Patent Description:
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 predetermined place, and performs a predetermined operation such as assembly.

As such a robot, <CIT> discloses a vertically articulated robot. In the robot disclosed in <CIT>, a motion for moving a hand to a position rotated by <NUM>° 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.

<CIT> discloses a remote center manipulator for use in. minimally invasive robotic surgery including a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation, about a first axis intersecting a remote center of manipulation.

From <CIT>, a linkage structure for a surgical robot arm is known.

A remote center of motion robotic system, including a base unit and a plurality of linking units is illustrated in US-Al-<NUM>/<NUM>.

<CIT> and <CIT> also form part of the prior art.

In the robot disclosed in <CIT>, when the hand is moved to the position rotated by <NUM>° 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.

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.

In addition, a height of the robot cell for an operation by a robot is great, and accordingly, 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.

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.

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 <NUM>°, 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 <NUM>°.

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 <NUM>° around the first rotation axis.

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.

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 <NUM>° around the first rotation axis. It is, however, noted that this embodiment is not falling under the scope of the appended claims and is to be considered merely as an example suitable for understanding the invention.

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 <NUM>° around the first rotation axis, through a state where an angle formed by the first arm and the second arm is set as <NUM>° when seen in the axial direction of the second rotation axis, by not rotating the first arm but rotating the second arm.

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.

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.

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.

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.

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.

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.

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.

In the robot according to the application example, it is preferable that the second rotation axis is separate from the first rotation axis.

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. It is, however, noted that this embodiment is not falling under the scope of the appended claims and is to be considered merely as an example suitable for understanding the invention.

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.

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.

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.

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.

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.

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.

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.

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 <NUM>,<NUM>.

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.

In the robot system according to the application example, it is preferable that the height of the robot cell is from <NUM>,<NUM> to <NUM>,<NUM>.

With this configuration, it is possible to prevent the effects of vibration when the robot is operated in the robot cell.

In the robot system according to the application example, it is preferable that the robot cell has an installation area of less than <NUM>,<NUM><NUM>.

With this configuration, it is possible to increase the number of production lines and to prevent long production lines.

In the robot system according to the application example, it is preferable that the installation area of the robot cell is equal to or smaller than <NUM>,<NUM><NUM>.

With this configuration, it is possible to further prevent a long production line.

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.

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 <NUM> to <NUM>.

With this configuration, by increasing the volume ratio which is equal to or greater than <NUM>, because the volume ratio of the related art is equal to or smaller than <NUM>, it is possible to realize space saving of the robot cell and to make the operations efficient.

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 <NUM> to <NUM>.

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 <NUM>.

In the robot system according to the application example, it is preferable that the robot has a weight equal to or smaller than <NUM>.

With this configuration, it is possible to prevent an effect of vibration when the robot is operated in the robot cell.

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.

Hereinafter, a robot according to the invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

<FIG> is a perspective view showing a first embodiment of a robot according to the invention. <FIG> is a schematic diagram of the robot shown in <FIG>. <FIG> and <FIG> are front views of the robot shown in <FIG>. <FIG>, <FIG>, and <FIG> are respectively diagrams for illustrating a motion at the time of an operation of the robot shown in <FIG>.

Hereinafter, for convenience of description, the upper side in <FIG>, <FIG>, <FIG>, and <FIG> 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 <FIG> of other embodiments), and the base side in <FIG>, <FIG>, <FIG>, and <FIG> 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 <FIG> of other embodiments).

A robot (industrial robot) <NUM> shown in <FIG> includes a robot main body (main body portion) <NUM> and a robot control device (control unit) (not shown) which controls an operation of the robot main body <NUM> (robot <NUM>). The robot <NUM>, 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 <NUM> (robot <NUM>) or may be separate from the robot main body <NUM>. 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.

The robot main body <NUM> includes a base (support) <NUM> and a robot arm <NUM>. The robot arm <NUM> includes a first arm (first arm member) (arm portion) <NUM> including one link, a second arm (second arm member) (arm portion) <NUM> including one link, a third arm (third arm member) (arm portion) <NUM> including a first link <NUM>, a second link <NUM>, a third link <NUM>, and a fourth link <NUM> (four links), a first driving source <NUM>, a second driving source <NUM>, a third driving source <NUM>, a fourth driving source <NUM>, a fifth driving source <NUM>, and a sixth driving source <NUM> (six driving sources). The wrist is configured with the third link <NUM> and the fourth link <NUM> of the third arm and an end effector such as a hand <NUM> or the like can be detachable from a distal end of the fourth link <NUM> of the third arm, for example (see <FIG>). That is, the robot <NUM> is a vertically articulated (six axes) robot in which the base <NUM>, the first arm <NUM>, the second arm <NUM>, the first link <NUM>, the second link <NUM>, the third link <NUM>, and the fourth link <NUM> are connected to each other in this order form the proximal side to the distal side. Hereinafter, the first arm <NUM>, the second arm <NUM>, and the third arm <NUM> are also respectively referred to as the "arm". In addition, the first link <NUM>, the second link <NUM>, the third link <NUM>, and the fourth link <NUM> are also respectively referred to as the "link". Further, the first driving source <NUM>, the second driving source <NUM>, the third driving source <NUM>, the fourth driving source <NUM>, the fifth driving source <NUM>, and the sixth driving source <NUM> are also respectively referred to as the "driving source".

As shown in <FIG>, <FIG>, and <FIG>, in a case where the robot <NUM> is a vertically articulated robot, the base <NUM> 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 <NUM> which is a lower surface of a ceiling <NUM> 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.

A location for the base <NUM> attached to the attachment surface <NUM> is not particularly limited, but in the embodiment, any portion of a plate-shaped flange <NUM> provided on the lower portion of the base <NUM> and an upper surface of the base <NUM> can be used.

The portion where the base <NUM> 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.

A first joint <NUM> which will be described later may be contained or not be contained in the base <NUM>.

The first arm <NUM>, the second arm <NUM>, the first link <NUM>, the second link <NUM>, the third link <NUM>, and the fourth link <NUM> are respectively supported so as to be independently displaced with respect to the base <NUM>.

As shown in <FIG>, <FIG>, and <FIG>, the base <NUM> and the first arm <NUM> are connected to each other through the joint <NUM>. The joint <NUM> has a mechanism of supporting the first arm <NUM> connected to the base <NUM> to be rotatable with respect to the base. Accordingly, the first arm <NUM> can rotate around a first rotation axis O1 parallel to a vertical direction, with respect to the base <NUM>. The first rotation axis O1 coincides with a normal line of a lower surface of the ceiling <NUM> to which the base <NUM> is attached, that is, a normal line of the attachment surface <NUM> of the ceiling <NUM>. The first rotation axis O1 is a rotation axis which is on the uppermost stream of the robot <NUM>. The rotation around the first rotation axis O1 is performed by the driving of the first driving source <NUM> including a motor <NUM>. The first driving source <NUM> is driven by the motor <NUM> and a cable (not shown) and this motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The first driving source <NUM> may be configured to transmit a driving force of the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, and the reduction gear may be omitted.

The first arm <NUM> and the second arm <NUM> are connected to each other through a joint <NUM>. The joint <NUM> has a mechanism of supporting one of the first arm <NUM> and the second arm <NUM> connected to each other to be rotatable with respect to the other one. Accordingly, the second arm <NUM> can rotate around a second rotation axis O2 parallel to a horizontal direction, with respect to the first arm <NUM>. The second rotation axis O2 is orthogonal to the first rotation axis O1. The rotation around the second rotation axis O2 is performed by the driving of the second driving source <NUM> including a motor <NUM>. The second driving source <NUM> is driven by the motor <NUM> and a cable (not shown) and this motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The second driving source <NUM> may be configured to transmit a driving force from the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, and the reduction gear may be omitted. The second rotation axis O2 may be parallel to an axis orthogonal to the first rotation axis O1 or when the second rotation axis O2 is not orthogonal to the first rotation axis O1, axial directions thereof may be different from each other.

The second arm <NUM> and the first link <NUM> of the third arm <NUM> are connected to each other through a joint <NUM>. The joint <NUM> has a mechanism of supporting one of the second arm <NUM> and the first link <NUM> connected to each other to be rotatable with respect to the other one. Accordingly, the first link <NUM> can rotate around a third rotation axis O3 parallel to the horizontal direction, with respect to the second arm <NUM>. The third rotation axis O3 is parallel to the second rotation axis O2. The rotation around the third rotation axis O3 is performed by the driving of the third driving source <NUM>. The third driving source <NUM> is driven by a motor <NUM> and a cable (not shown) and the motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The third driving source <NUM> may be configured to transmit a driving force from the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, and the reduction gear may be omitted.

The first link <NUM> and the second link <NUM> are connected to each other through a joint <NUM>. The joint <NUM> has a mechanism of supporting one of the first link <NUM> and the second link <NUM> connected to each other to be rotatable with respect to the other one. Accordingly, the second link <NUM> can rotate around a fourth rotation axis O4 parallel to a center axis direction of the first link <NUM>, with respect to the first link <NUM> (base <NUM>). The fourth rotation axis O4 is orthogonal to the third rotation axis O3. The rotation around the fourth rotation axis O4 is performed by the driving of the fourth driving source <NUM>. The fourth driving source <NUM> is driven by a motor <NUM> and a cable (not shown) and the motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The fourth driving source <NUM> may be configured to transmit a driving force from the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, and the reduction gear may be omitted. The fourth rotation axis O4 may be parallel to an axis orthogonal to the third rotation axis O3 or when the fourth rotation axis O4 is not orthogonal to the third rotation axis O3, axial directions thereof may be different from each other.

The second link <NUM> and the third link <NUM> are connected to each other through a joint <NUM>. The joint <NUM> has a mechanism of supporting one of the second link <NUM> and the third link <NUM> connected to each other to be rotatable with respect to the other one. Accordingly, the third link <NUM> can rotate around a fifth rotation axis O5 which is orthogonal to a center axis direction of the second link <NUM>, with respect to the second link <NUM>. The fifth rotation axis O5 is orthogonal to the fourth rotation axis O4. The rotation around the fifth rotation axis O5 is performed by the driving of the fifth driving source <NUM>. The fifth driving source <NUM> is driven by a motor <NUM> and a cable (not shown) and the motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The fifth driving source <NUM> may be configured to transmit a driving force from the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, and the reduction gear may be omitted. The fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4 or when the fifth rotation axis O5 is not orthogonal to the fourth rotation axis O4, axial directions thereof may be different from each other.

The third link <NUM> and the fourth link <NUM> are connected to each other through a joint <NUM>. The joint <NUM> has a mechanism of supporting one of the third link <NUM> and the fourth link <NUM> connected to each other to be rotatable with respect to the other one. Accordingly, the fourth link <NUM> can rotate around a sixth rotation axis O6 with respect to the third link <NUM>. The sixth rotation axis O6 is orthogonal to the fifth rotation axis O5. The rotation around the sixth rotation axis O6 is performed by the driving of the sixth driving source <NUM>. The sixth driving source <NUM> is driven by a motor <NUM> and a cable (not shown) and the motor <NUM> is controlled by the robot control device through an electrically connected motor driver <NUM>. The sixth driving source <NUM> may be configured to transmit a driving force from the motor <NUM> by a reduction gear (not shown) which is provided with the motor <NUM>, or the reduction gear may be omitted. The fifth rotation axis O5 may be parallel to an axis orthogonal to the fourth rotation axis O4, the sixth rotation axis O6 may be parallel to an axis orthogonal to the fifth rotation axis O5, or when the sixth rotation axis O6 is not orthogonal to the fifth rotation axis O5, axial directions thereof may be different from each other.

The hand <NUM> 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 <NUM>) of the fourth link <NUM>, as an end effector, for example. The driving of this hand <NUM> is controlled by the robot control device. The configuration of the hand <NUM> is not particularly limited, and a configuration of including a plurality of fingers is used. The robot <NUM> can perform each operation of transporting the precision apparatus or component by controlling the motions of the arms <NUM> to <NUM> while grasping the precision apparatus or component by the hand <NUM>.

Next, a relationship between the first arm <NUM>, the second arm <NUM>, and the third arm <NUM> will be described, but the description will be made from various viewpoints by changing expressions. In addition, the third arm <NUM> is considered in a state where the third arm <NUM> is extended straight, that is, a state where the third arm <NUM> is extended to a maximum length, that is, a state where the fourth rotation axis O4 and the sixth rotation axis O6 coincide with each other or are parallel to each other.

First, as shown in <FIG>, a length L1 of the first arm <NUM> is set to be greater than a length L2 of the second arm <NUM>.

Herein, the length L1 of the first arm <NUM> is a distance between the second rotation axis O2 and a center line <NUM> of a bearing <NUM> rotatably supporting the first arm <NUM>, which extends in a vertical direction of <FIG>, when seen in the axial direction of the second rotation axis O2.

The length L2 of the second arm <NUM> is a distance between the second rotation axis O2 and the third rotation axis O3, when seen in the axial direction of the second rotation axis O2.

As shown in <FIG>, an angle q formed by the first arm <NUM> and the second arm <NUM> is configured so as to be set as <NUM>°, when seen in the axial direction of the second rotation axis O2. That is, the first arm <NUM> and the second arm <NUM> are configured so as to overlap each other, when seen in the axial direction of the second rotation axis O2.

When an angle q of the second arm <NUM> is <NUM>°, that is, when the first arm <NUM> and the second arm <NUM> overlap each other, when seen in the axial direction of the second rotation axis O2, the attachment surface <NUM> of the ceiling <NUM> on which the base <NUM> is provided does not cause interference.

Herein, the angle q formed by the first arm <NUM> and the second arm <NUM> is an angle formed by a linear line (center axis of the second arm <NUM> when seen in the axial direction of the second rotation axis O2) <NUM> passing through the second rotation axis O2 and the third rotation axis O3, and the first rotation axis O1, when seen in the axial direction of the second rotation axis O2.

By not rotating the first arm <NUM> but rotating the second arm <NUM>, the distal end of the second arm <NUM> can be moved to a position rotated by <NUM>° around the first rotation axis O1, through a state where the angle q is set as <NUM>° (a state where the first arm <NUM> and the second arm <NUM> are overlapped each other) when seen in the axial direction of the second rotation axis O2 (see <FIG>). That is, by not rotating the first arm <NUM> but rotating the second arm <NUM>, the distal end of the robot arm <NUM> (distal end of the fourth link <NUM> of the third arm <NUM>) can be moved from a first position shown in <FIG> to a second position shown in <FIG> which is rotated by <NUM>° around the first rotation axis O1, through a state where the angle q is set as <NUM>° (see <FIG>). The first link <NUM>, the second link <NUM>, the third link <NUM>, and the fourth link <NUM> of the third arm <NUM> respectively rotate, if necessary.

When moving the distal end of the second arm <NUM> to a position rotated by <NUM>° around the first rotation axis O1 (when moving the distal end of the robot arm <NUM> from the first position to the second position), the distal end of the second arm <NUM> and the distal end of the robot arm <NUM> are moved on the linear line, when seen in the axial direction of the first rotation axis O1.

A length L3 of the third arm <NUM> is set to be greater than the length L2 of the second arm <NUM>.

Accordingly, when the second arm <NUM> and the third arm <NUM> overlap each other, when seen in the axial direction of the second rotation axis O2, the distal end of the third arm <NUM>, that is, the distal end of the fourth link <NUM> can be protruded from the second arm <NUM>. Accordingly, it is possible to prevent the hand <NUM> from interfering with the first arm <NUM> and the second arm <NUM>.

Herein, as shown in <FIG>, the length L3 of the third arm <NUM> is the distance between the third rotation axis O3 and the distal end of the third arm <NUM> (distal end of the fourth link <NUM>), when seen in the axial direction of the second rotation axis O2. The state of the third arm <NUM> in this case is a state where the third arm <NUM> is extended to a maximum length, that is, a state where the fourth rotation axis O4 and the sixth rotation axis O6 coincide with each other or are parallel to each other, that is, a state where the third arm <NUM> is extended straight.

As shown in <FIG>, the second arm <NUM> and the third arm <NUM> can overlap each other, when seen in the axial direction of the second rotation axis O2.

That is, the first arm <NUM>, the second arm <NUM>, and the third arm <NUM> can overlap each other at the same time, when seen in the axial direction of the second rotation axis O2.

In the robot <NUM>, by satisfying the relationship described above, the hand <NUM> (distal end of the third arm <NUM>) can be moved to a position rotated by <NUM>° around the first rotation axis O1, through a state where the angle q formed by the first arm <NUM> and the second arm <NUM> is set as <NUM>° (a state where the first arm <NUM> and the second arm <NUM> overlap each other) when seen in the axial direction of the second rotation axis O2, by not rotating the first arm <NUM> but rotating the second arm <NUM> and the third arm <NUM>. By using this operation, it is possible to drive the robot <NUM> with excellent efficiency and to reduce the space provided for avoiding interference with the robot <NUM>, and various advantages which will be described later are obtained.

Next, operations such as the supply, removal, transportation, assembly, and the like regarding materials performed by the robot <NUM> and an example of a motion of the robot <NUM> at the time of operation will be described. Herein, a motion of the robot <NUM> when the robot <NUM> 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.

As shown in <FIG>, in the robot <NUM>, the base <NUM> is attached to the ceiling <NUM> so as to be positioned in the vicinity of a belt conveyor <NUM>. The belt conveyor <NUM> may be a direct linear motion bearing used in belt driving or ball screw driving.

As shown in <FIG> and <FIG>, a predetermined component <NUM> is transported by the belt conveyor <NUM> at the time of the operation. The robot <NUM> inserts a component <NUM> disposed in a component supply portion <NUM> to the component <NUM> which is transported by the belt conveyor <NUM>.

At that time, first, as shown in <FIG>, the robot <NUM> grasps the component <NUM> disposed in the component supply portion <NUM> with the hand <NUM>.

Next, as shown in <FIG>, by not rotating the first arm <NUM> (not performing an operation shown with arrows <NUM> and <NUM> of <FIG>) but rotating the second arm <NUM> and the third arm <NUM> (performing an operation shown with an arrow <NUM> of <FIG>), the hand <NUM> can be moved to a position rotated by <NUM>° around the first rotation axis O1, that is, an insertion portion <NUM>, through a state where the angle q formed by the first arm <NUM> and the second arm <NUM> is set as <NUM>° (a state where the first arm <NUM> and the second arm <NUM> overlap each other) when seen in the axial direction of the second rotation axis O2 (see <FIG>). At that time, the distal end of the second arm <NUM> and the hand <NUM> (distal end of the third arm <NUM>) move on the straight line. At that time, the first arm <NUM> may also rotate as an operation of fine adjustment.

As shown in <FIG>, the component <NUM> is inserted into the component <NUM> in the insertion portion <NUM>. At that time, the first arm <NUM> may also rotate as an operation of fine adjustment. Hereinafter, this operation is repeated.

In the robot <NUM>, by not rotating the first arm <NUM> but rotating the second arm <NUM>, the hand <NUM> can be moved to a position rotated by <NUM>° around the first rotation axis O1, through a state where the angle q formed by the first arm <NUM> and the second arm <NUM> is set as <NUM>° when seen in the axial direction of the second rotation axis O2, and accordingly, as shown in <FIG>, a width W of the installation space of the robot <NUM> can be set to be W2 which is smaller than W1 of the related art. W2 is, for example, at least <NUM>% smaller than W1. In the same manner as described above, a height (height in the vertical direction) of the installation space of the robot <NUM> can be set to be smaller than a height of the related art, and specifically, the height thereof can be at least <NUM>% smaller than the height of the related art.

As described above, in the robot <NUM>, by not rotating the first arm <NUM> but rotating the second arm <NUM> and the third arm <NUM>, the hand <NUM> (distal end of the third arm <NUM>) can be moved to a position rotated by <NUM>° around the first rotation axis O1, through a state where the angle q formed by the first arm <NUM> and the second arm <NUM> is set as <NUM>° (a state where the first arm <NUM> and the second arm <NUM> are overlapped each other) when seen in the axial direction of the second rotation axis O2.

Accordingly, it is possible to reduce the space provided for avoiding interference with the robot <NUM>.

That is, first, it is possible to lower the ceiling <NUM>, and accordingly, the position of the center of gravity of the robot <NUM> is lowered and it is possible to prevent vibration which occurs due to a reaction force generated by the motion of the robot <NUM>.

In addition, it is possible to reduce the working area of the robot <NUM> in a width direction (direction of the production line) and accordingly, it is possible to dispose a large number of robots <NUM> along a production line by unit length, and to shorten the production line.

When the hand <NUM> is moved, the motion of the robot <NUM> can be minimized. For example, it is possible to not rotate the first arm <NUM> or to decrease a rotation angle of the first arm <NUM>, and accordingly, it is possible to shorten the cycle time and to improve operation efficiency.

<FIG> is a front view showing a second embodiment of a robot according to the invention. The following aspects are not according to the claimed invention and are present for illustration purposes only.

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 description of the same matters will be omitted.

As shown in <FIG>, in a robot 1A of the second embodiment, the length L2 of the second arm <NUM> is set to be greater than the length L1 of the first arm <NUM>. Accordingly, in the robot 1A, the hand <NUM> can be moved further and the range of the vertical motion of the hand <NUM> can be increased.

The same effects as those in the first embodiment described above can be exhibited even in the second embodiment.

<FIG> is a perspective view showing a third embodiment of a robot according to the invention. <FIG> is a side view of the robot shown in <FIG>. The hand <NUM> is omitted in <FIG> and <FIG>.

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.

As shown in <FIG> and <FIG>, in a robot 1B of the third embodiment, the first arm <NUM> and the second arm <NUM> are respectively bent and a part thereof is protruded in a horizontal direction (left side of <FIG>) with respect to the base <NUM>.

The second link <NUM> of the third arm <NUM> includes a pair of supports <NUM> and <NUM> opposing each other and the third link <NUM> is connected between the supports <NUM> and <NUM>.

The same effects as those in the first embodiment described above can be exhibited even in the third embodiment.

<FIG> is a perspective view showing a fourth embodiment of a robot according to the invention. The hand <NUM> is omitted in <FIG>.

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 description of the same matters will be omitted.

As shown in <FIG>, in a robot 1C of the fourth embodiment, the first arm <NUM> includes a pair of supports <NUM> and <NUM> opposing each other and the second arm <NUM> is connected between the supports <NUM> and <NUM>. The supports <NUM> and <NUM> are protruded in a horizontal direction (horizontal direction of <FIG>) with respect to the base <NUM>.

In the same manner as described above, the second arm <NUM> includes a pair of supports <NUM> and <NUM> opposing each other and the third arm <NUM> is connected between the supports <NUM> and <NUM>.

The same effects as those in the first embodiment described above can be exhibited even in the fourth embodiment.

<FIG> are diagrams for illustrating a motion of a robot according to the invention in a fifth embodiment.

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 <NUM> 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 1D of a seventh embodiment which will be described later, in the same manner.

In the fifth embodiment, in the robot <NUM>, the distal end of the robot arm <NUM> 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 <NUM> from the second position to the third position and from the third position to the first position can also be performed. As shown in <FIG>, by using this function, the robot <NUM> performs an operation of extracting a work <NUM> disposed on a shelf <NUM>, transporting the work to a stage <NUM>, and disposing the work on the stage <NUM>.

The stage <NUM> is disposed on a position which is moved from the shelf <NUM> by <NUM>° around the first rotation axis O1 of the robot <NUM>.

The shape of the work <NUM> is not particularly limited, but in the embodiment, a plate shape is used.

A portion of the shelf <NUM> which is positioned on the upper portion and the lower portion of the work <NUM> is an obstacle when the robot <NUM> extracts the work <NUM> from the shelf <NUM>. In the embodiment, the shelf has been described as an example of the obstacle at the time of the motion of the robot <NUM>, 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 <NUM> such as an apparatus can be assumed, for example.

In this operation, first, as shown in <FIG>, the robot <NUM> grasps and lifts up the work <NUM> disposed on the shelf <NUM> with the hand <NUM>. The position of the distal end of the robot arm <NUM> shown in <FIG> is the first position.

Next, as shown in <FIG>, the robot <NUM> moves the work <NUM> in the horizontal direction while maintaining the height (position in the vertical direction) of the work <NUM> (distal end of the robot arm <NUM>) constant, and extracts the work <NUM> from the shelf <NUM>. At that time, the robot <NUM> does not rotate the first arm <NUM> and rotates the second arm <NUM> and the first link <NUM> and the third link <NUM> of the third arm <NUM>. Accordingly, the distal end of the second arm <NUM> and the distal end of the robot arm <NUM> move on the straight line, when seen in the axial direction of the first rotation axis O1. If necessary, the fine adjustment may be performed by rotating an arbitrary component among the first arm <NUM>, and the second link <NUM> and the fourth link <NUM> of the third arm <NUM>. The position of the distal end of the robot arm <NUM> shown in <FIG> is the third position. The heights (positions in the vertical direction) of the first position and the third position are equivalent to each other.

Next, as shown in <FIG>, the robot <NUM> transports the work <NUM> to the stage <NUM> and disposes the work on the stage <NUM>. At that time, the robot <NUM> does not rotate the first arm <NUM> and rotates the second arm <NUM> and the first link <NUM> and the third link <NUM> of the third arm <NUM>. Accordingly, the distal end of the second arm <NUM> and the distal end of the robot arm <NUM> move on the straight line, when seen in the axial direction of the first rotation axis O1. If necessary, the fine adjustment may be performed by rotating an arbitrary component among the first arm <NUM>, and the second link <NUM> and the fourth link <NUM> of the third arm <NUM>. The position of the distal end of the robot arm <NUM> shown in <FIG> 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.

The robot <NUM> can perform the reverse operation, that is, an operation of transporting the work <NUM> disposed on the stage <NUM> to the shelf <NUM> and disposing the work on the shelf <NUM>. Hereinafter, this operation will be described.

In this operation, first, as shown in <FIG>, the robot <NUM> grasps the work <NUM> disposed on the stage <NUM> with the hand <NUM>.

Next, as shown in <FIG>, the robot <NUM> transports the work <NUM> to the vicinity of the shelf <NUM>. At that time, the robot <NUM> does not rotate the first arm <NUM> and rotates the second arm <NUM> and the first link <NUM> and the third link <NUM> of the third arm <NUM>. Accordingly, the distal end of the second arm <NUM> and the distal end of the robot arm <NUM> move on the straight line, when seen in the axial direction of the first rotation axis O1. If necessary, the fine adjustment may be performed by rotating an arbitrary component among the first arm <NUM>, and the second link <NUM> and the fourth link <NUM> of the third arm <NUM>.

Next, as shown in <FIG>, the robot <NUM> moves the work <NUM> in the horizontal direction while maintaining the height (position in the vertical direction) of the work <NUM> (distal end of the robot arm <NUM>) constant, and moves the work <NUM> in the shelf <NUM>. At that time, the robot <NUM> does not rotate the first arm <NUM> and rotates the second arm <NUM> and the first link <NUM> and the third link <NUM> of the third arm <NUM>. Accordingly, the distal end of the second arm <NUM> and the distal end of the robot arm <NUM> move on the straight line, when seen in the axial direction of the first rotation axis O1. If necessary, the fine adjustment may be performed by rotating an arbitrary component among the first arm <NUM>, and the second link <NUM> and the fourth link <NUM> of the third arm <NUM>. Next, the robot <NUM> lifts down and releases the work <NUM> and disposes the work on the shelf <NUM>.

As described above, in the robot <NUM>, it is possible to extract the work <NUM> from the shelf <NUM> or dispose the work <NUM> on the shelf <NUM> while preventing interference with the shelf <NUM>.

The distal end of the robot arm <NUM> can be moved to a wide range between the position of the first rotation axis O1 and a position which is far apart from the first rotation axis O1, without rotating the first rotation axis O1, and accordingly, as shown in <FIG>, it is possible to transport the work <NUM> in a wide range from the portion close to the first rotation axis O1 to a distant portion.

Since it is possible to move the distal end of the robot arm <NUM> from one of the first position and the second position to the other position, without rotating the first arm <NUM>, it is possible to decrease the area of the installation space of the robot <NUM>. For example, when the work <NUM> 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 <NUM> due to the size of the work <NUM>.

<FIG> are diagrams for illustrating a motion of a robot according to the invention in a sixth embodiment.

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 <NUM> 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 1D of a seventh embodiment which will be described later, in the same manner.

As shown in <FIG>, in the sixth embodiment, the robot <NUM> performs an operation of transporting a work <NUM> disposed on a palette <NUM> to the shelf <NUM> and disposing the work on the shelf <NUM>.

The palette <NUM> is disposed on a position which is moved from the shelf <NUM> by <NUM>° around the first rotation axis O1 of the robot <NUM>.

In this operation, first, as shown in <FIG>, the robot <NUM> grasps the work <NUM> disposed on the palette <NUM> with the hand <NUM>.

Next, in the same manner as in the fifth embodiment, the robot <NUM> transports the work <NUM> to a portion close to the shelf <NUM>, moves the work in the shelf <NUM>, lifts down, releases, and disposes the work <NUM> on the shelf <NUM> without rotating the first arm <NUM>.

Herein, in the robot of the related art, when transporting the work <NUM> which is disposed in a region R1 of the palette <NUM> on the shelf <NUM> side with respect to the first rotation axis O1, the first arm is not rotated, however, when transporting the work <NUM> which is disposed in a region R2 on the opposite side to the shelf <NUM>, the first arm is rotated by <NUM>°. Accordingly, in the robot of the related art, as shown in <FIG>, it is necessary to change a direction of the work <NUM> by <NUM>° in the region R1 and the region R2 of the palette <NUM>. Alternatively, in the robot of the related art, when the directions of the work <NUM> coincide in the region R1 and the region R2 of the palette <NUM>, it is necessary to rotate the arm (link) on the distal end side by <NUM>° to return the direction of the work <NUM> to the original direction, when transporting the work <NUM> which is disposed in the region R2 of the palette <NUM>.

With respect to this, in the robot <NUM>, even when transporting the work <NUM> disposed in any one of the regions R1 and R2 of the palette <NUM>, the first arm <NUM> 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.

<FIG> is a front view showing a seventh embodiment of a robot according to the invention. The following aspects are not according to the claimed invention and are present for illustration purposes only.

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 description of the same matters will be omitted.

As shown in <FIG>, in a robot 1D of the seventh embodiment, the first arm <NUM> is inclined with respect to the first rotation axis O1 (vertical direction). Accordingly, the second rotation axis O2 is separate from the first rotation axis O1 by a distance L4.

In the robot 1D, the distal end of the second arm <NUM> can be moved to a position further separated from the first rotation axis O1 by the distance L4, compared to a case where the second rotation axis O2 and the first rotation axis O1 are not separate from each other, that is, the distal end of the robot arm <NUM> can be moved to a position further separated from the first rotation axis O1 by the distance L4.

The same effects as those in the first embodiment described above can be exhibited even in the seventh embodiment.

<FIG> is a perspective view showing an eighth embodiment of a robot system according to the invention. <FIG> is a front view showing the eighth embodiment of the robot system according to the invention. <FIG> is a top view showing the eighth embodiment of the robot system according to the invention. <FIG> is a plan view showing the eighth embodiment of the robot system according to the invention. <FIG> is a perspective view showing the eighth embodiment of the robot system according to the invention. In <FIG>, a robot cell <NUM> of the related art is shown as a reference so as to compare the size thereof with the size of a robot cell <NUM> of the embodiment. Operators with a height of <NUM> and a shoulder width of <NUM> are shown as a reference in the same manner. The robot system includes the robot and the robot cell where the robot is provided. It is noted that the following aspects are not according to the claimed invention and are present for illustration purposes only.

Hereinafter, the eighth embodiment will be described. In the eighth embodiment, the description will be made using the robot 1B of the third embodiment, but it is not limited to the robot 1B, 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 <NUM>.

<FIG> shows a case where the robot cell <NUM> is disposed beside the robot cell <NUM>. As shown in <FIG> and <FIG>, the robot cell <NUM> has a height of <NUM>,<NUM>, a width of <NUM>, and a depth of <NUM>. Accordingly, the installation area of the robot cell <NUM> is <NUM>,<NUM><NUM> and the volume of the robot cell <NUM> is <NUM>,<NUM>,<NUM>,<NUM><NUM>.

Meanwhile, the robot cell <NUM> has a height of <NUM>,<NUM>, a width of <NUM>, and a depth of <NUM>. Accordingly, the installation area of the robot cell <NUM> is <NUM>,<NUM><NUM> and the volume of the robot cell <NUM> is <NUM>,<NUM>,<NUM><NUM>.

As shown in <FIG>, when a part of cell for an operation of an operator is replaced with the robot cell <NUM>, the robot cell <NUM> 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 <NUM>, the size of the robot cell <NUM> is the same as the cell for an operation of an operator, and accordingly, it is possible to prevent a long production line.

Specifically, by setting the installation area of the robot cell to be less than <NUM>,<NUM><NUM> which is the installation area of the robot cell <NUM>, it is possible to increase the
number of production lines and to prevent a long production line.

By setting the installation area thereof to be equal to or smaller than <NUM>,<NUM><NUM>, it is possible to further prevent a long production line.

By setting the installation area thereof to be equal to or smaller than <NUM>,<NUM><NUM>, 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.

The height of the robot cell <NUM> is equal to or smaller than <NUM>,<NUM>. Accordingly, when the cell for an operation of an operator is replaced with the robot cell <NUM>, the height thereof is smaller than the height of the robot cell <NUM>, operators operating in other cells can be checked, as shown in <FIG>.

The height of the robot cell <NUM> is preferably from <NUM>,<NUM> to <NUM>,<NUM>. Accordingly, it is possible to prevent an effect of vibration when the robot 1B is operated in the robot cell <NUM>.

In the robot cell <NUM>, a volume ratio of the robot 1B with respect to the volume of the robot cell <NUM> (volume of the robot 1B/volume of the robot cell <NUM>) is preferably from <NUM> to <NUM>. For example, when the volume of the robot 1B is <NUM>,<NUM>,<NUM><NUM> and the volume of the robot cell <NUM> is <NUM>,<NUM>,<NUM><NUM>, the value of (volume of the robot 1B/volume of the robot cell <NUM>) is equal to or greater than <NUM>. Accordingly, by increasing the volume ratio which is equal to or greater than <NUM>, because the volume ratio of the related art is equal to or smaller than <NUM>, it is possible to realize space saving of the robot cell <NUM> and to make the operations efficient.

In addition, in the robot cell <NUM>, the volume ratio of the robot 1B with respect to the volume of the robot cell <NUM> (volume of the robot 1B/volume of the robot cell <NUM>) is from <NUM> to <NUM>. Accordingly, it is possible to widen a movable range of the robot 1B, compared to a case where the volume ratio is equal to or smaller than <NUM>.

In the robot cell <NUM>, the weight of the robot 1B is preferably equal to or smaller than <NUM>. Accordingly, it is possible to prevent an effect of vibration when the robot 1B is operated in the robot cell <NUM>.

In the robot cell <NUM>, the robot 1B includes the base <NUM> which is provided on the robot cell <NUM>, the first arm <NUM> which is provided on the base <NUM> so as to be rotatable around the first rotation axis O1, and the second arm <NUM> which is provided on the first arm <NUM> so as to be rotatable around the second rotation axis O2 having an axial direction different from the axial direction of the first rotation axis O1, and the length of the first arm <NUM> is preferably greater than the length of the second arm <NUM>. Accordingly, it is possible to effectively perform the operation in a small space of the robot cell <NUM>.

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.

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.

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.

Claim 1:
A vertically articulated robot (<NUM>, 1A-1D) comprising:
a base (<NUM>) configured to be attached to an attachment surface (<NUM>) which is a lower surface of a ceiling (<NUM>) of an installation space, wherein the attachment surface (<NUM>) is a flat surface,
a first arm (<NUM>) which is connected to the base (<NUM>) through a first joint (<NUM>) so as to be rotatable relative to the base (<NUM>) around a first rotation axis (O1), wherein the first rotation axis (O1) is adapted to coincide with a normal line of the lower surface of the ceiling (<NUM>), and
a second arm (<NUM>) which is connected to the first arm (<NUM>) through a second joint (<NUM>) so as to be rotatable relative to the first arm (<NUM>) around a second rotation axis (<NUM>) having an axial direction different from, rather than parallel to, the axial direction of the first rotation axis (<NUM>), and
a third arm (<NUM>) which is connected to the second arm (<NUM>) through a third joint (<NUM>) so as to be rotatable relative to the second arm (<NUM>) around a third rotation axis (<NUM>) which is different from the axial direction of the first rotation axis (O1), wherein
the base (<NUM>), the arms (<NUM>, <NUM>), and the joints (<NUM>, <NUM>) are configured such that an angle (θ) formed by the first rotation axis (O1) and a center axis of the second arm (<NUM>) passing through the second rotation axis (<NUM>) and the third rotation axis (<NUM>) can be set to <NUM>°, when seen in the axial direction of the second rotation axis (<NUM>), by not rotating the first arm (<NUM>) but rotating the second arm (<NUM>) and the third arm (<NUM>), and wherein the second arm (<NUM>) does not interfere with the attachment surface (<NUM>) when the base (<NUM>) is attached to the attachment surface (<NUM>) and the angle is <NUM>°, and characterised in that
the third arm (<NUM>) is configured to be actuated independently from an actuation of the second arm (<NUM>).