B. As a result, in this embodiment, for example, the robot 10B can work on the article GD placed at a high position that cannot be reached when the link LK1 does not extend or contract. In addition, in the present embodiment, the robot 10B moves the joint mechanism AR3 to a high position using the telescoping mechanism TE1, thereby easily working on the article GD placed at a high position on the shelf RK and at the back of the shelf RK. It can be carried out.
  • the support portion LK11 is hollow.
  • the link LK1 is retracted, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • the robot 10B further includes a joint mechanism AR1 and a joint mechanism AR2.
  • the joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis.
  • the joint mechanism AR2 connects the body part BDP and the link LK1, and connects the link LK1 to the body part with an axis Ax2 that is larger than a predetermined angle at an angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP as a fifth rotation axis. Rotate against BDP.
  • the link LK3 is configured to rotate at least a portion of the link LK3 by using an axis Ax6 as a sixth rotation axis, which makes an angle with the second rotation axis (axis Ax5) of the link LK that is larger than a predetermined angle when the link LK3 is rotated by the joint mechanism AR5.
  • the link LK1 includes a support portion LK11 connected to the body portion BDP, a movable portion LK13 connected to the link LK2c, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13. It includes an expansion and contraction mechanism TE1.
  • the expansion mechanism TE1 expands and contracts the link LK1 by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the reachable area of the tip for example, link LK3
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa4 that drives the joint mechanism AR4c, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3,
  • the operation of the robot 10B is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt2 that drives the telescoping mechanism TE2c. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10B.
  • the robot system 1 includes a robot 10B, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10B and the end effector 20.
  • the robot 10B is used in the robot system 1, with the robot 10B having a wider area reachable by the tip (for example, the link LK3) while suppressing the overall size from increasing. Therefore, in this embodiment, even in a narrow space, the robot system 1 can efficiently perform both operations on objects placed near the robot 10B and operations on objects placed far from the robot 10B. It can be carried out.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • FIG. 12 is an explanatory diagram for explaining an example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10B has a link LK2d instead of the link LK2c shown in FIG.
  • the upper part of FIG. 12 shows the link LK2d in a contracted state, and the lower part of FIG. 12 shows the link LK2d in an extended state.
  • Link LK2d is another example of a "second link.”
  • link LK2d may be called link LK2.
  • the link LK2d is the same as the link LK2c shown in FIG. 11, except that it has a support portion LK21d and a joint mechanism AR4d instead of the support portion LK21c and joint mechanism AR4c shown in FIG.
  • the support part LK21d is another example of the "first part”
  • the joint mechanism AR4d is another example of the "seventh drive mechanism”.
  • FIG. 12 the support portion LK21d and the joint mechanism AR4d will be mainly explained.
  • the link LK2d includes a support portion LK21d, movable portions LK22c and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4d, a motor MOa4, and a motor MOt2.
  • the joint mechanism AR4d is attached to, for example, one of the two ends of the support portion LK21d that is closer to the movable portion LK22c (that is, near the boundary between the support portion LK21d and the movable portion LK22c).
  • the joint mechanism AR4d includes a stay AR41, a transmission shaft AR42 to which the rotation of the motor MOa4 is transmitted, pulleys AR43 and AR44, a timing belt AR45, a transmission shaft AR46 to which the rotation of the pulley AR44 is transmitted, and a gear AR47. and has.
  • the stay AR41 is attached to the end closer to the movable part LK22c of the two ends of the support part LK21d so as to protrude from the support part LK21d.
  • a motor MOa4 is attached to a portion of the stay AR41 that protrudes from the support portion LK21d. That is, the motor MOa4 is attached via the stay AR41 to the support portion LK21d that does not move even if the movable portion LK23c moves.
  • pulleys AR43 and AR44 are provided in parallel on the stay AR41.
  • pulley AR43 is attached to transmission shaft AR42.
  • the pulley AR44 is arranged so that the entire pulley AR44 overlaps the movable portion LK22c when viewed in plan from the direction De2.
  • Timing belt AR45 connects pulley AR43 and pulley AR44 so that rotation of pulley AR43 is transmitted to pulley AR44.
  • a transmission shaft AR46 is attached to the pulley AR44.
  • the central axis of the transmission shaft AR46 corresponds to the axis Ax4.
  • the transmission shaft AR46 is connected to the movable portion LK22c via a gear AR47.
  • the rotation of the motor MOa4 is transmitted to the movable part LK22c via the transmission shaft AR42, pulley AR43, timing belt AR45, pulley AR44, transmission shaft AR46, and gear AR47.
  • the movable portion LK22c rotates about the axis Ax4.
  • the stay AR41 is rotatably attached to the support portion LK21d with respect to the movable portion LK22c. Therefore, even if the movable portion LK22c rotates about the axis Ax4, the motor MOa4 and stay AR41 do not rotate about the axis Ax4. Therefore, even in the example shown in FIG.
  • FIG. 13 is an explanatory diagram for explaining another example of link LK2 according to modification B1. Elements similar to those described in FIGS. 10 to 12 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10B has a link LK2e instead of the link LK2c shown in FIG.
  • the upper part of FIG. 13 shows the link LK2e in a contracted state, and the lower part in FIG. 13 shows the link LK2e in an extended state.
  • Link LK2e is another example of a "second link.”
  • link LK2e may be called link LK2.
  • the link LK2e is similar to the link LK2c shown in FIG. 11, except that it has a supporting portion LK21e, a movable portion LK22e, and a joint mechanism AR4e instead of the supporting portion LK21c, movable portion LK22c, and joint mechanism AR4c shown in FIG. be.
  • the support part LK21e is another example of the "first part”
  • the movable part LK22e is another example of the "third part”
  • the joint mechanism AR4e is another example of the "seventh drive mechanism”.
  • FIG. 13 the supporting portion LK21e, the movable portion LK22e, and the joint mechanism AR4e will be mainly described.
  • the link LK2e includes a support portion LK21e, movable portions LK22e and LK23c, a telescoping mechanism TE2c, a joint mechanism AR4e, a motor MOa4, and a motor MOt2.
  • Movable portion LK22e is hollow.
  • a telescopic mechanism TE2c is provided inside the movable portion LK22e.
  • the telescoping mechanism TE2c is similar to the telescoping mechanism TE2c shown in FIG. 11.
  • the joint mechanism AR4e is attached to, for example, one of the two ends of the support portion LK21e that is closer to the movable portion LK22e (that is, near the boundary between the support portion LK21e and the movable portion LK22e).
  • the joint mechanism AR4e includes a stay AR41e, a transmission shaft AR42e to which rotation of the motor MOa4 is transmitted, and a gear AR47e attached to the transmission shaft AR42e.
  • the movable portion LK23c is connected to the movable portion LK22e so as to rotate together with the movable portion LK22e, the movable portion LK23c rotates integrally with the movable portion LK22e.
  • the motor MOa4 is attached to the support portion LK21e via the stay AR41e, even if the movable portions LK22e and LK23c rotate, the motor MOa4 does not rotate about the axis Ax4 as the rotation axis. Therefore, in the example shown in FIG. 13 as well, even when the movable portion LK22e rotates about the axis Ax4, it is possible to suppress the disturbance caused by the rotation of the motor MOa4 itself.
  • the link LK2e is configured such that the axis Axte2 along which the movable portion LK23c moves is the same or approximately the same axis as the axis Ax4 when the movable portion LK22e rotates. ing.
  • the gear AR47e that transmits the rotation of the motor MOa4 to the movable part LK22e is provided outside the movable part LK22e, so the length of the ball screw TE22 along the direction De22 is the link LK2c shown in FIG. It can be longer than . Therefore, in the link LK2e shown in FIG. 13, the expansion/contraction range of the link LK2e can be made larger than that of the link LK2c shown in FIG. 11.
  • the expansion/contraction range of the link LK2e is the length of the link LK2e along the direction De2 when the link LK2e is contracted to the maximum, and the length of the link LK2e along the direction De2 when the link LK2e is expanded to the maximum. This is the range corresponding to the difference between
  • the configuration of the link LK2 according to this modification is not limited to the example shown in FIGS. 12 and 13.
  • the motor MOt2 may be arranged outside the movable part LK22e and inside the support part LK21e.
  • the ball screw TE22 is attached to the motor MOt2 so that the center axis of the ball screw TE22 coincides with the center axis of the movable portion LK22e.
  • the motor MOt2 can be placed outside the movable part LK22e and the support part LK21e. good.
  • the ball screw TE22 is attached to the motor so that it idles with respect to the motor MOt2 together with the nut TE21 when the movable portion LK22e is rotated by the joint mechanism AR4e. Attached to MOt2. Thereby, the movable portion LK23c does not move along the axis Axte2 even when the movable portions LK22e and LK23c are rotated by the joint mechanism AR4e.
  • the length of the ball screw TE22 along the direction De22 can be increased, so that the expansion/contraction range of the link LK2e can be increased. Furthermore, in a configuration in which the motor MOt2 is arranged outside the movable portion LK22e, when the link LK2e contracts, a part of the movable part LK23c is stored in the support part LK21e, and another part of the movable part LK23c is moved to the movable part LK22e. may be stored in That is, in a configuration in which the motor MOt2 is disposed outside the movable portion LK22e, the length of the movable portion LK23c may be longer than the length of the movable portion LK22e.
  • the robot 10B according to this modification is the same as the robot 10B shown in FIG. 10, except that it has a link LK2d or LK2e instead of the link LK2c shown in FIG.
  • the robot 10B may have a configuration in which two telescopic mechanisms TE1 and TE2c are added to an articulated robot with seven or more axes, or one telescopic mechanism TE2c is added to an articulated robot with seven or more axes. It may be a configuration.
  • the robot 10B may have one or more links connecting the body part BDP and the link LK1. That is, the robot 10B may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10B has include links LK1 and LK2. Three or more links excluding link LK3 correspond to "multiple links".
  • the articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than a predetermined angle with the direction in which the first link extends as a first rotation axis.
  • a drive mechanism a second drive that connects the second link and links other than the first link and the second link among the plurality of links, or connects the second link and the tip portion; a second drive mechanism that rotates the tip with respect to the second link using an axis that makes an angle with the direction in which the second link extends larger than the predetermined angle as a second rotation axis; , wherein the second link is connected to a first portion connected to the first link and a link other than the first link and the second link among the plurality of links or to the tip portion.
  • the third rotation axis is an axis where the angle between the second part, the third part connecting the first part and the second part, and the direction in which the first part extends is equal to or less than the predetermined angle.
  • a seventh drive mechanism that rotates the third portion relative to the first portion; and a seventh drive mechanism that moves the second portion relative to the third portion along the extending direction of the third portion. It is characterized by including a third expansion and contraction mechanism that expands and contracts the second link.
  • the third portion is hollow, and when the second link contracts, at least a portion of the second portion is stored inside the third portion. It may also be characterized by
  • Appendix 1-3 The articulated robot according to Appendix 1-1 or Appendix 1-2, further comprising a first motor that drives the seventh drive mechanism and a second motor that drives the third telescoping mechanism,
  • the motor is configured to move the third end of the two ends of the first portion so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts.
  • the second motor is attached to an end close to the third link so that it does not move relative to the second link in the direction of expansion and contraction of the second link even when the second link expands and contracts. It may be characterized in that it is attached to one of the two ends of the part that is closer to the first part.
  • a third rotation axis of the third portion when the third portion is rotated by the seventh drive mechanism is parallel to a central axis of the second portion. This may be a feature.
  • the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion and the fifth portion.
  • a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
  • the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
  • a fourth drive for rotating at least a portion of the base about an axis having an angle less than or equal to the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that connects the base and the first link, the fifth rotation axis being an axis that is larger than the predetermined angle with a direction perpendicular to the bottom surface of the base; a fifth drive mechanism that rotates the first link relative to the base; the distal end is connected to the second link, and the distal end is rotated by the second drive mechanism; a sixth drive mechanism that rotates at least a portion of the distal end with respect to the second link using an axis that makes an angle larger than the predetermined angle with the second rotation axis as a sixth rotation axis;
  • the links may be the first link and the second link.
  • the first link includes a fourth portion connected to the base, a fifth portion connected to the second link, and the fourth portion and the fifth portion.
  • a second extension mechanism that extends and contracts the first link by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends; It may be characterized by including.
  • Appendix 1-11 The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 1-10.
  • FIG. 14 is an explanatory diagram for explaining an overview of the robot system 1 according to the fourth embodiment.
  • the link LK1a is an example of a "first link”
  • the link LK2f is an example of a "second link.” Therefore, links LK1a and LK2f correspond to "a plurality of links”.
  • the joint mechanism AR3t is an example of a "first drive mechanism” and a "drive mechanism”
  • the joint mechanism AR4f which will be described later, is an example of an "eighth drive mechanism.”
  • the movable portion LK13a is an example of a “fifth portion”. Below, the joint mechanism AR3t will be mainly explained.
  • the link LK2f includes, for example, a support portion LK21f connected to the link LK1a, a movable portion LK22f connected to the link LK3, and a joint mechanism AR4f.
  • a case is assumed in which each of the support portion LK21f and the movable portion LK22f extends along the direction De2. That is, the direction De2 corresponds to the longitudinal direction of each of the support portion LK21f and the movable portion LK22f.
  • the direction De21 in which the support portion LK21f extends is the direction De2 in which the link LK2f extends.
  • FIG. 15 is an explanatory diagram for explaining an example of the joint mechanism AR3t including the telescopic mechanism TE3.
  • the upper part of FIG. 15 shows the joint mechanism AR3t in a contracted state, and the lower part of FIG. 15 shows the joint mechanism AR3t in an extended state.
  • the direction Dm3 indicating the relative moving direction of the link LK2f with respect to the link LK1a is distinguished by adding "p" or "m" to the end of the symbol. It shows.
  • the direction Dm3m indicates the direction in which the joint mechanism AR3t contracts
  • the direction Dm3p is the opposite direction to the direction Dm3m and indicates the direction in which the joint mechanism AR3t extends. Note that from FIG. 15 onward, directions Dm3m and Dm3p may be referred to as direction Dm3 without particular distinction.
  • the joint mechanism AR3t includes a swing mechanism RE1, a telescoping mechanism TE3, a motor MOa3 that drives the swing mechanism RE1, and a motor MOt3 that drives the telescoping mechanism TE3.
  • the telescopic mechanism TE3 connects, for example, a nut TE31, a ball screw TE32 extending along the direction Dm3, a movable portion LK13a of the link LK1a and a supporting portion LK21f of the link LK2f. and a connecting portion TE33.
  • the connecting portion TE33 is hollow.
  • a nut TE31 and a motor MOa3 are attached inside the connecting portion TE33.
  • the motor MOt3 is attached to the outside of the movable portion LK13a such that the movable portion LK13a is located between the motor MOt3 and the support portion LK21f in the direction Dm3.
  • the movable part LK13a is configured to be able to store a part of the connecting part TE33, as shown in the upper part of FIG.
  • the nut TE31 is fixed to one of the two ends of the connecting portion TE33, which is farthest from the link LK2f.
  • the ball screw TE32 is attached to the motor MOt3, for example, so that the center axis of the ball screw TE32 coincides with the center axis of the connecting portion TE33, and is inserted through the nut TE31.
  • the ball screw TE32 rotates about the axis Axte3 as the motor MOt3 rotates.
  • the axis Axte3 is, for example, the central axis of the ball screw TE32, that is, the central axis of the connecting portion TE33.
  • the nut TE31 moves along the axis Axte3 as the ball screw TE32 rotates. Since the nut TE31 is fixed to the connecting portion TE33, the connecting portion TE33 moves along the axis Axte3 (ie, the direction Dm3) as the nut TE31 moves. In this way, the ball screw TE32 movably supports the connecting portion TE33.
  • the connecting portion TE33 is configured to be able to store the ball screw TE32. Further, the connecting portion TE33 is connected to the movable portion LK13a and the supporting portion LK21f so as not to rotate about the axis Axte3 even when the ball screw TE32 rotates. As a result, the nut TE31 fixed to the connecting portion TE33 moves along the axis Axte3 as the ball screw TE32 rotates, as described above.
  • the moving direction of the nut TE31 By switching the rotational direction of the motor MOt3, the moving direction of the nut TE31, that is, the moving direction of the connecting portion TE33, is switched between the direction Dm3p and the direction Dm3m.
  • the motor MOt3 rotates in the first rotational direction
  • the nut TE31 moves in the direction Dm3p
  • the motor MOt3 rotates in the second rotational direction in the opposite direction to the first rotational direction.
  • the nut TE31 moves in the direction Dm3m.
  • the joint mechanism AR3t extends in the direction Dm3p.
  • the joint mechanism AR3t extends at most by approximately the same length as the length of the movable portion LK13a in the direction Dm3.
  • the supporting portion LK21f of the link LK2f is attached to the connecting portion TE33 so that its relative position in the direction Dm3 to the connecting portion TE33 does not change and is rotatable relative to the connecting portion TE33 with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3t in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
  • the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33 is exposed from the movable portion LK13a, as the nut TE31 moves, the connecting portion TE33 It is gradually stored inside the movable part LK13a.
  • the joint mechanism AR3t contracts in the direction Dm3m.
  • the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
  • the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33 (for example, the portion surrounded by the broken line in FIG. 15) is exposed from the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
  • the motor MOa3 that drives the turning mechanism RE1 is attached inside the connecting portion TE33, and is fixed to one of the two ends of the connecting portion TE33, which is closer to the support portion LK21f. Therefore, when the expansion and contraction mechanism TE3 performs an expansion and contraction operation, the motor MOa3 moves in the direction Dm3p or Dm3m together with the connecting portion TE33.
  • the turning mechanism RE1 is attached, for example, to the end closer to the connecting portion TE33 of the two ends of the support portion LK21f of the link LK2f.
  • the turning mechanism RE1 includes a transmission shaft RE11 and a connecting portion RE12.
  • the connecting portion RE12 is, for example, configured integrally with the supporting portion LK21f.
  • the support portion LK21f and the connecting portion RE12 may be integrally formed by one member, or may be integrally formed by mutually different members.
  • the transmission shaft RE11 is attached to the motor MOa3 so that the rotation of the motor MOa3 is transmitted. Further, the transmission shaft RE11 is connected to the support portion LK21f via a connecting portion RE12. Thereby, for example, when the motor MOa3 rotates, the rotation of the motor MOa3 is transmitted to the support portion LK21f via the transmission shaft RE11 and the connecting portion RE12. As a result, the support portion LK21f rotates about the axis Ax3.
  • the joint mechanism AR3t (more specifically, the turning mechanism RE1) rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33.
  • the support portion LK21f is rotatable with respect to the connection portion TE33 to which the motor MOa3 is attached. Therefore, the motor MOa3 does not rotate about the axis Ax3 as the rotation axis even when the joint mechanism AR3t performs a rotation operation of rotating the support portion LK21f about the axis Ax3. Therefore, in the present embodiment, even when the support portion LK21f rotates about the axis Ax3, it is possible to suppress the disturbance caused by the rotation of the motor MOa3 itself.
  • the motor MOa3 moves between the two connecting portions TE33 so as to move along the direction Dm3 together with the connecting portion TE33 when the expanding/contracting mechanism TE3 performs an expanding/contracting operation. It is fixed to one of the ends near the support portion LK21f. For example, if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f that rotates according to the rotation of the motor MOa3 is long, or if the distance along the axis Ax3 between the output position of the motor MOa3 and the support part LK21f is short The disturbance associated with rotation is larger than that of .
  • the movement of the link LK2f with respect to the link LK1a is realized by the connection portion TE33 moving with respect to the link LK1a along the axis Axte3
  • the rotation of the link LK2f is realized by the support portion LK21f moving along the axis Axte3 with respect to the link LK1a. This is achieved by rotating as a rotation axis.
  • the control of the motors MOt3 and MOa3 for moving the link LK2f is controlled. It is possible to suppress complexity.
  • the configuration of the joint mechanism AR3t is not limited to the example shown in FIG. 15.
  • a part of the connecting portion TE33 may be exposed from the movable portion LK13a without being stored inside the movable portion LK13a.
  • the expansion/contraction mechanism TE3 is not limited to the configuration shown in FIG. 15 as long as the joint mechanism AR3t can be expanded/contracted.
  • link LK1a will be explained in FIG. 3 by replacing the link LK1 and the movable portion LK13 shown in FIG. 3 with the link LK1a and the movable portion LK13a, respectively.
  • FIG. 16 is an explanatory diagram for explaining the advantages of the robot 10C shown in FIG. 14.
  • the +Y direction and the -Y direction may be referred to as the Y direction without any particular distinction
  • the +X direction and the -X direction may be referred to as the X direction without any particular distinction
  • the +Z direction and the -Z direction may be referred to as the Z direction without any particular distinction.
  • FIG. 16 the advantages of the robot 10C will be explained using an example of a task of moving an article GD placed on pallet PL1 of pallets PL1 and PL2 placed on the workbench WB along the X direction to pallet PL2. .
  • a vertical six-axis articulated robot (hereinafter also referred to as a vertical six-axis articulated robot as a comparison example) that is compared with the robot 10C will be described.
  • the vertical six-axis multi-joint robot in contrast is a robot in which the telescoping mechanisms TE1 and TE3 are omitted from the robot 10C.
  • the vertical 6-axis articulated robot is provided with the telescoping mechanism TE3, so while retaining the advantages of the vertical 6-axis articulated robot (ability to perform complex tasks, miniaturization, etc.), simple It is possible to prevent the control of the robot 10C from becoming complicated when performing work.
  • the robot controller 30 drives the telescopic mechanism TE3 among the plurality of motors. It is sufficient to control only the motor MOt3. Therefore, in this embodiment, the robot 10C can be controlled accurately and at high speed. Specifically, the robot 10C grips the article GD placed on the pallet PL1 in a state where the direction Dm3 along the axis Ax3 (the direction Dm3 in which the joint mechanism AR3t expands and contracts) is parallel to the X direction. Then, the robot 10C extends the joint mechanism AR3t in the direction Dm3p using the extension mechanism TE3.
  • the portion of the robot 10C from the link LK2f to the end effector 20 moves horizontally in the direction Dm3p (ie, the X direction).
  • the article GD gripped by the end effector 20 moves from the pallet PL1 to the pallet PL2 while maintaining the attitude of the article GD.
  • the robot 10C can accurately and rapidly move the article GD horizontally in the X direction while maintaining the posture of the article GD using the telescoping mechanism TE3.
  • the axis Ax is driven less than the vertical six-axis articulated robot of the comparative example. Accordingly, the article GD can be moved while maintaining the attitude of the article GD.
  • control of the joint mechanism AR can be prevented from becoming complicated.
  • the end effector 20 moves in the XY plane because the rotational movement by the plurality of joint mechanisms AR is not performed. It only moves up, not in the Z direction. Therefore, in this embodiment, in order to control the operation of the end effector 20, when performing reverse trajectory calculation etc. in which the rotation amount of each rotation operation of the plurality of joint mechanisms AR is calculated from the position of the end effector 20, It is only necessary to calculate the amount of movement in the direction. Therefore, in this embodiment, it is possible to reduce the calculation load when performing reverse trajectory calculations for horizontally moving the end effector 20 in the X direction, and to perform the calculations at high speed.
  • the joint mechanism AR3t by expanding and contracting the joint mechanism AR3t, it is possible to work even in the area corresponding to the singular point of the robot 10C before the joint mechanism AR3t is expanded and contracted. Furthermore, in this embodiment, by extending the joint mechanism AR3t, it is possible to widen the area that the tip of the robot 10C can reach, while avoiding the singularity of the robot 10C. For example, when the robot 10C is operated in cooperation with a person, it is assumed that there are many restrictions on the space in which the robot 10C is installed. In this case, restrictions on the operating range due to singular points or the like are required to be as small as possible.
  • the area that the tip of the robot 10C can reach can be widened while avoiding the singularity of the robot 10C, so even if there are many restrictions on the space in which the robot 10C is installed, the robot 10C can be safely installed. can be operated.
  • the robot 10C moves the portion from the link LK2f of the robot 10C to the end effector 20 in the direction Dm3 using the telescoping mechanism TE3. (that is, in the X direction).
  • the robot 10C is installed even in a place where an obstacle BL exists in the -Z direction relative to the joint mechanism AR3t, and the robot 10C can perform simple tasks such as moving the article GD in the X direction. 10C can be performed.
  • the link LK1a expands and contracts in the longitudinal direction (direction Dm1) by the expansion mechanism TE1, so the tip of the robot 10C (for example, the link LK3) can reach the link LK1a, compared to a configuration in which the link LK1a does not expand and contract.
  • the area can be expanded. Note that if the link LK1a is simply made longer without being made extendable, the robot itself becomes larger. In this embodiment, since the link LK1a expands and contracts, it is possible to suppress the entire robot 10C from increasing in size.
  • the singularity of the robot 10C cannot be avoided by the telescoping action by the telescoping mechanism TE1 (the telescoping action that extends and contracts the link LK1a in the longitudinal direction).
  • a telescoping mechanism is provided to extend and retract the link LK2f in the longitudinal direction, by extending and contracting the link LK2f in the longitudinal direction, it is possible to widen the area that the tip of the robot 10C can reach.
  • the singularity of robot 10C cannot be avoided.
  • the singularity of the robot 10C can be avoided by expanding and contracting the joint mechanism AR3t in the direction Dm3 along the axis Ax3.
  • the robot 10C includes a body part BDP, a link LK3, a plurality of links LK1a and LK2f that connect the body part BDP and link LK3, and a joint mechanism AR3t.
  • the joint mechanism AR3t connects the link LK1a and the link LK2f, and rotates the link LK2f with respect to the link LK1a using an axis Ax3, which forms an angle larger than a predetermined angle with the direction De1 in which the link LK1a extends, as a rotation axis.
  • the joint mechanism AR3t includes a telescoping mechanism TE3 that moves the link LK2f relative to the link LK1a along the axis Ax3 (rotation axis).
  • the joint mechanism AR3t expands and contracts along the axis Ax3 by the expansion and contraction mechanism TE3. Therefore, in this embodiment, the portion from the link LK2f of the robot 10C to the tip (for example, the link LK3) of the robot 10C can be easily moved in the direction Dm3 along the axis Ax3.
  • the operation of horizontally moving the article GD in the X direction while maintaining the posture of the article GD gripped by the end effector 20 attached to the link LK3 of the robot 10C is This allows for accurate and high-speed execution.
  • the telescoping mechanism TE3 includes a connecting portion TE33 that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK1a when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Thereby, in this embodiment, the joint mechanism AR3t can be expanded and contracted while suppressing the overall size of the robot 10C.
  • the joint mechanism AR3t rotates the link LK2f with respect to the link LK1a by rotating the link LK2f with respect to the link LK1a and the connecting portion TE33.
  • the motor MOa3 is configured such that the distance along the axis Ax3 between the output position of the motor MOa3 for rotating the link LK2f (motor MOa3 that drives the joint mechanism AR3t) and the link LK2f is shortened. can be placed.
  • the link LK1a includes a support portion LK11, a movable portion LK13a connected to the link LK2f, a movable portion LK12 that connects the support portion LK11 and the movable portion LK13a, and a telescopic mechanism TE1.
  • the expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the link LK1a is expanded and contracted by the expansion and contraction mechanism TE1. Therefore, in this embodiment, the area that the tip of the robot 10C can reach can be made wider than in the case where the link LK1a does not extend or contract, while suppressing the overall size of the robot 10C. As a result, in this embodiment, for example, the robot 10C can work on the article GD placed at a high position that cannot be reached when the link LK1a does not extend or contract. In addition, in the present embodiment, the robot 10C moves the joint mechanism AR3t to a high position using the telescoping mechanism TE1, thereby performing work on the article GD located at a high position on the workbench WB and at the back of the workbench WB. It can be done easily.
  • the support portion LK11 is hollow.
  • the link LK1a contracts, at least a portion of the movable part LK12 is stored inside the support part LK11.
  • expansion and contraction of the link LK1a can be realized with a simple configuration.
  • the robot 10C further includes joint mechanisms AR1, AR2, AR4f, AR5, and AR5.
  • the link LK2f includes a support portion LK21f and a movable portion LK22f.
  • the joint mechanism AR1 rotates at least a portion of the body part BDP about an axis Ax1, which has a predetermined angle or less at an angle with a direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fourth rotation axis.
  • the joint mechanism AR2 connects the body part BDP and the link LK1a, and connects the link LK1a to the body part by using an axis Ax2, which has a larger angle than a predetermined angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP, as a fifth rotation axis.
  • the joint mechanism AR4f rotates the movable portion LK22f with respect to the support portion LK21f using an axis Ax4, which forms an angle equal to or less than a predetermined angle with the direction De21 in which the support portion LK21f extends, as a third rotation axis.
  • the joint mechanism AR5 connects the movable part LK22f and the link LK3, and rotates the link LK3 with respect to the link LK2f using an axis Ax5, which makes an angle larger than a predetermined angle with the direction De2 in which the link LK2 extends, as a second rotation axis.
  • the joint mechanism AR6 rotates at least a portion of the link LK3 with respect to the link LK2f using an axis Ax6, which forms an angle larger than a predetermined angle with the second rotation axis (axis Ax5), as a sixth rotation axis.
  • the invention according to this embodiment may be applied to a vertical six-axis articulated robot.
  • the link LK1a includes a support portion LK11 connected to the body portion BDP, a movable portion LK13a connected to the link LK2f, and a movable portion LK12 connecting the support portion LK11 and the movable portion LK13a. It includes an expansion and contraction mechanism TE1.
  • the expansion/contraction mechanism TE1 expands/contracts the link LK1a by moving the movable portion LK12 with respect to the support portion LK11 along the direction De11 in which the support portion LK11 extends.
  • the robot 10C by adding the telescopic mechanism TE1 to the vertical six-axis multi-joint robot, it is possible to easily configure the robot 10C in which the reachable area of the tip (for example, the link LK3) is widened. can.
  • the robot controller 30 also includes a motor MOa1 that drives the joint mechanism AR1, a motor MOa2 that drives the joint mechanism AR2, a motor MOa3 that drives the joint mechanism AR3t, a motor MOa4 that drives the joint mechanism AR4f, and a motor MOa4 that drives the joint mechanism AR4f.
  • the operation of the robot 10C is controlled by controlling the motor MOa5 that drives the AR5, the motor MOa6 that drives the joint mechanism AR6, the motor MOt1 that drives the telescoping mechanism TE1, and the motor MOt3 that drives the telescoping mechanism TE3. In this way, in this embodiment, the robot controller 30 can easily control the operation of the robot 10C.
  • the robot system 1 includes a robot 10C, an end effector 20 attached to the link LK3, and a robot controller 30 that controls the operations of the robot 10C and the end effector 20.
  • the control of the robot 10C is simple when performing simple movements, and the tip part (for example, link LK3) can be reached while suppressing the overall size from increasing.
  • a robot 10C with a wider area is used in the robot system 1. Therefore, in this embodiment, complex work and simple work can be performed efficiently even in a narrow space.
  • the robot system 1 may be used in an article manufacturing method that includes assembling or removing parts. In this case, the work of assembling parts or removing parts can be performed efficiently.
  • FIG. 17 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C1. Elements similar to those described in FIGS. 14 to 16 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10C has a joint mechanism AR3ta instead of the joint mechanism AR3t shown in FIG.
  • the upper part of FIG. 17 shows the joint mechanism AR3ta in a contracted state
  • the lower part of FIG. 17 shows the joint mechanism AR3ta in an extended state.
  • the joint mechanism AR3ta is another example of the "first drive mechanism" and the "drive mechanism”
  • the telescoping mechanism TE3a is another example of the "fourth telescoping mechanism”. Note that hereinafter, the joint mechanism AR3ta and the like may be referred to without adding the alphabet "a" at the end of the reference numeral (for example, joint mechanism AR3t).
  • the connecting portion TE33a is connected to the movable portion LK13b so as to be movable along the axis Axte3 (ie, the direction Dm3), and is connected to the supporting portion LK21g so as to rotate together with the supporting portion LK21g.
  • the motor MOa3 that drives the turning mechanism RE1a is arranged inside the movable part LK13b and outside the connecting part TE33a, and is fixed to the movable part LK13b. That is, the motor MOa3 is attached to the movable part LK13b which does not move even if the connecting part TE33a moves.
  • the gear RE13 rotates as the transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted rotates
  • the connecting portion TE33a that meshes with the gear RE13 rotates. do.
  • the rotation of the motor MOa3 is transmitted to the connection portion TE33a via the transmission shaft RE11 and the gear RE13.
  • the connecting portion TE33a rotates about the axis Ax3.
  • the central axis of the connection portion TE33a corresponds to the axis Ax3.
  • the joint mechanism AR3ta rotates the link LK2f with respect to the link LK1a by rotating the link LK2f and the connecting portion TE33a integrally with respect to the link LK1a. Also in this modification, the same effects as in the fourth embodiment described above can be obtained.
  • At least a portion of the connecting portion TE33 may be stored inside at least one of the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. good.
  • FIG. 18 is an explanatory diagram for explaining an example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 17 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the upper part of FIG. 18 shows the joint mechanism AR3ta in a contracted state, and the lower part of FIG. 18 shows the joint mechanism AR3ta in an extended state.
  • the joint mechanism AR3ta shown in FIG. 18 is different from the figure except that the motor MOt3 is attached to the support part LK21g and the connection part TE33a is movably connected to the support part LK21g along the axis Axte3.
  • the connecting portion TE33a is attached to the supporting portion LK21g so as to be movable along the axis Axte3 (that is, the direction Dm3) with respect to the supporting portion LK21g, and to rotate together with the supporting portion LK21g.
  • the nut TE31 is fixed to one of the two ends of the connecting portion TE33a, which is closer to the supporting portion LK21g.
  • the relative position of the nut TE31 with respect to the ball screw TE32 changes.
  • the relative position of the nut TE31 in the direction Dm3 with respect to the support portion LK21g changes. Since the nut TE31 is fixed to the connecting portion TE33a, when the relative position of the nut TE31 in the direction Dm3 to the supporting portion LK21g changes, the relative position of the link LK2f to the connecting portion TE33a changes.
  • the connecting portion TE33a is attached to the movable portion LK13b so that the relative position of the link LK1a in the direction Dm3 with respect to the movable portion LK13b does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. It is being Therefore, by extending the joint mechanism AR3ta in the direction Dm3p, the link LK2f moves in the direction Dm3p so as to move away from the link LK1a.
  • the robot controller 30 rotates the motor MOt3 in the second rotation direction in a state where a part of the connecting portion TE33a is exposed from the supporting portion LK21g, as the nut TE31 moves, the connecting portion TE33a It is gradually stored inside the support portion LK21g.
  • the joint mechanism AR3ta contracts in the direction Dm3m.
  • the link LK2f moves in the direction Dm3m so as to approach the link LK1a.
  • the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 is minimized. . Then, at least a portion of the connecting portion TE33a (for example, the portion surrounded by the broken line in FIG. 18) is exposed from the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 becomes the maximum.
  • FIG. 19 is an explanatory diagram for explaining another example of the joint mechanism AR3t according to modification C2. Elements similar to those described in FIGS. 14 to 18 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the robot 10C has a joint mechanism AR3tb instead of the joint mechanism AR3t shown in FIG.
  • the upper part of FIG. 19 shows the joint mechanism AR3tb in a contracted state
  • the lower part of FIG. 18 shows the joint mechanism AR3tb in an extended state.
  • the joint mechanism AR3tb is another example of the "first drive mechanism" and the "drive mechanism”
  • the telescoping mechanism TE3b is another example of the "fourth telescoping mechanism”. Note that hereinafter, the joint mechanism AR3tb and the like may be referred to without adding the alphabet "b" at the end of the reference numeral (for example, joint mechanism AR3t).
  • the joint mechanism AR3tb is shown in FIG. 18, except that the motor MOa3 is attached to the movable part LK13b such that the central axis of the transmission shaft RE11 coincides with the central axis of the ball screw TE32 (i.e., axis Axte3).
  • the motor MOa3 that drives the turning mechanism RE1b is arranged outside the connecting portion TE33b so that the central axis of the transmission shaft RE11 attached to the motor MOa3 is the axis Ax3 when viewed in plan from the direction along the axis Ax3, It is fixed inside the movable part LK13b. Therefore, in the joint mechanism AR3tb as well, the motor MOa3 does not move even if the connecting portion TE33b moves, similar to the joint mechanism AR3ta shown in FIG. 17 and the like.
  • the connecting portion TE33b is connected to the supporting portion LK21g and the movable portion LK13b, similar to the connecting portion TE33a shown in FIG. 18.
  • the connecting portion TE33b is connected to the supporting portion LK21g in such a way that it is movable relative to the supporting portion LK21g along the axis Axte3 (ie, the direction Dm3) and rotates together with the supporting portion LK21g.
  • the connecting portion TE33b is connected to the movable portion LK13b so that the relative position of the link LK1a with respect to the movable portion LK13b in the direction Dm3 does not change and is rotatable with respect to the movable portion LK13b with the axis Ax3 as the rotation axis. be done.
  • the turning mechanism RE1b includes a transmission shaft RE11 to which the rotation of the motor MOa3 is transmitted, and a gear RE13b attached to the transmission shaft RE11.
  • the transmission shaft RE11 is attached to the motor MOa3.
  • the gear RE13b is disposed inside the connecting portion TE33b, and is attached to one of the two ends of the connecting portion TE33b, which is closer to the movable portion LK13b. Therefore, in the joint mechanism AR3tb, the transmission shaft RE11 is connected to the connecting portion TE33b via the gear RE13b.
  • connection portion TE33b rotates about the axis Ax3.
  • the link LK2f rotates together with the connection portion TE33b as the connection portion TE33b rotates.
  • the telescopic mechanism TE3 (TE3a or TE3b) includes the connecting portion TE33 (TE33a or TE33b) that connects the link LK1a and the link LK2f. At least a portion of the connecting portion TE33 is stored inside the link LK2f when the distance between the link LK1a and the link LK2f in the direction Dm3 along the axis Ax3 (rotation axis) is the minimum. Further, at least a portion of the connecting portion TE33 is exposed from the links LK1a and LK2f when the distance between the links LK1a and LK2f in the direction Dm3 is maximum. Also in this modified example, the same effects as in the fourth embodiment and modified example described above can be obtained.
  • the telescoping mechanism mainly includes, for example, the link LK1a in FIG. 15 is replaced with the body part BDP, the link LK2f in FIG. 15 is replaced with the link LK1a, and the axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading it as Ax2.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the telescoping mechanism mainly includes, for example, link LK1a in FIG. 15 replaced with link LK2f, link LK2f in FIG. 15 replaced with link LK3, and axis Ax3 in FIG. This will be explained with reference to FIG. 15 by reading the axis Ax5.
  • the joint mechanism AR2 includes a telescoping mechanism
  • all the members from the link LK1a to the link LK3 move due to the telescoping mechanism. and volume increases. Therefore, in an embodiment in which the joint mechanism AR2 includes a telescoping mechanism, compared to the fourth embodiment and the modified example described above, there are problems regarding accuracy and speed-up of control of the telescoping operation, etc. by the telescoping mechanism, and the installation of the robot 10C. There is a growing concern that issues such as space issues will arise.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the structure around the distal end of the robot 10C becomes complicated due to the telescoping mechanism.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the weight around the tip of the robot 10C increases compared to the fourth embodiment and the modified example described above.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the rotation axis (axis Ax5) of the joint mechanism AR5 deviates from a plane parallel to the bottom surface BDPbt of the robot 10C (for example, the XY plane in FIG. 16) due to the rotation of the joint mechanism AR4f.
  • the joint mechanism AR5 includes a telescoping mechanism
  • the calculation load when performing reverse orbit calculation etc. will increase.
  • the fourth embodiment and the modification described above a mode in which the joint mechanism AR3t includes the expansion and contraction mechanism TE3
  • the robot 10C may have a configuration in which two telescoping mechanisms TE1 and TE3 are added to an articulated robot with seven or more axes, or a configuration in which one telescoping mechanism TE3 is added to an articulated robot with seven or more axes. It may be a configuration.
  • the robot 10C may have one or more links connecting the body part BDP and the link LK1a. That is, the robot 10C may have three or more links (three or more links excluding link LK3) that connect the body part BDP and link LK3. Note that the three or more links that the robot 10C has include links LK1a and LK2f. Three or more links excluding link LK3 correspond to "multiple links".
  • the telescoping mechanism TE1 may be provided on the link LK2f.
  • the robot 10C may include a telescoping mechanism TE1 that extends and contracts the link LK1a, a telescoping mechanism that extends and contracts the link LK2f in the longitudinal direction (direction De2), and a telescoping mechanism TE3 that extends and contracts the joint mechanism AR3t. .
  • the robot 10C includes the motor MOt3 and the motor MOa3, but the present invention is not limited to such an embodiment.
  • the motor MOt3 and the motor MOa3 may be provided in the robot 10C as one common motor, and the connection between the common motor, the ball screw TE32, and the transmission shaft RE11 may be switched using a clutch or the like.
  • the same effects as the fourth embodiment and the modification example described above can be obtained also in this modification example.
  • the articulated robot includes a base, a tip, a first link, and a second link, and includes a plurality of links connecting the base and the tip, and connecting the first link and the second link.
  • a drive mechanism that rotates the second link with respect to the first link using an axis that makes an angle with the direction in which the first link extends is larger than a predetermined angle as a rotation axis.
  • the drive mechanism includes a fourth telescoping mechanism that moves the second link relative to the first link along the rotation axis.
  • the fourth telescoping mechanism includes a connecting portion connecting the first link and the second link, and at least a portion of the connecting portion is connected to the rotation axis.
  • the first link in the first direction is stored inside at least one of the first link and the second link.
  • the second link may be exposed from the first link and the second link.
  • Appendix 2-4 In the articulated robot according to Appendix 2-2, the drive mechanism rotates the second link and the connecting portion integrally with respect to the first link, thereby causing the second link to connect to the first link.
  • the feature may be that the image is rotated relative to the object.
  • the first link includes a fourth portion, a fifth portion connected to the second link, and the fourth portion. and a sixth part that connects the fifth part, and the first link is expanded and contracted by moving the sixth part with respect to the fourth part along the direction in which the fourth part extends.
  • a second expansion/contraction mechanism may be included.
  • the fourth portion is hollow, and when the first link contracts, at least a portion of the sixth portion is stored inside the fourth portion. It may also be characterized by
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis; an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle; and an eighth drive mechanism that rotates the movable portion with respect to the support portion; a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis; a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis; 6 drive mechanism, and the first drive mechanism includes a fourth telescoping mechanism that moves the second link
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion
  • a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis
  • a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis
  • 6 drive mechanism, and the fifth drive mechanism includes a fourth telescoping mechanism that
  • the articulated robot has an axis whose angle between a base, a first link, a second link including a support portion and a movable portion, a tip, and a direction perpendicular to the bottom of the base is a predetermined angle or less.
  • a fourth drive mechanism that rotates at least a portion of the base, and a fifth drive mechanism that connects the base and the first link, each serving as a fourth rotation axis; a fifth drive mechanism that rotates the first link relative to the base using an axis larger than the predetermined angle as a fifth rotation axis; and a first drive mechanism that connects the first link and the support portion.
  • a first drive mechanism that rotates the second link relative to the first link using an axis that makes an angle larger than the predetermined angle with the direction in which the first link extends as a first rotation axis
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion using an axis that makes an angle with the direction in which the support portion extends as a third rotation axis that is equal to or less than the predetermined angle
  • an eighth drive mechanism that rotates the movable portion with respect to the support portion
  • a second drive mechanism that connects the tip part to the second link, with an axis that makes an angle larger than the predetermined angle with the direction in which the second link extends as a second rotation axis
  • a second drive mechanism that rotates at least a portion of the distal end relative to the second link, using a sixth rotation axis that is an axis that is larger than the predetermined angle with the second rotation axis
  • 6 drive mechanism, and the second drive mechanism includes a fourth telescoping mechanism that
  • the first link includes a fourth portion connected to the base and a fifth portion connected to the second link. and a sixth part connecting the fourth part and the fifth part, and moving the sixth part with respect to the fourth part along the direction in which the fourth part extends,
  • a second expansion and contraction mechanism that expands and contracts the first link may be included.
  • Appendix 2-11 The method for controlling an articulated robot according to Appendix 2-10, wherein the control device that controls the operation of the articulated robot includes a motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, A motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, a motor that drives the second drive mechanism, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism,
  • the robot is characterized in that the motion of the multi-joint robot is controlled by controlling a motor that drives the second telescoping mechanism.
  • the robot system includes the articulated robot described in Appendix 2-10, an end effector attached to the distal end, and a control device that controls operations of the articulated robot and the end effector, and the control device A motor that drives the fourth drive mechanism, a motor that drives the fifth drive mechanism, a motor that drives the first drive mechanism, a motor that drives the eighth drive mechanism, and a motor that drives the second drive mechanism.
  • controlling the operation of the articulated robot by controlling a motor, a motor that drives the sixth drive mechanism, a motor that drives the fourth telescoping mechanism, and a motor that drives the second telescoping mechanism; It is characterized by
  • Appendix 2-13 The article manufacturing method is characterized by assembling or removing parts using the robot system described in Appendix 2-12.
  • the robot system 1 including the robots 10, 10A, 10B, or 10C described in the embodiments and modifications described above may be used in an article manufacturing method that includes assembling or removing parts.
  • FIG. 20 is an explanatory diagram for explaining an example of turning.
  • the extending direction Dei in FIG. 20 indicates the direction in which the link LKi extends
  • the extending direction Dej indicates the direction in which the link LKj extends.
  • the joint mechanism ARi in FIG. 20 connects the link LKi and the link LKj, and rotates the link LKj with respect to the link LKi using the axis Axi as a rotation axis.
  • the angle ⁇ between the extending direction Dei and the axis Axi can be understood as the angle of the axis Axi with respect to the extending direction Dei (for example, 4 angles for two straight lines that intersect with each other, or 4 angles for two parallel lines) (0° and 180° in a straight line), the angle is 0° or more and 90° or less.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the second pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the second pattern, the extending direction Dej of the link LKj is parallel to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 0°.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 0°, which is less than or equal to a predetermined angle (45°). Therefore, in the third pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Further, in the third pattern, the extending direction Dej of the link LKj is perpendicular to the extending direction Dei of the link LKi and the axis Axi. That is, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 90°.
  • the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is maintained at 10 degrees and is always constant. .
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 10°, which is less than or equal to a predetermined angle (45°). Therefore, in the sixth pattern, the rotation of the link LKj about the axis Axi is rotation other than turning. Furthermore, in the sixth pattern, the extending direction Dej of the link LKj is perpendicular to the axis Axi. In the sixth pattern, when the link LKj rotates about the axis Axi, the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi changes.
  • the angle ⁇ between the extending direction Dei of the link LKi and the axis Axi is 70°, which is larger than the predetermined angle (45°). Therefore, in the seventh pattern, the rotation of the link LKj with the axis Axi as the rotation axis is a turn. Further, in the seventh pattern, the extending direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is 70°.
  • the rotation corresponds to turning. Therefore, in the second definition, if the angle of the extending direction Dej of the link LKj with respect to the extending direction Dei of the link LKi is always constant even when rotated, the rotation corresponds to a rotation other than turning.
  • the first pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning
  • the second pattern, third pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
  • the rotation corresponds to turning. Therefore, in the third definition, if the angle between the extending direction Dej of the rotating link LKj and the rotation axis (axis Axi) of the link LKj is larger than a predetermined angle, the rotation corresponds to turning. Therefore, in the third definition, if the angle between the extending direction Dej of the link LKj and the rotation axis (axis Axi) of the link LKj is less than or equal to a predetermined angle, the rotation corresponds to a rotation other than turning.
  • the first pattern, third pattern, fifth pattern, and sixth pattern shown in FIG. 20 correspond to turning
  • the second pattern, fourth pattern, and seventh pattern correspond to turning. Corresponds to rotation.
  • the same type of rotation means that both of the two rotations are turning, or both of the two rotations are rotations other than turning, and the different types of rotation are rotations where one of the two rotations is turning and the other is rotation other than turning.
  • the rotation that is the starting point of the relative relationship may be determined based on, for example, any one of the above-mentioned first definition, second definition, and third definition.
  • the first pattern shown in FIG. 20 corresponds to turning in any of the first, second, and third definitions
  • the second pattern corresponds to turning in any of the first, second, and third definitions. This also applies to rotations other than turning. Therefore, it is preferable that the first pattern or the second pattern be the rotation that becomes the starting point of the relative relationship.
  • a definition that is a combination of two or more of the above-mentioned first definition, second definition, and third definition may be used.
  • the rotation that corresponds to turning in all of the two or more definitions that are combined may be regarded as turning, or the rotation that corresponds to turning in at least one of the two or more definitions that are combined may be regarded as turning.
  • SYMBOLS 1 Robot system, 10, 10A, 10B, 10C, 10Z... Robot, 20... End effector, 30... Robot controller, 32... Processing device, 33... Memory, 34... Communication device, 35... Operating device, 36... Display device , 37... Driver circuit, AR, AR1, AR2, AR3, AR3t, AR3ta, AR4, AR4a, AR4b, AR4c, AR4d, AR4e, AR4f, AR5, AR6, ARi... Joint mechanism, AR41, AR41a, AR41e...
  • AR41b ...Motor fixed part, AR42, AR42a, AR42e...Transmission shaft, AR43, AR44...Pulley, AR45...Timing belt, AR46...Transmission shaft, AR47, AR47e...Gear, AR47a...Rotating gear, Ax1, Ax2, Ax3, Ax4, Ax5 , Ax6, Axi, Axte1, Axte2, Axte3...axis, BDP...body part, BDPbt...bottom surface, BSP...base part, GD...article, LK, LK1, LK1a, LK1z, LK2, LK2a, LK2b, LK2c, LK2f, LK2z , LK3, LKi, LKj...link, LK11...supporting part, LK12, LK13, LK13a, LK13b...movable part, LK21, LK21a, LK21c, LK21d, LK21e,

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot articulé, qui comprend : un premier maillon et un second maillon qui relient une partie de base et une partie d'extrémité de tête ; un premier mécanisme d'entraînement qui relie le premier maillon et le second maillon et qui fait tourner le second maillon en utilisant, comme premier axe de rotation, un axe qui forme un angle avec une direction d'extension du premier maillon, l'angle de celui-ci étant supérieur à un angle prescrit ; et un deuxième mécanisme d'entraînement qui relie le second maillon et la partie d'extrémité de tête et qui fait tourner la partie d'extrémité de tête en utilisant, comme deuxième axe de rotation, un axe qui forme un angle avec la direction d'extension du second maillon, l'angle de celui-ci étant supérieur à l'angle prescrit. Le second maillon comprend : une première partie ; une deuxième partie ; une troisième partie ; un troisième mécanisme d'entraînement qui fait tourner la deuxième partie en utilisant, comme troisième axe de rotation, un axe qui forme un angle avec la direction d'extension de la première partie, l'angle de celui-ci étant inférieur ou égal à l'angle prescrit ; et un premier mécanisme d'extension/contraction qui amène la troisième partie à se déplacer le long de la direction d'extension de la première partie, étendant et contractant ainsi le second maillon.
PCT/JP2023/018592 2022-05-26 2023-05-18 Robot articulé, procédé de commande pour un robot articulé, système de robot et procédé pour fabriquer un article WO2023228857A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2022085993A JP2023173620A (ja) 2022-05-26 2022-05-26 多関節ロボット、多関節ロボットの制御方法、ロボットシステム、及び、物品の製造方法
JP2022-085993 2022-05-26
JP2022085994A JP2023173621A (ja) 2022-05-26 2022-05-26 多関節ロボット、多関節ロボットの制御方法、ロボットシステム、及び、物品の製造方法
JP2022085995A JP2023173622A (ja) 2022-05-26 2022-05-26 多関節ロボット、多関節ロボットの制御方法、ロボットシステム、及び、物品の製造方法
JP2022-085995 2022-05-26
JP2022-085994 2022-05-26

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136782A (ja) * 1984-12-10 1986-06-24 株式会社東芝 複合多関節型ロボツト
JPH10333723A (ja) * 1997-05-28 1998-12-18 Nec Corp 多自由度マニピュレータの位置決め装置及び位置決め方法並びにそれを実行するためのプログラムを格納した記録媒体
JP2017209781A (ja) * 2016-05-16 2017-11-30 クリオン、インコーポレイテッド ロボットマニピュレータシステムのためのシステムおよび方法
WO2021148462A1 (fr) * 2020-01-21 2021-07-29 Orbishaft Ab Système d'arbre portatif

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61136782A (ja) * 1984-12-10 1986-06-24 株式会社東芝 複合多関節型ロボツト
JPH10333723A (ja) * 1997-05-28 1998-12-18 Nec Corp 多自由度マニピュレータの位置決め装置及び位置決め方法並びにそれを実行するためのプログラムを格納した記録媒体
JP2017209781A (ja) * 2016-05-16 2017-11-30 クリオン、インコーポレイテッド ロボットマニピュレータシステムのためのシステムおよび方法
WO2021148462A1 (fr) * 2020-01-21 2021-07-29 Orbishaft Ab Système d'arbre portatif

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