Description
Title of Invention: ROBOT AND ROBOT SYSTEM
Technical Field
[0001] The present invention relates to a robot and a robot system.
Background Art
[0002] In the related art, a robot including a robot arm has been known. As the robot arm, a
plurality of arms (arm members) are connected to each other through joints, and a hand
is mounted on the arm on an endmost side (lowermost stream) as an end effector, for
example. The joint is driven by a motor and the arm rotates by the driving of the joint.
The robot grasps a target with a hand, for example, moves the target to a prede
termined place, and performs a predetermined operation such as assembly.
[0003] As such a robot, JP-A-20 14-46401 discloses a vertically articulated robot. In the
robot disclosed in JP-A-20 14-46401, a motion for moving a hand to a position rotated
by 180° around a first rotation axis which is a rotation axis (rotation axis extending in a
vertical direction) disposed furthest on the proximal side (uppermost stream) with
respect to a base is performed by rotating a first arm which is an arm disposed furthest
on the proximal side with respect to the base around the first rotation axis.
Citation List
Patent Literature
[0004] PTL 1: JP-A-20 14-46401
Summary of Invention
Technical Problem
[0005] In the robot disclosed in JP-A-20 14-46401, when the hand is moved to the position
rotated by 180° around the first rotation axis with respect to the base, it is necessary to
provide a space having a size for avoiding interference of the robot.
[0006] Currently, a production line in which a cell for an operation by a person is replaced
with a robot cell for an operation by a robot has been increased. However, a size of the
robot cell for an operation by a robot is generally larger than a size of the cell for an
operation by a person and the production line becomes long when the cell for an
operation by a person is simply replaced with the robot cell for an operation by a robot,
and accordingly, the replacement is hardly executed depending on a production site.
[0007] In addition, a height of the robot cell for an operation by a robot is great, and ac
cordingly, when a plurality of robot cells are provided in a line, persons are hidden and
accordingly, visibility is poor in the production site. When the height of the robot cell
for an operation by a robot is great, the center of gravity of the robot cell becomes high
and it is easily vibrated. Accordingly, the operation accuracy of the robot becomes
poor and a risk of the robot cell falling down becomes high.
Solution to Problem
[0008] An advantage of some aspects of the invention is to solve at least a part of the
problems described above and the invention can be implemented as the following
forms or application examples.
[0009] Application Example 1
A robot according to this application example of the invention includes: a base; a
first arm which is provided on the base so as to be rotatable around a first rotation axis;
and a second arm which is provided on the first arm so as to be rotatable around a
second rotation axis having an axial direction different from the axial direction of the
first rotation axis, in which an angle formed by the first arm and the second arm is set
as 0°, when seen in the axial direction of the second rotation axis, and the second arm
does not interfere with an attachment surface where the base is provided, when the
angle is 0°.
[0010] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the second arm is moved to a position rotated by 180°
around the first rotation axis.
[0011] Application Example 2
A robot according to this application example of the invention includes: a base; a
first arm which is provided on the base so as to be rotatable around a first rotation axis;
and a second arm which is provided on the first arm so as to be rotatable around a
second rotation axis having an axial direction different from the axial direction of the
first rotation axis, in which the first arm has a length which is greater than the length of
the second arm.
[0012] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the second arm is moved to a position rotated by 180°
around the first rotation axis.
[0013] Application Example 3
A robot according to this application example of the invention includes: a base; and a
robot arm, in which the robot arm includes a first arm which is provided on the base so
as to be rotatable around a first rotation axis, and a second arm which is provided on
the first arm so as to be rotatable around a second rotation axis having an axial
direction different from the axial direction of the first rotation axis, in which the distal
end of the robot arm is moved from a first position to a second position which is
rotated by 180° around the first rotation axis, through a state where an angle formed by
the first arm and the second arm is set as 0° when seen in the axial direction of the
second rotation axis, by not rotating the first arm but rotating the second arm.
[0014] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the robot arm is moved from the first position to the
second position.
[0015] Application Example 4
In the robot according to the application example, it is preferable that when the distal
end of the robot arm moves from the first position to the second position, the distal end
of the robot arm moves on the straight line, when seen in the axial direction of the first
rotation axis.
[0016] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the robot arm is moved from the first position to the
second position.
[0017] Application Example 5
In the robot according to the application example, it is preferable that the distal end
of the robot arm is moved from the first position to a third position having the same
height as that of the first position and moves the distal end of the robot arm from the
third position to the second position.
[0018] With this configuration, it is possible to move a work piece which is disposed on the
first position to the second position while preventing interference with an object, when
an object exists on the upper portion and the lower portion in the first position.
[0019] Application Example 6
In the robot according to the application example, it is preferable that the distal end
of the robot arm is moved from the second position to a third position having the same
height as that of the first position and moves the distal end of the robot arm from the
third position to the first position.
[0020] With this configuration, it is possible to move a work piece which is disposed on the
second position to the first position while preventing interference with an object, when
an object exists on the upper portion and the lower portion in the first position.
[0021] Application Example 7
A robot according to this application example of the invention includes: a base; a
first arm which is provided on the base so as to be rotatable around a first rotation axis;
and a second arm which is provided on the first arm so as to be rotatable around a
second rotation axis having an axial direction different from the axial direction of the
first rotation axis, in which the first arm and the second arm are overlapped each other
when seen in the axial direction of the second rotation axis.
[0022] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the second arm is moved to a position rotated by 180°
around the first rotation axis.
[0023] Application Example 8
In the robot according to the application example, it is preferable that the second
rotation axis is separate from the first rotation axis.
[0024] With this configuration, it is possible to move the distal end of the second arm to a
position separated from the first rotation axis, by an amount separated between the first
rotation axis and the second rotation axis.
[0025] Application Example 9
In the robot according to the application example, it is preferable that the robot
further includes a third arm which is provided on the second arm so as to be rotatable
around a third rotation axis.
With this configuration, it is possible to easily realize a more complicated motion.
[0026] Application Example 10
In the robot according to the application example, it is preferable that the axial
direction of the third rotation axis and the axial direction of the second rotation axis are
parallel with each other.
With this configuration, it is possible to easily realize a more complicated motion.
[0027] Application Example 11
In the robot according to the application example, it is preferable that the third arm
has a length which is greater than the length of the second arm.
[0028] With this configuration, it is possible to cause the distal end of the third arm to be
protruded from the second arm, when the second arm and the third arm overlap each
other, when seen in the axial direction of the second rotation axis.
[0029] Application Example 12
In the robot according to the application example, it is preferable that the second arm
and the third arm overlap each other when seen in the axial direction of the second
rotation axis.
[0030] With this configuration, it is possible to reduce a space for avoiding interference of
the robot, when the distal end of the second arm is moved to a position rotated by 180°
around the first rotation axis.
[0031] Application Example 13
In the robot according to the application example, it is preferable that the base is
provided on a ceiling.
With this configuration, it is possible to provide a robot which is installed on a
ceiling.
[0032] Application Example 14
In the robot according to the application example, it is preferable that the third arm
includes a first link which is provided on the second arm so as to be rotatable around
the third rotation axis, a second link which is provided on the first link so as to be
rotatable around a fourth rotation axis having an axial direction which is different from
an axial direction of the third rotation axis, a third link which is provided on the second
link so as to be rotatable around a fifth rotation axis having an axial direction which is
different from an axial direction of the fourth rotation axis, and a fourth link which is
provided on the third link so as to be rotatable around a sixth rotation axis having an
axial direction which is different from an axial direction of the fifth rotation axis.
With this configuration, it is possible to easily realize a more complicated motion.
[0033] Application Example 15
A robot system according to this application example of the invention includes: a
robot; and a robot cell where the robot is provided, in which the robot cell has a height
equal to or smaller than 1,700 mm.
[0034] With this configuration, when the cell is replaced with the robot cell, the height
thereof is smaller than the height of the cell of the related art, and accordingly, it is
possible to check operators operating in other cells.
[0035] Application Example 16
In the robot system according to the application example, it is preferable that the
height of the robot cell is from 1,000 mm to 1,650 mm.
With this configuration, it is possible to prevent the effects of vibration when the
robot is operated in the robot cell.
[0036] Application Example 17
In the robot system according to the application example, it is preferable that the
robot cell has an installation area of less than 637,500 mm2.
With this configuration, it is possible to increase the number of production lines and
to prevent long production lines.
[0037] Application Example 18
In the robot system according to the application example, it is preferable that the in
stallation area of the robot cell is equal to or smaller than 500,000 mm2.
With this configuration, it is possible to further prevent a long production line.
[0038] Application Example 19
In the robot system according to the application example, it is preferable that the in
stallation area of the robot cell is equal to or smaller than 400,000 mm2.
With this configuration, the installation area of the robot cell becomes the installation
area having substantially the same or equal to or smaller than the cell for an operation
of an operator, and accordingly, it is possible to easily replace the cell for an operation
of an operator to the robot cell.
[0039] Application Example 20
In the robot system according to the application example, it is preferable that a
volume ratio of the robot with respect to a volume of the robot cell is from 0.01 to 0.5.
With this configuration, by increasing the volume ratio which is equal to or greater
than 0.01, because the volume ratio of the related art is equal to or smaller than 0.01, it
is possible to realize space saving of the robot cell and to make the operations efficient.
[0040] Application Example 2 1
In the robot system according to the application example, it is preferable that the
volume ratio of the robot with respect to the volume of the robot cell is from 0.01 to
0.1.
With this configuration, it is possible to widen a movable range of the robot,
compared to a case where the volume ratio is equal to or smaller than 0.5.
[0041] Application Example 22
In the robot system according to the application example, it is preferable that the
robot has a weight equal to or smaller than 20 kg.
With this configuration, it is possible to prevent an effect of vibration when the robot
is operated in the robot cell.
[0042] Application Example 23
In the robot system according to the application example, it is preferable that the
robot includes a base provided in the robot cell, a first arm which is provided on the
base so as to be rotatable around a first rotation axis, and a second arm which is
provided on the first arm so as to be rotatable around a second rotation axis having an
axial direction different from the axial direction of the first rotation axis, and the first
arm has a length which is greater than the length of the second arm.
With this configuration, it is possible to effectively perform the operation in a small
space such as the robot cell.
Brief Description of Drawings
[0043] [fig.l]Fig. 1 is a perspective view showing a first embodiment of a robot according to
the invention.
[fig.2]Fig. 2 is a schematic diagram of the robot shown in Fig. 1.
[fig.3]Fig. 3 is a front view of the robot shown in Fig. 1.
[fig.4]Fig. 4 is a front view of the robot shown in Fig. 1.
[fig.5]Fig. 5 is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.6]Fig. 6 is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.7A]Fig. 7A is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.7B]Fig. 7B is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.7C]Fig. 7C is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.7D]Fig. 7D is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.7E]Fig. 7E is a diagram for illustrating a motion at the time of an operation of the
robot shown in Fig. 1.
[fig.8]Fig. 8 is a front view showing a second embodiment of a robot according to the
invention.
[fig.9]Fig. 9 is a perspective view showing a third embodiment of a robot according to
the invention.
[fig.lO]Fig. 10 is a side view of the robot shown in Fig. 9.
[fig. 1l]Fig. 11 is a perspective view showing a fourth embodiment of a robot
according to the invention.
[fig.l2A]Fig. 12A is a diagram for illustrating a motion of a robot according to the
invention in a fifth embodiment.
[fig.l2B]Fig. 12B is a diagram for illustrating a motion of a robot according to the
invention in a fifth embodiment.
[fig.l2C]Fig. 12C is a diagram for illustrating a motion of a robot according to the
invention in a fifth embodiment.
[fig. 13A]Fig. 13A is a diagram for illustrating a motion of a robot according to the
invention in a sixth embodiment.
[fig.l3B]Fig. 13B is a diagram for illustrating a motion of a robot according to the
invention in a sixth embodiment.
[fig. 14] Fig. 14 is a front view showing a seventh embodiment of a robot according to
the invention.
[fig.l5]Fig. 15 is a perspective view showing an eighth embodiment of a robot system
according to the invention.
[fig.l6]Fig. 16 is a front view showing the eighth embodiment of the robot system
according to the invention.
[fig.l7]Fig. 17 is a top view showing the eighth embodiment of the robot system
according to the invention.
[fig.l8]Fig. 18 is a plan view showing the eighth embodiment of the robot system
according to the invention.
[fig.l9]Fig. 19 is a perspective view showing the eighth embodiment of the robot
system according to the invention.
Description of Embodiments
Hereinafter, a robot according to the invention will be described in detail based on
preferred embodiments shown in the accompanying drawings.
First Embodiment
Fig. 1 is a perspective view showing a first embodiment of a robot according to the
invention. Fig. 2 is a schematic diagram of the robot shown in Fig. 1. Figs. 3 and 4 are
front views of the robot shown in Fig. 1. Figs. 5, 6, and 7 are respectively diagrams for
illustrating a motion at the time of an operation of the robot shown in Fig. 1.
[0045] Hereinafter, for convenience of description, the upper side in Figs. 1, 2, 3 to 5, and 7
is described with a term "on" or an "upper portion" and the lower side thereof is
described with a term "below" or a "lower portion" (the same also applies to a case of
Figs. 8 to 14 of other embodiments), and the base side in Figs. 1, 2, 3 to 5, and 7 is
described with a term "proximal end" or "upstream" and the opposite side thereof
(hand side) is described with a term "distal end" or "downstream" (the same also
applies to a case of Figs. 8 to 14 of other embodiments).
[0046] A robot (industrial robot) 1 shown in Figs. 1 to 4 includes a robot main body (main
body portion) 10 and a robot control device (control unit) (not shown) which controls
an operation of the robot main body 10 (robot 1). The robot 1, for example, can be
used in a manufacturing step of manufacturing a precision instrument such as a watch.
The robot control device may be embedded in the robot main body 10 (robot 1) or may
be separate from the robot main body 10. In addition, the robot control device, for
example, can be configured with a personal computer (PC) in which a central
processing unit (CPU) is embedded, for example.
[0047] The robot main body 10 includes a base (support) 11 and a robot arm 5. The robot
arm 5 includes a first arm (first arm member) (arm portion) 12 including one link, a
second arm (second arm member) (arm portion) 13 including one link, a third arm
(third arm member) (arm portion) 14 including a first link 61, a second link 62, a third
link 63, and a fourth link 64 (four links), a first driving source 401, a second driving
source 402, a third driving source 403, a fourth driving source 404, a fifth driving
source 405, and a sixth driving source 406 (six driving sources). The wrist is
configured with the third link 63 and the fourth link 64 of the third arm and an end
effector such as a hand 9 1 or the like can be detachable from a distal end of the fourth
link 64 of the third arm, for example (see Fig. 1). That is, the robot 1 is a vertically ar
ticulated (six axes) robot in which the base 11, the first arm 12, the second arm 13, the
first link 61, the second link 62, the third link 63, and the fourth link 64 are connected
to each other in this order form the proximal side to the distal side. Hereinafter, the
first arm 12, the second arm 13, and the third arm 14 are also respectively referred to
as the "arm". In addition, the first link 61, the second link 62, the third link 63, and the
fourth link 64 are also respectively referred to as the "link". Further, the first driving
source 401, the second driving source 402, the third driving source 403, the fourth
driving source 404, the fifth driving source 405, and the sixth driving source 406 are
also respectively referred to as the "driving source".
[0048] As shown in Figs. 1, 2, and 3, in a case where the robot 1 is a vertically articulated
robot, the base 11 is positioned on the uppermost side of the vertically articulated robot
and is a portion which is fixed to (member which is attached to) an attachment surface
102 which is a lower surface of a ceiling 101 of an installation space. The fixing
method thereof is not particularly limited and a fixing method performed with a
plurality of bolts can be used, for example.
[0049] A location for the base 11 attached to the attachment surface 102 is not particularly
limited, but in the embodiment, any portion of a plate-shaped flange 111 provided on
the lower portion of the base 11 and an upper surface of the base 11 can be used.
[0050] The portion where the base 11 is fixed is not particularly limited to a ceiling of the
installation space and in addition thereto, a wall of the installation space, a floor, or the
ground is used, for example.
[0051] A first joint 171 which will be described later may be contained or not be contained
in the base 11.
[0052] The first arm 12, the second arm 13, the first link 61, the second link 62, the third
link 63, and the fourth link 64 are respectively supported so as to be independently
displaced with respect to the base 11.
[0053] As shown in Figs. 1, 2, and 3, the base 11 and the first arm 12 are connected to each
other through the joint 171. The joint 171 has a mechanism of supporting the first arm
12 connected to the base 11 to be rotatable with respect to the base. Accordingly, the
first arm 12 can rotate around a first rotation axis 0 1 parallel to a vertical direction,
with respect to the base 11. The first rotation axis 0 1 coincides with a lower surface of
the ceiling 101 to which the base 11 is attached, that is, a normal line of the attachment
surface 102 of the ceiling 101. The first rotation axis 0 1 is a rotation axis which is on
the uppermost stream of the robot 1. The rotation around the first rotation axis 0 1 is
performed by the driving of the first driving source 401 including a motor 401M. The
first driving source 401 is driven by the motor 401M and a cable (not shown) and this
motor 401M is controlled by the robot control device through an electrically connected
motor driver 301. The first driving source 401 may be configured to transmit a driving
force of the motor 401M by a reduction gear (not shown) which is provided with the
motor 401M, and the reduction gear may be omitted.
[0054] The first arm 12 and the second arm 13 are connected to each other through a joint
172. The joint 172 has a mechanism of supporting one of the first arm 12 and the
second arm 13 connected to each other to be rotatable with respect to the other one.
Accordingly, the second arm 13 can rotate around a second rotation axis 0 2 parallel to
a horizontal direction, with respect to the first arm 12. The second rotation axis 0 2 is
orthogonal to the first rotation axis 01. The rotation around the second rotation axis
0 2 is performed by the driving of the second driving source 402 including a motor
402M. The second driving source 402 is driven by the motor 402M and a cable (not
shown) and this motor 402M is controlled by the robot control device through an elec
trically connected motor driver 302. The second driving source 402 may be configured
to transmit a driving force from the motor 402M by a reduction gear (not shown)
which is provided with the motor 402M, and the reduction gear may be omitted. The
second rotation axis 0 2 may be parallel to an axis orthogonal to the first rotation axis
0 1 or when the second rotation axis 0 2 is not orthogonal to the first rotation axis 01,
axial directions thereof may be different from each other.
[0055] The second arm 13 and the first link 6 1 of the third arm 14 are connected to each
other through a joint 173. The joint 173 has a mechanism of supporting one of the
second arm 13 and the first link 6 1 connected to each other to be rotatable with respect
to the other one. Accordingly, the first link 6 1 can rotate around a third rotation axis
0 3 parallel to the horizontal direction, with respect to the second arm 13. The third
rotation axis 0 3 is parallel to the second rotation axis 02. The rotation around the third
rotation axis 0 3 is performed by the driving of the third driving source 403. The third
driving source 403 is driven by a motor 403M and a cable (not shown) and the motor
403M is controlled by the robot control device through an electrically connected motor
driver 303. The third driving source 403 may be configured to transmit a driving force
from the motor 403M by a reduction gear (not shown) which is provided with the
motor 403M, and the reduction gear may be omitted.
[0056] The first link 6 1 and the second link 62 are connected to each other through a joint
174. The joint 174 has a mechanism of supporting one of the first link 6 1 and the
second link 62 connected to each other to be rotatable with respect to the other one.
Accordingly, the second link 62 can rotate around a fourth rotation axis 0 4 parallel to
a center axis direction of the first link 61, with respect to the first link 6 1 (base 11).
The fourth rotation axis 0 4 is orthogonal to the third rotation axis 03. The rotation
around the fourth rotation axis 0 4 is performed by the driving of the fourth driving
source 404. The fourth driving source 404 is driven by a motor 404M and a cable (not
shown) and the motor 404M is controlled by the robot control device through an elec
trically connected motor driver 304. The fourth driving source 404 may be configured
to transmit a driving force from the motor 404M by a reduction gear (not shown)
which is provided with the motor 404M, and the reduction gear may be omitted. The
fourth rotation axis 0 4 may be parallel to an axis orthogonal to the third rotation axis
0 3 or when the fourth rotation axis 0 4 is not orthogonal to the third rotation axis 03,
axial directions thereof may be different from each other.
[0057] The second link 62 and the third link 63 are connected to each other through a joint
175. The joint 175 has a mechanism of supporting one of the second link 62 and the
third link 63 connected to each other to be rotatable with respect to the other one. Ac
cordingly, the third link 63 can rotate around a fifth rotation axis 0 5 which is or
thogonal to a center axis direction of the second link 62, with respect to the second link
62. The fifth rotation axis 0 5 is orthogonal to the fourth rotation axis 04. The rotation
around the fifth rotation axis 0 5 is performed by the driving of the fifth driving source
405. The fifth driving source 405 is driven by a motor 405M and a cable (not shown)
and the motor 405M is controlled by the robot control device through an electrically
connected motor driver 305. The fifth driving source 405 may be configured to
transmit a driving force from the motor 405M by a reduction gear (not shown) which is
provided with the motor 405M, and the reduction gear may be omitted. The fifth
rotation axis 0 5 may be parallel to an axis orthogonal to the fourth rotation axis 0 4 or
when the fifth rotation axis 0 5 is not orthogonal to the fourth rotation axis 04, axial
directions thereof may be different from each other.
[0058] The third link 63 and the fourth link 64 are connected to each other through a joint
176. The joint 176 has a mechanism of supporting one of the third link 63 and the
fourth link 64 connected to each other to be rotatable with respect to the other one. Ac
cordingly, the fourth link 64 can rotate around a sixth rotation axis 0 6 with respect to
the third link 63. The sixth rotation axis 0 6 is orthogonal to the fifth rotation axis 05.
The rotation around the sixth rotation axis 0 6 is performed by the driving of the sixth
driving source 406. The sixth driving source 406 is driven by a motor 406M and a
cable (not shown) and the motor 406M is controlled by the robot control device
through an electrically connected motor driver 306. The sixth driving source 406 may
be configured to transmit a driving force from the motor 406M by a reduction gear (not
shown) which is provided with the motor 406M, or the reduction gear may be omitted.
The fifth rotation axis 0 5 may be parallel to an axis orthogonal to the fourth rotation
axis 04, the sixth rotation axis 0 6 may be parallel to an axis orthogonal to the fifth
rotation axis 05, or when the sixth rotation axis 0 6 is not orthogonal to the fifth
rotation axis 05, axial directions thereof may be different from each other.
[0059] The hand 9 1 which grasps a precision apparatus or a component such as a watch, is
detachably attached to a distal end portion (end portion on the side opposite to the third
link 63) of the fourth link 64, as an end effector, for example. The driving of this hand
9 1 is controlled by the robot control device. The configuration of the hand 9 1 is not
particularly limited, and a configuration of including a plurality of fingers is used. The
robot 1 can perform each operation of transporting the precision apparatus or
component by controlling the motions of the arms 12 to 14 while grasping the
precision apparatus or component by the hand 91.
[0060] Next, a relationship between the first arm 12, the second arm 13, and the third arm 14
will be described, but the description will be made from various viewpoints by
changing expressions. In addition, the third arm 14 is considered in a state where the
third arm 14 is extended straight, that is, a state where the third arm 14 is extended to a
maximum length, that is, a state where the fourth rotation axis 0 4 and the sixth
rotation axis 0 6 coincide with each other or are parallel to each other.
[0061] First, as shown in Fig. 3, a length LI of the first arm 12 is set to be greater than a
length L2 of the second arm 13.
[0062] Herein, the length LI of the first arm 12 is a distance between the second rotation
axis 0 2 and a center line 521 of a bearing 52 rotatably supporting the first arm 12,
which extends in a vertical direction of Fig. 3, when seen in the axial direction of the
second rotation axis 02.
[0063] The length L2 of the second arm 13 is a distance between the second rotation axis 0 2
and the third rotation axis 03, when seen in the axial direction of the second rotation
axis 02.
[0064] As shown in Fig. 4, an angle q formed by the first arm 12 and the second arm 13 is
configured so as to be set as 0°, when seen in the axial direction of the second rotation
axis 02. That is, the first arm 12 and the second arm 13 are configured so as to overlap
each other, when seen in the axial direction of the second rotation axis 02.
[0065] When an angle q of the second arm 13 is 0°, that is, when the first arm 12 and the
second arm 13 overlap each other, when seen in the axial direction of the second
rotation axis 02, the attachment surface 102 of the ceiling 101 on which the base 11 is
provided does not cause interference.
[0066] Herein, the angle q formed by the first arm 12 and the second arm 13 is an angle
formed by a linear line (center axis of the second arm 13 when seen in the axial
direction of the second rotation axis 02) 5 1 passing through the second rotation axis
0 2 and the third rotation axis 03, and the first rotation axis 01, when seen in the axial
direction of the second rotation axis 02.
[0067] By not rotating the first arm 12 but rotating the second arm 13, the distal end of the
second arm 13 can be moved to a position rotated by 180° around the first rotation axis
01, through a state where the angle q is set as 0° (a state where the first arm 12 and the
second arm 13 are overlapped each other) when seen in the axial direction of the
second rotation axis 0 2 (see Figs. 7A to 7E). That is, by not rotating the first arm 12
but rotating the second arm 13, the distal end of the robot arm 5 (distal end of the
fourth link 64 of the third arm 14) can be moved from a first position shown in Fig. 7A
to a second position shown in Fig. 7E which is rotated by 180° around the first rotation
axis 01, through a state where the angle q is set as 0° (see Figs. 7A to 7E). The first
link 61, the second link 62, the third link 63, and the fourth link 64 of the third arm 14
respectively rotate, if necessary.
[0068] When moving the distal end of the second arm 13 to a position rotated by 180°
around the first rotation axis 0 1 (when moving the distal end of the robot arm 5 from
the first position to the second position), the distal end of the second arm 13 and the
distal end of the robot arm 5 are moved on the linear line, when seen in the axial
direction of the first rotation axis 01.
[0069] A length L3 of the third arm 14 is set to be greater than the length L2 of the second
arm 13.
[0070] Accordingly, when the second arm 13 and the third arm 14 overlap each other, when
seen in the axial direction of the second rotation axis 02, the distal end of the third arm
14, that is, the distal end of the fourth link 64 can be protruded from the second arm
13. Accordingly, it is possible to prevent the hand 9 1 from interfering with the first
arm 12 and the second arm 13.
[0071] Herein, as shown in Fig. 4, the length L3 of the third arm 14 is the distance between
the third rotation axis 0 3 and the distal end of the third arm 14 (distal end of the fourth
link 64), when seen in the axial direction of the second rotation axis 02. The state of
the third arm 14 in this case is a state where the third arm 14 is extended to a maximum
length, that is, a state where the fourth rotation axis 0 4 and the sixth rotation axis 0 6
coincide with each other or are parallel to each other, that is, a state where the third
arm 14 is extended straight.
[0072] As shown in Fig. 4, the second arm 13 and the third arm 14 can overlap each other,
when seen in the axial direction of the second rotation axis 02.
[0073] That is, the first arm 12, the second arm 13, and the third arm 14 can overlap each
other at the same time, when seen in the axial direction of the second rotation axis 02.
[0074] In the robot 1, by satisfying the relationship described above, the hand 9 1 (distal end
of the third arm 14) can be moved to a position rotated by 180° around the first rotation
axis 01, through a state where the angle q formed by the first arm 12 and the second
arm 13 is set as 0° (a state where the first arm 12 and the second arm 13 overlap each
other) when seen in the axial direction of the second rotation axis 02, by not rotating
the first arm 12 but rotating the second arm 13 and the third arm 14. By using this
operation, it is possible to drive the robot 1 with excellent efficiency and to reduce the
space provided for avoiding interference with the robot 1, and various advantages
which will be described later are obtained.
[0075] Next, operations such as the supply, removal, transportation, assembly, and the like
regarding materials performed by the robot 1 and an example of a motion of the robot
1 at the time of operation will be described. Herein, a motion of the robot 1 when the
robot 1 performs an assembly operation of inserting a component (work) disposed in a
component supply portion to a component (work) transported by a belt conveyor will
be described.
[0076] As shown in Fig. 6, in the robot 1, the base 11 is attached to the ceiling 101 so as to
be positioned in the vicinity of a belt conveyor 71. The belt conveyor 7 1 may be a
direct linear motion bearing used in belt driving or ball screw driving.
[0077] As shown in Figs. 5 and 6, a predetermined component 42 is transported by the belt
conveyor 7 1 at the time of the operation. The robot 1 inserts a component 4 1 disposed
in a component supply portion 72 to the component 42 which is transported by the belt
conveyor 71.
[0078] At that time, first, as shown in Fig. 5, the robot 1 grasps the component 4 1 disposed
in the component supply portion 72 with the hand 91.
[0079] Next, as shown in Figs. 7A to 7E, by not rotating the first arm 12 (not performing an
operation shown with arrows 57 and 58 of Fig. 6) but rotating the second arm 13 and
the third arm 14 (performing an operation shown with an arrow 56 of Fig. 6), the hand
9 1 can be moved to a position rotated by 180° around the first rotation axis 01, that is,
an insertion portion 73, through a state where the angle q formed by the first arm 12
and the second arm 13 is set as 0° (a state where the first arm 12 and the second arm 13
overlap each other) when seen in the axial direction of the second rotation axis 0 2 (see
Fig. 7C). At that time, the distal end of the second arm 13 and the hand 9 1 (distal end
of the third arm 14) move on the straight line. At that time, the first arm 12 may also
rotate as an operation of fine adjustment.
[0080] As shown in Fig. 5, the component 4 1 is inserted into the component 42 in the
insertion portion 73. At that time, the first arm 12 may also rotate as an operation of
fine adjustment. Hereinafter, this operation is repeated.
[0081] In the robot 1, by not rotating the first arm 12 but rotating the second arm 13, the
hand 9 1 can be moved to a position rotated by 180° around the first rotation axis 01,
through a state where the angle q formed by the first arm 12 and the second arm 13 is
set as 0° when seen in the axial direction of the second rotation axis 02, and ac
cordingly, as shown in Fig. 6, a width W of the installation space of the robot 1 can be
set to be W2 which is smaller than Wl of the related art. W2 is, for example, at least
80% smaller than Wl. In the same manner as described above, a height (height in the
vertical direction) of the installation space of the robot 1 can be set to be smaller than a
height of the related art, and specifically, the height thereof can be at least 80% smaller
than the height of the related art.
[0082] As described above, in the robot 1, by not rotating the first arm 12 but rotating the
second arm 13 and the third arm 14, the hand 9 1 (distal end of the third arm 14) can be
moved to a position rotated by 180° around the first rotation axis 01, through a state
where the angle q formed by the first arm 12 and the second arm 13 is set as 0° (a state
where the first arm 12 and the second arm 13 are overlapped each other) when seen in
the axial direction of the second rotation axis 02.
[0083] Accordingly, it is possible to reduce the space provided for avoiding interference
with the robot 1.
[0084] That is, first, it is possible to lower the ceiling 101, and accordingly, the position of
the center of gravity of the robot 1 is lowered and it is possible to prevent vibration
which occurs due to a reaction force generated by the motion of the robot 1.
[0085] In addition, it is possible to reduce the working area of the robot 1 in a width
direction (direction of the production line) and accordingly, it is possible to dispose a
large number of robots 1 along a production line by unit length, and to shorten the
production line.
[0086] When the hand 9 1 is moved, the motion of the robot 1 can be minimized. For
example, it is possible to not rotate the first arm 12 or to decrease a rotation angle of
the first arm 12, and accordingly, it is possible to shorten the cycle time and to improve
operation efficiency.
[0087] Second Embodiment
Fig. 8 is a front view showing a second embodiment of a robot according to the
invention.
[0088] Hereinafter, the second embodiment will be described, but the description is focused
on different points from those of the first embodiment described above and the de
scription of the same matters will be omitted.
[0089] As shown in Fig. 8, in a robot 1A of the second embodiment, the length L2 of the
second arm 13 is set to be greater than the length LI of the first arm 12. Accordingly,
in the robot 1A, the hand 9 1 can be moved further and the range of the vertical motion
of the hand 9 1 can be increased.
[0090] The same effects as those in the first embodiment described above can be exhibited
even in the second embodiment.
[009 1] Third Embodiment
Fig. 9 is a perspective view showing a third embodiment of a robot according to the
invention. Fig. 10 is a side view of the robot shown in Fig. 9. The hand 9 1 is omitted in
Figs. 9 and 10.
[0092] Hereinafter, the third embodiment will be described, but the description is focused on
different points from those of the first embodiment described above and the description
of the same matters will be omitted.
[0093] As shown in Figs. 9 and 10, in a robot IB of the third embodiment, the first arm 12
and the second arm 13 are respectively bent and a part thereof is protruded in a
horizontal direction (left side of Fig. 10) with respect to the base 11.
[0094] The second link 62 of the third arm 14 includes a pair of supports 621 and 622
opposing each other and the third link 63 is connected between the supports 621 and
622.
[0095] The same effects as those in the first embodiment described above can be exhibited
even in the third embodiment.
[0096] Fourth Embodiment
Fig. 11 is a perspective view showing a fourth embodiment of a robot according to
the invention. The hand 9 1 is omitted in Fig. 11.
[0097] Hereinafter, the fourth embodiment will be described, but the description is focused
on different points from those of the first embodiment described above and the de
scription of the same matters will be omitted.
[0098] As shown in Fig. 11, in a robot 1C of the fourth embodiment, the first arm 12
includes a pair of supports 121 and 122 opposing each other and the second arm 13 is
connected between the supports 121 and 122. The supports 121 and 122 are protruded
in a horizontal direction (horizontal direction of Fig. 11) with respect to the base 11.
[0099] In the same manner as described above, the second arm 13 includes a pair of supports
131 and 132 opposing each other and the third arm 14 is connected between the
supports 131 and 132.
[0100] The second link 62 of the third arm 14 includes a pair of supports 621 and 622
opposing each other and the third link 63 is connected between the supports 621 and
622.
[0101] The same effects as those in the first embodiment described above can be exhibited
even in the fourth embodiment.
[0102] Fifth Embodiment
Figs. 12A to 12C are diagrams for illustrating a motion of a robot according to the
invention in a fifth embodiment.
[0103] Hereinafter, the fifth embodiment will be described, but the description is focused on
different points from those of the first embodiment described above and the description
of the same matters will be omitted. In the fifth embodiment, the description will be
made using the robot 1 of the first embodiment, and this configuration can be applied
to the robots 1A to 1C of the second to fourth embodiments and a robot ID of a
seventh embodiment which will be described later, in the same manner.
[0104] In the fifth embodiment, in the robot 1, the distal end of the robot arm 5 can be
moved from the first position to a third position having the equivalent height (position
in the vertical direction) as that of the first position and to move the end portion thereof
from the third position to the second position, and the reverse operation, that is, an
operation of moving the distal end of the robot arm 5 from the second position to the
third position and from the third position to the first position can also be performed. As
shown in Figs. 12A to 12C, by using this function, the robot 1 performs an operation of
extracting a work 46 disposed on a shelf 76, transporting the work to a stage 77, and
disposing the work on the stage 77.
[0105] The stage 77 is disposed on a position which is moved from the shelf 76 by 180°
around the first rotation axis 0 1 of the robot 1.
[0106] The shape of the work 46 is not particularly limited, but in the embodiment, a plate
shape is used.
[0107] A portion of the shelf 76 which is positioned on the upper portion and the lower
portion of the work 46 is an obstacle when the robot 1 extracts the work 46 from the
shelf 76. In the embodiment, the shelf has been described as an example of the obstacle
at the time of the motion of the robot 1, but the obstacle is not limited to the shelf and
various components which are positioned on the upper portion and the lower portion of
the work 46 such as an apparatus can be assumed, for example.
[0108] In this operation, first, as shown in Fig. 12A, the robot 1 grasps and lifts up the work
46 disposed on the shelf 76 with the hand 91. The position of the distal end of the robot
arm 5 shown in Fig. 12A is the first position.
[0109] Next, as shown in Fig. 12B, the robot 1 moves the work 46 in the horizontal direction
while maintaining the height (position in the vertical direction) of the work 46 (distal
end of the robot arm 5) constant, and extracts the work 46 from the shelf 76. At that
time, the robot 1 does not rotate the first arm 12 and rotates the second arm 13 and the
first link 6 1 and the third link 63 of the third arm 14. Accordingly, the distal end of the
second arm 13 and the distal end of the robot arm 5 move on the straight line, when
seen in the axial direction of the first rotation axis 01. If necessary, the fine adjustment
may be performed by rotating an arbitrary component among the first arm 12, and the
second link 62 and the fourth link 64 of the third arm 14. The position of the distal end
of the robot arm 5 shown in Fig. 12B is the third position. The heights (positions in the
vertical direction) of the first position and the third position are equivalent to each
other.
[0110] Next, as shown in Fig. 12C, the robot 1 transports the work 46 to the stage 77 and
disposes the work on the stage 77. At that time, the robot 1 does not rotate the first arm
12 and rotates the second arm 13 and the first link 6 1 and the third link 63 of the third
arm 14. Accordingly, the distal end of the second arm 13 and the distal end of the robot
arm 5 move on the straight line, when seen in the axial direction of the first rotation
axis 01. If necessary, the fine adjustment may be performed by rotating an arbitrary
component among the first arm 12, and the second link 62 and the fourth link 64 of the
third arm 14. The position of the distal end of the robot arm 5 shown in Fig. 12C is the
second position. The heights of the second position, and the first position and the third
position may be equivalent to each other or may be different from each other.
[01 11] The robot 1 can perform the reverse operation, that is, an operation of transporting
the work 46 disposed on the stage 77 to the shelf 76 and disposing the work on the
shelf 76. Hereinafter, this operation will be described.
[01 12] In this operation, first, as shown in Fig. 12C, the robot 1 grasps the work 46 disposed
on the stage 77 with the hand 91.
[01 13] Next, as shown in Fig. 12B, the robot 1 transports the work 46 to the vicinity of the
shelf 76. At that time, the robot 1 does not rotate the first arm 12 and rotates the second
arm 13 and the first link 6 1 and the third link 63 of the third arm 14. Accordingly, the
distal end of the second arm 13 and the distal end of the robot arm 5 move on the
straight line, when seen in the axial direction of the first rotation axis 01. If necessary,
the fine adjustment may be performed by rotating an arbitrary component among the
first arm 12, and the second link 62 and the fourth link 64 of the third arm 14.
[0114] Next, as shown in Fig. 12A, the robot 1 moves the work 46 in the horizontal
direction while maintaining the height (position in the vertical direction) of the work
46 (distal end of the robot arm 5) constant, and moves the work 46 in the shelf 76. At
that time, the robot 1 does not rotate the first arm 12 and rotates the second arm 13 and
the first link 6 1 and the third link 63 of the third arm 14. Accordingly, the distal end of
the second arm 13 and the distal end of the robot arm 5 move on the straight line, when
seen in the axial direction of the first rotation axis 01. If necessary, the fine adjustment
may be performed by rotating an arbitrary component among the first arm 12, and the
second link 62 and the fourth link 64 of the third arm 14. Next, the robot 1 lifts down
and releases the work 46 and disposes the work on the shelf 76.
[0115] As described above, in the robot 1, it is possible to extract the work 46 from the shelf
76 or dispose the work 46 on the shelf 76 while preventing interference with the shelf
76.
[0116] The distal end of the robot arm 5 can be moved to a wide range between the position
of the first rotation axis 0 1 and a position which is far apart from the first rotation axis
01, without rotating the first rotation axis 01, and accordingly, as shown in Fig. 12C,
it is possible to transport the work 46 in a wide range from the portion close to the first
rotation axis 0 1 to a distant portion.
[01 17] Since it is possible to move the distal end of the robot arm 5 from one of the first
position and the second position to the other position, without rotating the first arm 12,
it is possible to decrease the area of the installation space of the robot 1. For example,
when the work 46 has a long shape (large size) such as a substrate or a panel, it is
possible to prevent an effect on the size of the installation space of the robot 1 due to
the size of the work 46.
[0118] Sixth Embodiment
Figs. 13A and 13B are diagrams for illustrating a motion of a robot according to the
invention in a sixth embodiment.
[0119] Hereinafter, the sixth embodiment will be described, but the description is focused on
different points from those of the first embodiment described above and the description
of the same matters will be omitted. In the sixth embodiment, the description will be
made using the robot 1 of the first embodiment, and this configuration can be applied
to the robots 1A to 1C of the second to fourth embodiments and a robot ID of a
seventh embodiment which will be described later, in the same manner.
[0120] As shown in Fig. 13A, in the sixth embodiment, the robot 1 performs an operation of
transporting a work 47 disposed on a palette 78 to the shelf 76 and disposing the work
on the shelf 76.
[0121] The palette 78 is disposed on a position which is moved from the shelf 76 by 180°
around the first rotation axis 0 1 of the robot 1.
[0122] In this operation, first, as shown in Fig. 13A, the robot 1 grasps the work 47 disposed
on the palette 78 with the hand 91.
[0123] Next, in the same manner as in the fifth embodiment, the robot 1 transports the work
47 to a portion close to the shelf 76, moves the work in the shelf 76, lifts down,
releases, and disposes the work 47 on the shelf 76 without rotating the first arm 12.
[0124] Herein, in the robot of the related art, when transporting the work 47 which is
disposed in a region Rl of the palette 78 on the shelf 76 side with respect to the first
rotation axis 01, the first arm is not rotated, however, when transporting the work 47
which is disposed in a region R2 on the opposite side to the shelf 76, the first arm is
rotated by 180°. Accordingly, in the robot of the related art, as shown in Fig. 13B, it is
necessary to change a direction of the work 47 by 180° in the region Rl and the region
R2 of the palette 78. Alternatively, in the robot of the related art, when the directions
of the work 47 coincide in the region Rl and the region R2 of the palette 78, it is
necessary to rotate the arm (link) on the distal end side by 180° to return the direction
of the work 47 to the original direction, when transporting the work 47 which is
disposed in the region R2 of the palette 78.
[0125] With respect to this, in the robot 1, even when transporting the work 47 disposed in
any one of the regions Rl and R2 of the palette 78, the first arm 12 is not rotated, and
accordingly, it is not necessary to perform complicated operation or control such as in
the case of the robot of the related art, and it is possible to simplify the operation and
control.
[0126] Seventh Embodiment
Fig. 14 is a front view showing a seventh embodiment of a robot according to the
invention.
[0127] Hereinafter, the seventh embodiment will be described, but the description is focused
on different points from those of the first embodiment described above and the de
scription of the same matters will be omitted.
[0128] As shown in Fig. 14, in a robot ID of the seventh embodiment, the first arm 12 is
inclined with respect to the first rotation axis 0 1 (vertical direction). Accordingly, the
second rotation axis 0 2 is separate from the first rotation axis 0 1 by a distance L4.
[0129] In the robot ID, the distal end of the second arm 13 can be moved to a position
further separated from the first rotation axis 0 1 by the distance L4, compared to a case
where the second rotation axis 0 2 and the first rotation axis 0 1 are not separate from
each other, that is, the distal end of the robot arm 5 can be moved to a position further
separated from the first rotation axis 0 1 by the distance L4.
[0130] The same effects as those in the first embodiment described above can be exhibited
even in the seventh embodiment.
[0131] Eighth Embodiment
Fig. 15 is a perspective view showing an eighth embodiment of a robot system
according to the invention. Fig. 16 is a front view showing the eighth embodiment of
the robot system according to the invention. Fig. 17 is a top view showing the eighth
embodiment of the robot system according to the invention. Fig. 18 is a plan view
showing the eighth embodiment of the robot system according to the invention. Fig. 19
is a perspective view showing the eighth embodiment of the robot system according to
the invention. In Figs. 15 to 19, a robot cell 7 of the related art is shown as a reference
so as to compare the size thereof with the size of a robot cell 6 of the embodiment.
Operators with a height of 165 cm and a shoulder width of 60 cm are shown as a
reference in the same manner. The robot system includes the robot and the robot cell
where the robot is provided.
[0132] Hereinafter, the eighth embodiment will be described. In the eighth embodiment, the
description will be made using the robot IB of the third embodiment, but it is not
limited to the robot IB, and the embodiment can be applied in the same manner, as
long as it is a robot having a smaller size than that of the robot cell 6.
[0133] Fig. 15 shows a case where the robot cell 7 is disposed beside the robot cell 6. As
shown in Figs. 16 and 17, the robot cell 7 has a height of 1,860 mm, a width of 750
mm, and a depth of 850 mm. Accordingly, the installation area of the robot cell 7 is
637,500 mm2 and the volume of the robot cell 7 is 1,185,750,000 mm3.
[0134] Meanwhile, the robot cell 6 has a height of 1,600 mm, a width of 600 mm, and a
depth of 600 mm. Accordingly, the installation area of the robot cell 6 is 360,000 mm2
and the volume of the robot cell 6 is 576,000,000 mm3.
[0135] As shown in Fig. 18,when a part of cell for an operation of an operator is replaced
with the robot cell 7, the robot cell 7 is greater than the cell for an operation of an
operator, and accordingly, the production line becomes long. Meanwhile, when a part
of cell for an operation of an operator is replaced with the robot cell 6, the size of the
robot cell 6 is the same as the cell for an operation of an operator, and accordingly, it is
possible to prevent a long production line.
[0136] Specifically, by setting the installation area of the robot cell to be less than 637,500
mm2 which is the installation area of the robot cell 7, it is possible to increase the
number of production lines and to prevent a long production line.
[0137] By setting the installation area thereof to be equal to or smaller than 500,000 mm2, it
is possible to further prevent a long production line.
[0138] By setting the installation area thereof to be equal to or smaller than 400,000 mm2,
the installation area thereof becomes the installation area having substantially the same
or equal to or smaller than the cell for an operation of an operator, and accordingly, it
is possible to easily replace the cell for an operation of an operator to the robot cell.
[0139] The height of the robot cell 6 is equal to or smaller than 1,700 mm. Accordingly,
when the cell for an operation of an operator is replaced with the robot cell 6, the
height thereof is smaller than the height of the robot cell 7, operators operating in other
cells can be checked, as shown in Fig. 19.
[0140] The height of the robot cell 6 is preferably from 1,000 mm to 1,650 mm. Ac
cordingly, it is possible to prevent an effect of vibration when the robot IB is operated
in the robot cell 6.
[0141] In the robot cell 6, a volume ratio of the robot IB with respect to the volume of the
robot cell 6 (volume of the robot IB/volume of the robot cell 6) is preferably from 0.01
to 0.5. For example, when the volume of the robot IB is 7,000,000 mm3 and the
volume of the robot cell 6 is 576,000,000 mm3, the value of (volume of the robot
IB/volume of the robot cell 6) is equal to or greater than 0.01. Accordingly, by in
creasing the volume ratio which is equal to or greater than 0.01, because the volume
ratio of the related art is equal to or smaller than 0.01, it is possible to realize space
saving of the robot cell 6 and to make the operations efficient.
[0142] In addition, in the robot cell 6, the volume ratio of the robot IB with respect to the
volume of the robot cell 6 (volume of the robot IB/volume of the robot cell 6) is from
0.01 to 0.1. Accordingly, it is possible to widen a movable range of the robot IB,
compared to a case where the volume ratio is equal to or smaller than 0.5.
[0143] In the robot cell 6, the weight of the robot IB is preferably equal to or smaller than
20 kg. Accordingly, it is possible to prevent an effect of vibration when the robot IB is
operated in the robot cell 6.
[0144] In the robot cell 6, the robot IB includes the base 11 which is provided on the robot
cell 6, the first arm 12 which is provided on the base 1 1 so as to be rotatable around the
first rotation axis 01, and the second arm 13 which is provided on the first arm 12 so
as to be rotatable around the second rotation axis 0 2 having an axial direction different
from the axial direction of the first rotation axis 01, and the length of the first arm 12
is preferably greater than the length of the second arm 13. Accordingly, it is possible to
effectively perform the operation in a small space of the robot cell 6.
[0145] Hereinabove, the robot and the robot system according to the invention have been
described based on the embodiments shown in the drawings, but the invention is not
limited thereto, and configuration of each unit can be replaced with an arbitrary con
figuration having the same function. Other arbitrary components may be added.
[0146] In the invention, two or more arbitrary configurations (features) among the em
bodiments may be combined with each other.
[0147] In the embodiment, the number of rotation axes of the robot arm is six, but the
invention is not limited thereto, and the number of rotation axes of the robot arm may
be, for example, two, three, four, five, or seven or more. That is, in the embodiment,
the number of links is six, but the invention is not limited thereto, and the number of
links may be, for example, two, three, four, five, or seven or more.
[0148] Specifically, in the embodiment, the first arm is configured with one link, but the
invention is not limited thereto, and the first arm may be configured with the plurality
of links, for example.
[0149] In the embodiment, the second arm is configured with one link, but the invention is
not limited thereto, and the second arm may be configured with the plurality of links,
for example.
[0150] In the embodiment, the third arm is configured with four links, but the invention is
not limited thereto, and the third arm may be configured with one, two, three, or five or
more links, for example.
[0151] In the invention, the third arm may be omitted. In this case, an end effector is detachably
attached to the distal end of the second arm, for example.
[0152] In the embodiment, the number of robot arms is 1, but the invention is not limited
thereto, and the number of robot arms may be two or more, for example. That is, the
robot (robot main body) may be a robot having a plurality of arms such as a double
arm robot.
[0153] In the invention, the robot (robot main body) may be a robot having other systems.
As a specific example, a leg type walking (travel) robot including legs is used, for
example.
Reference Signs List
[0154] 1, 1A, IB, 1C, ID: Robot
5: Robot arm
6, 7: Robot cell
10: Robot main body
11: Base
12, 13, 14: Arm
41, 42: Component
46, 47: Work
51: Linear line
52: Bearing
56, 57, 58: Arrow
61, 62, 63, 64: Link
7 1: Belt conveyor
72: Component supply portion
73: Insertion portion
76: Shelf
77: Stage
78: Palette
91: Hand
101: Ceiling
102: Attachment surface
111: Flange
121, 122, 131, 132: Support
171, 172, 173, 174, 175, 176: Joint
301, 302, 303, 304, 305, 306: Motor driver
401, 402, 403, 404, 405, 406: Driving source
401M, 402M, 403M, 404M, 405M, 406M: Motor
521: Center line
621, 622: Support
01, 02, 03, 04, 05, 06: Rotation axis
Rl, R2: Region

Claims
[Claim 1] A robot comprising:
a base;
a first arm which is provided on the base so as to be rotatable around a
first rotation axis; and
a second arm which is provided on the first arm so as to be rotatable
around a second rotation axis having an axial direction different from
the axial direction of the first rotation axis,
wherein an angle formed by the first arm and the second arm is set as
0°, when seen in the axial direction of the second rotation axis, and
the second arm does not interfere with an attachment surface where the
base is provided, when the angle is 0°.
[Claim 2] A robot comprising:
a base;
a first arm which is provided on the base so as to be rotatable around a
first rotation axis; and
a second arm which is provided on the first arm so as to be rotatable
around a second rotation axis having an axial direction different from
the axial direction of the first rotation axis,
wherein the first arm has a length which is greater than the length of the
second arm.
[Claim 3] A robot comprising:
a base; and
a robot arm,
wherein the robot arm includes
a first arm which is provided on the base so as to be rotatable around a
first rotation axis, and
a second arm which is provided on the first arm so as to be rotatable
around a second rotation axis having an axial direction different from
the axial direction of the first rotation axis,
wherein the distal end of the robot arm is moved from a first position to
a second position which is rotated by 180° around the first rotation
axis, through a state where an angle formed by the first arm and the
second arm is set as 0° when seen in the axial direction of the second
rotation axis, by not rotating the first arm but rotating the second arm.
[Claim 4] The robot according to claim 3,
wherein, when the distal end of the robot arm moves from the first
PCT/JP2015/004877
position to the second position, the distal end of the robot arm moves
on the straight line, when seen in the axial direction of the first rotation
axis.
The robot according to claim 3 or 4,
wherein the distal end of the robot arm is moved from the first position
to a third position having the same height as that of the first position
and moves the distal end of the robot arm from the third position to the
second position.
The robot according to any one of claims 3 to 5,
wherein the distal end of the robot arm is moved from the second
position to a third position having the same height as that of the first
position and moves the distal end of the robot arm from the third
position to the first position.
A robot comprising:
a base;
a first arm which is provided on the base so as to be rotatable around a
first rotation axis; and
a second arm which is provided on the first arm so as to be rotatable
around a second rotation axis having an axial direction different from
the axial direction of the first rotation axis,
wherein the first arm and the second arm are overlapped each other
when seen in the axial direction of the second rotation axis.
The robot according to any one of claims 1 to 7,
wherein the second rotation axis is separate from the first rotation axis.
The robot according to any one of claims 1 to 8, further comprising:
a third arm which is provided on the second arm so as to be rotatable
around a third rotation axis.
The robot according to claim 9,
wherein an axial direction of the third rotation axis and an axial
direction of the second rotation axis are parallel with each other.
The robot according to claim 9 or 10,
wherein the third arm has a length which is greater than the length of
the second arm.
The robot according to any one of claims 9 to 11,
wherein the second arm and the third arm are overlapped each other
when seen in the axial direction of the second rotation axis.
The robot according to any one of claims 9 to 12,
wherein the base is provided on a ceiling.
WO 2016/051746 PCT/JP2015/004877
[Claim 14] The robot according to any one of claims 9 to 13,
wherein the third arm includes
a first link which is provided on the second arm so as to be rotatable
around the third rotation axis,
a second link which is provided on the first link so as to be rotatable
around a fourth rotation axis having an axial direction which is
different from an axial direction of the third rotation axis,
a third link which is provided on the second link so as to be rotatable
around a fifth rotation axis having an axial direction which is different
from an axial direction of the fourth rotation axis, and
a fourth link which is provided on the third link so as to be rotatable
around a sixth rotation axis having an axial direction which is different
from an axial direction of the fifth rotation axis.
[Claim 15] A robot system comprising:
a robot; and
a robot cell where the robot is provided,
wherein the robot cell has a height equal to or smaller than 1,700 mm.
[Claim 16] The robot system according to claim 15,
wherein the height of the robot cell is from 1,000 mm to 1,650 mm.
[Claim 17] The robot system according to claim 15,
wherein the robot cell has an installation area of less than 637,500 mm2.
[Claim 18] The robot system according to claim 17,
wherein the installation area of the robot cell is equal to or smaller than
500,000 mm2.
[Claim 19] The robot system according to claim 17,
wherein the installation area of the robot cell is equal to or smaller than
400,000 mm2.
[Claim 20] The robot system according to claim 15,
wherein a volume ratio of the robot with respect to a volume of the
robot cell is from 0.01 to 0.5.
[Claim 21] The robot system according to claim 20,
wherein the volume ratio of the robot with respect to the volume of the
robot cell is from 0.01 to 0.1.
[Claim 22] The robot system according to claim 15,
wherein the robot has a weight equal to or smaller than 20 kg.
[Claim 23] The robot system according to claim 15,
wherein the robot includes
a base provided in the robot cell,
PCT/JP2015/004877
a first arm which is provided on the base so as to be rotatable around a
first rotation axis, and
a second arm which is provided on the first arm so as to be rotatable
around a second rotation axis having an axial direction different from
the axial direction of the first rotation axis, and
the first arm has a length which is greater than the length of the second
arm.