Robot System

A robot system includes a robot including a hand including a plurality of finger sections and a work device in which the robot performs work. The work device includes a first rotating body, a second rotating body configured to rotate in association with rotation of the first rotating body, a grip section provided in the first rotating body, and a setting section provided in the second rotating body, a target object of the work performed by the robot being set on the setting section. The robot grips the grip section with the finger sections to rotate the first rotating body.

BACKGROUND

1. Technical Field

The present invention relates to a robot system and a robot.

2. Related Art

There has been proposed a robot system including a robot that includes a hand and performs predetermined work such as assembly and machining (e.g., JP-A-2014-124798 (Patent Literature 1).

In the robot system, in order to improve efficiency of work by the robot, it is conceivable to rotate, with a motor, a workbench on which a target object of the work performed by the robot is set. However, in this case, a control device that drives the motor is necessary separately from the robot. Therefore, manufacturing cost of the robot system increases. When the workbench is directly rotated, the rotation cannot be highly accurately performed. Further, it is necessary to drive the motor, which rotates the workbench, and the robot in synchronization with each other. Therefore, control is complicated.

SUMMARY

An advantage of some aspects of the invention is to provide a robot system that can highly accurately rotate a setting section on which a target object of work performed by a robot is set and can suppress an increase in manufacturing cost and complication of control. Another advantage of some aspects of the invention is to provide such a robot.

A robot system according to an aspect of the invention includes: a robot including a hand including a plurality of finger sections; and a work device in which the robot performs work. The work device includes: a first rotating body; a second rotating body configured to rotate in association with rotation of the first rotating body; a grip section provided in the first rotating body; and a setting section provided in the second rotating body, a target object of the work performed by the robot being set on the setting section. The robot grips the grip section with the finger sections to rotate the first rotating body.

According to the robot system according to the aspect of the invention, the robot can rotate the second rotating body, in which the setting section is provided, by gripping the grip section with the hand and rotating the first rotating body. Therefore, it is unnecessary to provide a motor that rotates the setting section and a control system that controls the motor. Consequently, it is possible to suppress manufacturing cost of the robot system from increasing. It is unnecessary to separately synchronize control for rotating the setting section and control of the robot. It is possible to suppress control of the robot system from being complicated. It is possible to highly accurately rotate the first rotating body by using the hand of the robot capable of highly accurately rotating. Therefore, it is possible to obtain the robot system that can highly accurately rotate the setting section on which the target object of the work performed by the robot is set and can suppress the increase in the manufacturing cost and the complication of the control.

The work device may include an annular driving member wound on the first rotating body and the second rotating body, and the rotation of the first rotating body may be transmitted to the second rotating body via the driving member.

According to this configuration, it is possible to dispose the first rotating body and the second rotating body apart from each other. Therefore, it is easy to perform each of operation for gripping the grip section and operation for performing work on the target object set on the setting section. It is possible to simplify a mechanism for transmitting the rotation of the first rotating body to the second rotating body.

The work device may further include: a first supporting table configured to rotatably support the first rotating body; a second supporting table configured to rotatably support the second rotating body and coupled to the first supporting table; and an adjusting mechanism capable of adjusting a distance between the first supporting table and the second supporting table.

According to this configuration, when the driving member wound on the first rotating body and the second rotating body is a belt, it is possible to adjust tension applied to the belt.

A diameter of the first rotating body may be smaller than a diameter of the second rotating body.

According to this configuration, it is possible to improve rotation accuracy of the second rotating body.

The hand may further include: a base configured to support the plurality of finger sections; and a palm section attached to the base and located between the finger sections, and the palm section may come into contact with the grip section when the robot grips the grip section with the finger sections.

According to this configuration, it is possible to stably grip the grip section.

The base may be capable of rotating around a predetermined axis, the plurality of finger sections may be provided around the predetermined axis along a circumferential direction, and the palm section may be capable of moving along a direction in which the predetermined axis extends.

According to this configuration, it is possible to more stably grip the grip section.

The grip section may have a rectangular parallelepiped shape.

According to this configuration, it is easy to grip the grip section.

The first rotating body may be made of resin.

According to this configuration, it is easy to reduce the weight of the first rotating body. It is possible to reduce an output of a hand that rotates the first rotating body. Consequently, it is possible to suppress the hand from being increased in size.

A robot according to another aspect of the invention includes a hand including a plurality of finger sections, the robot performing work in a work device. The work device includes: a first rotating body; a second rotating body configured to rotate in association with rotation of the first rotating body; a grip section provided in the first rotating body; and a setting section provided in the second rotating body, a target object of the work performed by the robot being set on the setting section. The robot grips the grip section with the finger sections to rotate the first rotating body in the work device.

According to the robot according to the aspect of the invention, it is possible to highly accurately rotate the setting section on which the target object of the work is set. It is possible to suppress an increase in manufacturing cost and complication of control of a robot system.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

A robot system according to an embodiment of the invention is explained with reference to the drawings. Note that the scope of the invention is not limited to the embodiment and can be optionally changed within the scope of the technical idea of the invention. In the drawings referred to below, in order to clearly show components, scales, numbers, and the like in structures are sometimes differentiated from scales, numbers, and the like in actual structures.

In the drawings, an XYZ coordinate system is shown as a three-dimensional orthogonal coordinate system as appropriate. In the XYZ coordinate system, a Z-axis direction is the vertical direction. An X-axis direction is a direction orthogonal to the Z-axis direction and is a direction in which an operation section30and a work section40shown inFIG. 1are arranged side by side. A Y-axis direction is a direction orthogonal to the Z-axis direction and the X-axis direction. In the following explanation, unless particularly noted otherwise, the direction (the X-axis direction) in which the operation section30and the work section40are arranged side by side is sometimes referred to as left-right direction and the direction (the Y-axis direction) orthogonal to the direction in which the operation section30and the work section40are arranged side by side and the vertical direction is sometimes referred to as front-rear direction.

FIGS. 1 and 2are perspective views showing a portion of a robot system1in this embodiment.FIG. 1shows a work device10in this embodiment.FIG. 2shows a robot20in this embodiment.FIG. 3is a plan view showing the work device10.FIGS. 4 and 5are front views showing the portion of the robot system1.

In the robot system1in this embodiment, the robot20shown inFIG. 2performs work in the work device10shown inFIG. 1. The work performed by the robot20is, for example, assembly work of a box. A target object P of the work performed by the robot20is, for example, the box before being assembled.

As shown inFIGS. 1 and 3, the work device10includes the operation section30, the work section40, a belt (a driving member)50, adjusting mechanisms60, and auxiliary fixing members61. The operation section30is a portion operated by the robot20. The operation section30is a first supporting table31, a first pulley (a first rotating body)32, and a grip section33.

The first supporting table31rotatably supports the first pulley32. The first supporting table31includes a supporting table main body31aand fixing sections31b. A plan view shape of the supporting table main body31ais, for example, a rectangular shape long in the left-right direction (the X-axis direction). The fixing sections31bextend to both sides in the front-rear direction (the Y-axis direction) from the end portion on the work section40side (a +X side) of the supporting table main body31a.

The first pulley32is set on the upper surface of the supporting table main body31a. The first pulley32has a disk shape expanding in a direction orthogonal to the vertical direction. The first pulley32is supported by the supporting table main body31ato be capable of rotating around a first rotation axis J1(a ±θ1direction) parallel to the vertical direction. The first rotation axis J1passes the center of the first pulley32. A diameter D1of the first pulley32is smaller than a diameter D2of a second pulley42. The diameter D1of the first pulley32is substantially the same as a dimension in the front-rear direction (the Y-axis direction) of the supporting table main body31a. The first pulley32is made of, for example, resin.

The grip section33is provided in the first pulley32. The grip section33is fixed to the upper surface of the first pulley32. The grip section33has a rectangular parallelepiped shape. The grip section33extends in the direction orthogonal to the vertical direction. The length of the grip section33is smaller than the diameter D1of the first pulley32. The grip section33rotates around the first rotation axis J1(the ±θ1direction) integrally with the first pulley32.

The work section40is a portion where work by the robot20is performed. The work section40includes a second supporting table41, the second pulley (a second rotating body)42, and a workbench (a setting section)43. The second supporting table41rotatably supports the second pulley42. A plan view shape of the second supporting table41is, for example, a square shape. The second supporting table41is coupled to the first supporting table31. More specifically, the second supporting table41is coupled to the first supporting table31by the adjusting mechanisms60and the auxiliary fixing members61.

The second pulley42is set on the upper surface of the second supporting table41. The second pulley42has a disk shape expanding in the direction orthogonal to the vertical direction. The second pulley42is supported by the second supporting table41to be capable of rotating around a second rotation axis J2(a ±θ2direction) parallel to the vertical direction. The second rotation axis J2passes the center of the second pulley42. A diameter D2of the second pulley42is larger than the diameter D1of the first pulley32. The diameter D2of the second pulley42is substantially the same as a dimension in the front-rear direction (the Y-axis direction) and a dimension in the left-right direction (the X-axis direction) of the second supporting table41. In this embodiment, a ratio of the diameter D1of the first pulley32and the diameter D2of the second pulley42is, for example, 1:3. The second pulley42is made of, for example, resin.

The target object P of the work performed by the robot20is set on the workbench43. The workbench43is provided in the second pulley42. The workbench43rotates around the second rotation axis J2(the ±θ2direction) integrally with the second pulley42.

The workbench43includes a workbench main body45and leg sections44. The workbench main body45has a tabular shape expanding in the direction orthogonal to the vertical direction. A plan view shape of the workbench main body45is a rectangular shape. The target object P is set on an upper surface45aof the workbench main body45. As shown inFIG. 1, the leg sections44extend from the lower surface of the workbench main body45to a vertical direction lower side. The lower ends of the leg sections44are fixed to the upper surface of the second pulley42. The leg sections44are provided one by one near the four corners on the lower surface of the workbench main body45. The leg sections44have, for example, a columnar shape.

The belt50is annular. The belt50is wound on the first pulley32and the second pulley42. Tension is applied to the belt50. According to rotation of the first pulley32, the belt50moves along a direction in which the belt50extends. The rotation of the first pulley32is transmitted to the second pulley42via the belt50. That is, when the first pulley32rotates and the belt50moves, the second pulley42rotates according to the movement of the belt50. Consequently, the second pulley42rotates in association with the rotation of the first pulley32.

As shown inFIG. 3, the adjusting mechanisms60are capable of adjusting a distance L between the first supporting table31and the second supporting table41. In this embodiment, the adjusting mechanisms60are for example, screws extending in the left-right direction (the X-axis direction). The adjusting mechanisms60are inserted through through-holes that pierce through the fixing sections31bof the first supporting table31in the left-right direction. Threads are cut on the inner sides of the through-holes provided in the fixing sections31b. The adjusting mechanisms60are screwed in the through-holes of the fixing sections31b. The end portions on the second supporting table41side (the +X side) of the adjusting mechanisms60are attached to the second supporting table41to be capable of rotating around the left-right direction. The adjusting mechanisms60are respectively provided in the two fixing sections31b. By rotating the adjusting mechanisms60, it is possible to move the fixing sections31bin the left-right direction. Consequently, it is possible to adjust the distance L.

The auxiliary fixing members61couple the first supporting table31and the second supporting table41. The auxiliary fixing members61pierce through the fixing sections31bof the first supporting table31in the left-right direction. The fixing sections31bare capable of moving in the left-right direction (the X-axis direction) with respect to the auxiliary fixing members61. The end portions on the second supporting table41side (the +X side) of the auxiliary fixing members61are fixed to the second supporting table41. The auxiliary fixing members61are provided further on the opposite side of the supporting table main body31ain the front-rear direction (the Y-axis direction) than the adjusting mechanisms60. Since the auxiliary fixing members61are provide, it is possible to stable couple the first supporting table31and the second supporting table41.

As shown inFIG. 2, the robot20is a double-arm robot including a first arm, a second arm, a supporting table that supports the first arm and the second arm, and a robot control device25. The double-arm robot is a robot including two arms such as the first arm and the second arm in an example shown inFIG. 2. Note that the robot20may be a single-arm robot instead of the double-arm robot. The single-arm robot is a robot including one arm. For example, the single-arm robot includes one of the first arm and the second arm. The robot20may be a plural-arm robot including three or more arms instead of the double-arm robot.

The first arm includes a first hand (a hand)71, a first manipulator M1, and a first force detecting section11. Note that, in this embodiment, the first hand71is included in the first arm. However the first arm and the first hand71may be separate. In this case, the first arm includes the first manipulator M1and the first force detecting section11.

The first hand71is a part equivalent to the tip of the first arm. As shown inFIG. 4, the first hand71includes a base73, a plurality of finger sections74, a palm section75, and a shaft section76. The base73supports the plurality of finger sections74. The base73has, for example, a square pole shape. In this embodiment, a motor is provided in the base73. Consequently, the base73is capable of rotating around a third rotation axis (a predetermined axis) J3(a ±θ3direction). A high-accuracy encoder is provided in a rotating shaft of the motor. It is possible to highly accurately rotate the base73. The third rotation axis J3is orthogonal to a supporting surface73aon the opposite side (inFIG. 4, the lower side) of the first force detecting section11in the base73. The motor provided in the base73is connected to a reduction gear. An output of the motor is reduced by the reduction gear and transmitted to the base73.

The finger sections74extend generally along the third rotation axis J3from the supporting surface73aof the base73. The plurality of finger sections74are provided along the circumferential direction around the third rotation axis J3. As shown inFIG. 2, the plurality of finger sections74are disposed at the four corners of the base73in an initial state. The finger sections74are capable of rotating in a direction orthogonal to the third rotation axis J3. In this embodiment, the finger sections74are capable of moving along the sides of the base73. For example, inFIG. 4, the finger sections74are capable of moving along the left-right direction (the X-axis direction).

The palm section75is attached to the base73via the shaft section76. The palm section75has, for example, a square pole shape. The palm section75is located between the finger sections74. The shaft section76is attached to the base73to be capable of moving along a direction in which the third rotation axis J3extends. The shaft section76has, for example, a columnar shape centering on the third rotation axis J3. The palm section75is fixed to the end portion of the shaft section76on the opposite side of the base73. Consequently, the palm section75is capable of moving along the direction in which the third rotation axis J3extends.

The first hand71is communicably connected to the robot control device25by a cable. Consequently, the first hand71performs operation based on a control signal acquired from the robot control device25. Note that wired communication via the cable is performed according to a standard such as Ethernet (registered trademark) or USB (Universal Serial Bus). The first hand71may be connected to the robot control device25by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The first manipulator M1includes seven joints and a first image pickup section21. The seven joints respectively include not-shown actuators. That is, the first arm including the first manipulator M1is an arm of a seven-axis vertical multi-joint type. Note that the first arm may operate at a degree of freedom of eight axes or more.

The actuators included in the seven joints in the first manipulator M1are communicably connected to the robot control device25respectively by cables. Consequently, the actuators operate the first manipulator M1on the basis of a control signal acquired from the robot control device25. Note that wired communication via the cables is performed according to a standard such as Ethernet (registered trademark) or USB. A part or all of the seven actuators in the first manipulator M1may be connected to the robot control device25by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The first image pickup section21is, for example, a camera including a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), which is an image pickup element that converts condensed light into an electric signal. In this example, the first image pickup section21is provided in a part of the first manipulator M1. Therefore, the first image pickup section21moves according to movement of the first arm. A range in which the first image pickup section21can perform image pickup changes according to the movement of the first arm. The first image pickup section21may pick up a still image in the range and may pick up a moving image in the range.

The first image pickup section21is communicably connected to the robot control device25by a cable. Wired communication via the cable is performed according to a standard such as Ethernet (registered trademark) or USB. Note that the first image pickup section21may be connected to the robot control device25by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The first force detecting section11is provided between the first hand71and the first manipulator M1. The first force detecting section11is, for example, a force sensor. The first force detecting section11detects a force or a moment (torque) that acts on the first hand71(or a flange for providing the first hand71in the first manipulator M1). The first force detecting section11outputs first force detection information including a value indicating the magnitude of the detected force or moment as an output value to the robot control device25by communication.

The first force information is used for control based on the first force information of the first arm by the robot control device25. The control based on the first force information is, for example, compliance control such as impedance control. Note that the first force detecting section11may be another sensor that detects a value indicating the magnitude of the force or the moment applied to the first hand71(or the flange for providing the first hand71in the first manipulator M1) such as a torque sensor.

The first force detecting section11is communicably connected to the robot control device25by a cable. Wired communication via the cable is performed according to a standard such as Ethernet (registered trademark) or USB. Note that the first force detecting section11and the robot control device25may be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The second arm includes a second hand (a hand)72, a second manipulator M2, and a second force detecting section12. Note that, in this embodiment, the second hand72is included in the second arm. However, the second arm and the second hand72may be separate. In this case, the second arm includes the second manipulator M2and the second force detecting section12. The second manipulator M2includes seven joints and a second image pickup section22.

The second hand72, the second manipulator M2, and the second force detecting section12are configured the same as the first hand71, the first manipulator M1, and the first force detecting section11except that the arm in which the secondhand72, the second manipulator M2, and the second force detecting section12are provided is different.

The robot20includes a third image pickup section23and a fourth image pickup section24. The third image pickup section23is, for example, a camera including a CCD or a CMOS, which is an image pickup element that converts condensed light into an electric signal. The third image pickup section23is provided in a part where the third image pickup section23is capable of performing, in conjunction with the fourth image pickup section24, stereoscopic image pickup of a range in which the fourth image pickup section24is capable of performing image pickup. The third image pickup section23is communicably connected to the robot control device25by a cable. Wired communication via the cable is performed according to a standard such as Ethernet (registered trademark) or USB. Note that the third image pickup section23may be connected to the robot control device25by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The fourth image pickup section24is the same as the third image pickup section23except a position where the fourth image pickup section24is provided. The fourth image pickup section24is provided in a part where the fourth image pickup section24is capable of performing, in conjunction with the third image pickup section23, stereoscopic image pickup of a range in which the third image pickup section23is capable of performing image pickup.

In this example, these functional sections included in the robot20explained above acquire control signals from the robot control device25incorporated in the robot20. The functional sections perform operations based on the acquired control signals. Note that the robot20may be controlled by the robot control device25set on the outside instead of incorporating the robot control device25. The robot20does not have to include a part or all of the first image pickup section21, the second image pickup section22, the third image pickup section23, and the fourth image pickup section24.

An example of the operation of the robot20is explained. In this embodiment, the robot20is capable of rotating the first pulley32using the first hand71. As shown inFIG. 4, the robot20moves the first hand71to immediately above the grip section33. As shown inFIG. 5, the robot20brings the first hand71close to the grip section33from the upper side. The robot20moves the palm section75to the lower side with respect to the base73and brings the lower surface of the palm section75into contact with the upper surface of the grip section33.

After the grip section33is located between the finger sections74, the robot20moves the finger sections74in the left-right direction (the X-axis direction) and grips the grip section33. At this point, the plurality of finger sections74respectively move in directions in which the finger sections74approach the grip section33. When the robot20grips the grip section33with the finger sections74, the palm section75is in contact with the grip section33.

After gripping the grip section33with the first hand71, the robot20rotates the base73around the third rotation axis J3(the ±θ3direction). Consequently, the grip section33rotates around the first rotation axis J1(the ±θ1direction) and the first pulley32rotates around the first rotation axis J1. In this way, the robot20grips the grip section33with the finger sections74to rotate the first pulley32. Since the first pulley32rotates, the second pulley rotates around the second rotation axis J2(the ±θ2direction) via the belt50. Since the second pulley42rotates, the workbench43rotates. By highly accurately rotating the first pulley32with the first hand71as explained above, the robot20can highly accurately rotate the workbench43.

Since the workbench43is rotated, it is possible to change the direction of the target object P set on the workbench43. During work performed on the target object P, the robot20appropriately performs the operation for rotating the workbench43. Consequently, it is possible to make the work by the robot20efficient.

The operation of the robot20for rotating the first pulley32is controlled by the robot control device25. In other words, the robot control device25controls the first hand71to grip the grip section33with the finger sections74to rotate the first pulley32.

Note that, in the above explanation, the example is explained in which the grip section33is gripped and rotated by the first hand71. However, the robot20can also grip and rotate the grip section33using the second hand72.

An example in which the first pulley32is rotated is explained with reference toFIGS. 3 and 6 to 8.FIGS. 6 to 8are plan views showing the work device10. For example, a state shown inFIG. 3is set as an initial state in which a rotation angle θ1of the first pulley32(the grip section33) is 0° and a rotation angle θ2of the second pulley42(the workbench43) is 0°.

In this embodiment, the ratio of the diameter D1of the first pulley32and the diameter D2of the second pulley42is 1:3. Therefore, when the first pulley32rotates, the second pulley42rotates by one third of the rotation angle θ1of the first pulley32. Specifically, as shown inFIG. 6, when the first pulley32is rotated 90°, the second pulley42rotates 30°. As shown inFIG. 7, when the first pulley32is rotated 180°, the second pulley42rotates 60°. As shown inFIG. 8, when the first pulley32is rotated 270°, the second pulley42rotates 90°. Although not shown in the figure, similarly, when the first pulley32is rotated 540°, the second pulley42rotates 180°. Consequently, it is possible to reverse the direction of the workbench43by 180°.

According to this embodiment, since the robot20grips the grip section33with the first hand71to rotate the first pulley32, it is possible to rotate the second pulley42on which the workbench43is provided. Therefore, it is unnecessary to provide, other than the robot control device25, a motor that rotates the workbench43and a control system that controls the motor. Consequently, it is possible to suppress manufacturing cost of the robot system1from increasing. Since the workbench43can be rotated by controlling the operation of the robot20with the robot control device25, it is unnecessary to separately synchronize the control for rotating the workbench43and the control of the robot20. It is possible to suppress the control of the robot system1from being complicated. Therefore, it is possible to obtain the robot system1that can highly accurately rotate the workbench43on which the target object P of the work performed by the robot20is set and can suppress an increase in manufacturing cost and complication of the control.

According to this embodiment, since the workbench43can be rotated by the first hand71, it is possible to rotate the workbench43with the high rotation accuracy of the first handle71(the base73). Consequently, it is possible to accurately determine a rotating position of the workbench43. In this embodiment, the highly accurate encoder is provided in the motor that rotates the base73. A reduction gear is provided in the output shaft of the motor. Therefore, it is possible to improve accuracy of the rotating position of the base73. As a result, it is possible to further improve the accuracy of the rotating position of the workbench43.

According to this embodiment, the rotation of the first pulley32is transmitted to the second pulley42by the belt50wound on the first pulley32and the second pulley42. Therefore, it is possible to dispose the first pulley32and the second pulley42apart from each other. Consequently, it is possible to dispose the operation section30and the work section40apart from each other. When the robot20performs operation in one of the operation section30and the work section40, it is possible to suppress the other of the operation section30and the work section40from interfering with the operation. Therefore, it is possible to facilitate the work of the robot20in both of the operation section30and the work section40. Further, it is possible to simplify the configuration for transmitting the rotation of the first pulley32to the second pulley42. Therefore, it is possible to reduce manufacturing cost of the work device10.

According to this embodiment, the adjusting mechanisms60capable of adjusting the distance L between the first supporting table31and the second supporting table41are provided. Therefore, it is possible to adjust, with the adjusting mechanisms60, the distance between the first pulley32supported by the first supporting table31and the second pulley42supported by the second supporting table41. Consequently, it is possible to adjust tension applied to the belt50. Therefore, when the first pulley32, the second pulley42, the belt50, and the like are replaced, it is possible to appropriately adjust the tension of the belt50and suitably transmit the rotation of the first pulley32to the second pulley42.

According to this embodiment, the diameter D1of the first pulley32is smaller than the diameter D2of the second pulley42. Therefore, when the first pulley32is rotated, the rotation angle θ2of the second pulley42is smaller than the rotation angle θ1of the first pulley32. Consequently, when the first pulley32is rotated by the robot20, even when an error occurs with respect to the rotation angle θ1set as a target, it is possible to reduce the error in the second pulley42to be smaller than the error in the first pulley32. That is, it is possible to improve rotation accuracy of the second pulley42. Therefore, it is possible to improve rotating position accuracy of the workbench43. Since the first pulley32can be reduced in size, it is possible to reduce the weight of the first pulley32. Consequently, it is possible to reduce force necessary when the first pulley32is rotated by the robot20. Therefore, it is easy to reduce an output of the motor that rotates the base73of the first hand71. It is possible to suppress the first hand71from being increased in size.

According to this embodiment, the first hand71includes the palm section75. When the robot20grips the grip section33with the finger sections74, the palm section75is in contact with the grip section33. Therefore, it is possible to stably grip the grip section33with the first hand71.

According to this embodiment, the palm section75is capable of moving along the direction in which the third rotation axis J3extends. Therefore, before gripping the grip section33, the robot20can move the palm section75to bring the palm section75and the grip section33into contact with each other and more accurately grasp the position of the grip section33. Consequently, the robot20can easily grip the grip section33with the finger sections74and more stably grip the grip section33.

According to this embodiment, the grip section33has the rectangular parallelepiped shape. Therefore, it is easy to grip the grip section33with the first hand71.

According to this embodiment, the first pulley32is made of resin. Therefore, it is possible to further reduce the weight of the first pulley32. Consequently, it is possible to further reduce the force necessary when the first pulley32is rotated by with the robot20. Therefore, it is easy to reduce an output of the motor that rotates the base73of the first hand71. It is possible to suppress the first hand71from being increased in size.

Note that the invention is not limited to the embodiment explained above. It is possible to adopt other configurations. In the following explanation, concerning components same as the components in the above explanation, explanation is sometimes omitted by, for example, denoting the components with the same reference numerals and signs as appropriate.

In the above explanation, the first pulley32and the second pulley42are described as the first rotating body and the second rotating body. However, the invention is not limited to this. The first rotating body and the second rotating body are not particularly limited as long as the second rotating body rotates in association with the rotation of the first rotating body. The first rotating body and the second rotating body may be gears that mesh with each other or may be friction wheels that are in contact with each other. In this case, the belt50is not provided.

In the above explanation, the belt50is described as the annular driving member. However, the invention is not limited to this. The annular driving member is not particularly limited as long as the annular driving member can transmit the rotation of the first pulley32to the second pulley42. The annular driving member may be a chain. In this case, the first rotating body and the second rotating body are sprockets.

In the above explanation, the first rotation axis J1and the second rotation axis J2are parallel. However, the invention is not limited to this. The first rotation axis J1and the second rotation axis J2may cross. In this case, the first rotating body and the second rotating body may be, for example, bevel gears that mesh with each other.

In the above explanation, the workbench43is described as the setting section. However, the invention is not limited to this. The setting section is not particularly limited as long as the target object P can be set on the setting section. The setting section may be at least a part of the upper surface of the second pulley42. In this case, the target object P is directly set on the upper surface of the second pulley42.

The shape of the first supporting table31and the shape of the second supporting table41are not particularly limited. The first supporting table31and the second supporting table41do not have to be provided. The adjusting mechanisms60are not particularly limited as long as the adjusting mechanisms60can adjust the distance L between the first supporting table31and the second supporting table41.

The ratio of the diameter D1of the first pulley32and the diameter D2of the second pulley42is not particularly limited. The diameter D1of the first pulley32may be larger than the diameter D2of the second pulley42. The diameter D1of the first pulley32may be the same as the diameter D2of the second pulley42.

The position of the palm section75with respect to the base73may be fixed. The first hand71does not have to include the palm section75. The grip section33is not particularly limited as long as the grip section33can be gripped by the first hand71.

The material of the first pulley32and the second pulley42is not particularly limited. The material of the first pulley32and the second pulley42may be metal.

The robot20only has to include at least one hand. That is, one of the first hand71and the second hand72may be an end effector other than a hand.

In the above explanation, the base73rotates around the third rotation axis J3(the ±θ3direction). However, the invention is not limited to this. The configuration of the robot20is not particularly limited as long as the robot can rotate the gripped grip section33around the first rotation axis J1(the ±θ direction). For example, the robot20may have a configuration in which a rotating mechanism is provided in a portion other than the first hand71in the first arm and the grip section33(the first pulley32) is rotated by the rotating mechanism.

The work performed by the robot20in the work device10is not particularly limited. The work performed by the robot20may be assembly of an object other than the box or may be machining such as cutting or welding of a target object.

Note that the configurations explained above can be combined as appropriate in a range in which the configurations are not contradictory to each other.

The entire disclosure of Japanese Patent Application No. 2015-235083, filed Dec. 1, 2015 is expressly incorporated by reference herein.