JP2018164959A - Robot equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device in which a position where a tip portion of a robot arm cannot reach is suppressed. SOLUTION: A robot device 100 has a first vent shaft BJT1, a second vent shaft BJT2, a third vent shaft BJT3, and a fourth vent shaft BJT4 in order from a base 10 to a tip end portion. The distance from the first vent shaft BJT1 to the second vent shaft BJT2 is L1, the distance from the second vent shaft BJT2 to the third vent shaft BJT3 is L2, and the distance from the third vent shaft BJT3 to the fourth vent shaft BJT4 is L3. Then, among L1, L2, and L3, L3 is configured to be the shortest. [Selection diagram] FIG. 5

Description

  The present invention relates to a robot apparatus that controls the position of the tip of a multi-joint robot arm.

  Conventionally, a robot having an articulated robot arm constituted by connecting a plurality of links in series has been adopted. A robot equipped with an articulated robot arm has a high degree of freedom in controlling the position of the end effector when the end effector is attached to the tip, so the position of the end effector can be set over a wide range. it can. A robot including such a multi-joint robot arm is disclosed in, for example, Patent Document 1. Patent Document 1 discloses a robot having three vent shafts and four swivel shafts.

Japanese Patent Laid-Open No. 5-050386

  However, even a robot having an articulated robot arm as disclosed in Patent Document 1 has a limited space in which the end effector can work. In order to insert the end effector into the space and perform the work by the end effector in the space, it may be necessary to bend the robot arm inside the space and make the end effector face the work target. If the size of the portion of the robot arm that is inserted into the space is large, the robot arm and the wall surface of the space come into contact with each other, and it becomes difficult to smoothly operate the robot arm within the space. Therefore, a position where the end effector cannot reach is generated, and there is a possibility that an area where the end effector cannot perform work may be generated.

  Therefore, in view of the above circumstances, an object of the present invention is to provide a robot apparatus in which the position where the tip of the robot arm does not reach is reduced.

  The robot apparatus of the present invention includes a base, a plurality of links connected in series, and a plurality of joints connecting each of the plurality of links, and the plurality of joints are provided between adjacent links. The vent shaft is connected to each other and can be moved in a direction to change the angle formed by the adjacent links, and the vent shaft is arranged in order from the base to the tip portion in order of the first vent shaft. And a second vent shaft, a third vent shaft, and a fourth vent shaft, the distance from the first vent shaft to the second vent shaft is L1, and the second vent shaft to the third vent L2 is the shortest of L1, L2, and L3, where L2 is the distance to the shaft and L3 is the distance from the third vent shaft to the fourth vent shaft.

  In the robot apparatus having the above-described configuration, the distance from the third vent shaft to the fourth vent shaft that is close to the distal end portion is configured to be short, so that the portion on the distal end portion side is formed small. Therefore, even when a portion close to the tip of the robot arm is inserted into a narrow space, the robot arm can be smoothly operated inside the space. Thereby, a front-end | tip part can oppose over the whole inside narrow space, and the operation | work by an end effector can be performed over the whole inside narrow space. Therefore, the position where the tip of the robot arm does not reach can be reduced.

  The plurality of joints may include a swivel shaft that can be displaced in a twisting direction between adjacent links.

  The joint has a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, and a seventh joint in order from the base to the tip, and the vent shaft is A first vent shaft, a second vent shaft, a third vent shaft, and a fourth vent shaft are arranged in order from the base to the tip portion, and the swivel shaft is first in order from the base to the tip portion. A swivel shaft, a second swivel shaft, and a third swivel shaft, wherein the link is connected to the base via the first joint having the first swivel shaft; A second link connected to the first link via the second joint having the first vent shaft, and a second link connected to the second link via the third joint having the second vent shaft. A third link and the third link relative to the third link A fourth link connected via the fourth joint having a pivot axis, a fifth link connected via the fifth joint having the second swivel axis to the fourth link, and the fifth link A sixth link connected to the link via the sixth joint having the fourth vent shaft, and a seventh link connected to the sixth link via the seventh joint having the third swivel shaft. You may have a link.

  Further, the third vent shaft is bent at an angle of less than 180 degrees from a reference state in which the angles formed between the links adjacent to each other across the third vent shaft are parallel to each other, When the fourth vent shaft is bent at an angle of less than 180 degrees from the reference state in which the angles between the links adjacent to each other across the fourth vent shaft are parallel to each other The tip may be arranged to face between the second vent shaft and the third vent shaft.

  Further, it may be possible to move the third vent shaft in a direction in which the third vent shaft approaches or separates from the base in a state where the tip portion faces the side where the base is disposed.

  Further, it may be possible to move the tip portion in the vertical direction with the tip portion facing the side where the base is disposed.

  The third vent shaft is attached with a first drive device that moves in a direction to change an angle formed between the third link and the fourth link, and the second swivel shaft has the above-mentioned A second drive device that displaces in a twisting direction between the fourth link and the fifth link is attached, and a cavity is provided around the radial center of the third link, so that the first drive The device and the second drive device may be attached to the third link while avoiding the cavity.

  The first driving device and the second driving device are arranged at positions facing each other across the cavity, and each output shaft of the first driving device and the second driving device. The first driving device and the second driving device may be arranged such that an angle formed between the direction in which the first portion extends and the direction in which the hollow portion extends is within 30 degrees.

  According to the robot apparatus of the present invention, work can be performed over a wider range, so that the work efficiency of the robot apparatus can be improved.

1 is a perspective view of a robot apparatus according to an embodiment of the present invention. It is the block diagram shown about the structure of the control system of the robot apparatus of FIG. It is the fragmentary sectional view shown about the structure from the front-end | tip part of the 3rd link to the 7th link in the robot apparatus of FIG. (A) is the side view which showed the state which inserted the front-end | tip part of the articulated arm in the opening part of coating object in the robot apparatus of FIG. 1, (b) bent the front-end | tip part of the articulated arm. It is the side view shown about the state. FIG. 5 is a side view showing a state where the tip of the articulated arm is further bent in the robot apparatus of FIG. In the robot apparatus of FIG. 4B, with the tip of the articulated arm being inserted into the opening to be painted, the tip of the articulated arm is moved in a direction approaching or separating from the base. It is the side view shown. FIG. 5B is a side view showing a state in which the tip of the articulated arm is moved in the vertical direction in a state where the tip of the articulated arm is inserted into the opening to be painted in the robot apparatus of FIG. .

  Hereinafter, a robot apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 shows a robot apparatus 100 according to this embodiment. A perspective view of the robot apparatus 100 is shown in FIG.

  The robot apparatus 100 includes a base 10 and a multi-joint arm 20 as a robot arm configured as a multi-joint.

  The base 10 is installed on the ground. In addition, this invention is not limited to this, The base 10 may be attached to other positions, such as a ceiling and a wall surface.

  The tip of the base 10 is connected to the articulated arm 20. Here, the term “tip side” refers to a position on the side close to the tip of the seventh link to which an end effector described later is attached. The distal end portion refers to the distal end portion of the articulated arm 20. When the end effector is attached to the articulated arm 20, the tip portion refers to the tip portion of the end effector. When the end effector is not attached, a plurality of linked links are connected. The tip of the link on the most tip side shall be said.

  The multi-joint arm 20 includes a plurality of links 21 connected in series. That is, the multi-joint arm 20 is configured by connecting a plurality of links 21 in series. In the present embodiment, seven links 21 are provided from the first link 211 to the seventh link 217 in order from the side closer to the base 10. The links 21 of the first link 211, the second link 212, the third link 213, the fourth link 214, the fifth link 215, the sixth link 216, and the seventh link 217 are arranged in this order from the base 10 toward the tip. They are connected in series.

  Between each of the plurality of links 21, a joint 22 that connects between adjacent links 21 is provided. In the present embodiment, the joint 22 has seven joints 22 from the first joint 221 to the seventh joint 227 in order from the side closer to the base 10.

  The plurality of joints 22 are a bent shaft BJT that can be moved in a direction to change an angle formed by adjacent links, and a swivel shaft SJT that can be displaced in a direction to twist between adjacent links. It is comprised.

  At least four vent shafts BJT are provided. In the present embodiment, four vent shafts BJT are provided. A first vent shaft BJT1, a second vent shaft BJT2, a third vent shaft BJT3, and a fourth vent shaft BJT4 are provided in the robot apparatus 100 in order from the base 10 to the tip of the articulated arm 20. .

  In the present embodiment, four vent shafts BJT are provided, and the number of vent shafts BJT is relatively large. Therefore, in controlling the position of the end effector, when the articulated arm 20 is bent at a predetermined angle, the bending of one vent shaft BJT can be kept small. Therefore, it is possible to suppress the bending of each vent shaft when the articulated arm 20 is bent.

  In the above embodiment, four vent shafts BJT are used, but the present invention is not limited to this. Five or more vent shafts BJT may be provided.

  In the present embodiment, three swivel shafts SJT are provided. A first swivel shaft SJT1, a second swivel shaft SJT2, and a third swivel shaft SJT3 are provided in the robot device 100 in order from the base 10 to the tip of the articulated arm 20.

  The plurality of joints 22 include a first joint 221, a second joint 222, a third joint 223, a fourth joint 224, a fifth joint 225, a sixth joint 226, and a seventh joint 227 in order from the base 10 to the distal end portion. doing.

  In the present embodiment, the link 21 has a first link 211 connected to the base 10 via the first joint 221. The first joint 221 has a first swivel shaft SJT1. The first link 211 is connected to the base 10 so as to be displaceable in a twisting direction.

  The link 21 has a second link 212 connected to the first link 211 via the second joint 222. The second joint 222 has a first vent shaft BJT1. The 2nd link 212 is connected to the 1st link 211 so that the angle which mutually makes can be changed. The angle formed between the first link 211 and the second link 212 can be changed around the first vent axis BJT1 of the second joint 222.

  The link 21 has a third link 213 connected to the second link 212 via a third joint 223. The third joint 223 has a second vent shaft BJT2. The third link 213 is connected to the second link 212 so that the angle between them can be changed. The angle formed between the second link 212 and the third link 213 can be changed around the second vent axis BJT2 of the third joint 223.

  The link 21 has a fourth link 214 connected to the third link 213 via the fourth joint 224. The fourth joint 224 has a third vent shaft BJT3. The fourth link 214 is connected to the third link 213 so that the angle formed by each other can be changed. The angle formed between the third link 213 and the fourth link 214 can be changed around the third vent axis BJT3 of the fourth joint 224.

  In addition, the link 21 has a fifth link 215 connected to the fourth link 214 via the fifth joint 225. The fifth joint 225 has a second swivel shaft SJT2. The fifth link 215 is connected to the fourth link 214 so as to be displaceable in a twisting direction.

  The link 21 has a sixth link 216 connected to the fifth link 215 via a sixth joint 226. The sixth joint 226 has a fourth vent shaft BJT4. The sixth link 216 is connected to the fifth link 215 so that the angle formed by each other can be changed. The angle formed between the sixth link 216 and the fifth link 215 is configured to change around the fourth vent axis BJT4 of the sixth joint 226.

  The link 21 has a seventh link 217 connected to the sixth link 216 via a seventh joint 227. The seventh joint 227 has a third swivel shaft SJT3. The seventh link 217 is connected to the sixth link 216 so as to be displaceable in a twisting direction.

  As described above, the multi-joint arm 20 includes the seven links 21 and the seven joints 22. The seven joints 22 include the first swivel shaft SJT1, the first vent shaft BJT1, the second vent shaft BJT2, the third vent shaft BJT3, the second swivel shaft SJT2, the first swivel shaft SJT1, the second vent shaft BJT2, and the second swivel shaft SJT2. A four vent shaft BJT4 and a third swivel shaft SJT3 are provided in this order corresponding to each joint.

  In addition, as described above, the second joint 222 has the first vent axis BJT1, the third joint 223 has the second vent axis BJT2, and the fourth joint 224 has the third vent axis BJT3. Has been. Accordingly, the second joint 222 to the fourth joint 224 are configured such that the adjacent links are bent by the vent shaft BJT. In the present embodiment, there is no swivel axis SJT in the section between the second joint 222 and the fourth joint 224, and no twisting occurs between the links. Therefore, the axial center of the first vent axis BJT1 of the second joint 222, the axial center of the second vent axis BJT2 of the third joint 223, and the axial center of the third vent axis BJT3 of the fourth joint 224 are parallel. It is configured as follows.

  In the present embodiment, the distance L1 from the first vent shaft BJT1 to the second vent shaft BJT2, the distance L2 from the second vent shaft BJT2 to the third vent shaft BJT3, and the third vent shaft BJT3 to the fourth vent shaft BJT4. L3 is configured to be the shortest among L1, L2, and L3.

  The multi-joint arm 20 includes a joint drive unit corresponding to each joint 22. Each joint drive unit includes a servo driver, a servo motor, a rotation angle detector, a speed reducer, and the like. The rotation of the servo motor is servo controlled by the control device 23.

  FIG. 2 shows a block diagram of the control device 23 used in the robot apparatus 100 of the present embodiment.

  As shown in FIG. 2, the control device 23 includes a calculation unit 23a such as a CPU, a storage unit 23b such as a ROM and a RAM, and a servo control unit 23c. The control device 23 is a robot controller including a computer such as a microcontroller. The control device 23 may be configured by a single control device 23 that performs centralized control, or may be configured by a plurality of control devices 23 that perform distributed control in cooperation with each other.

  The storage unit 23b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 23a controls various operations of the robot apparatus 100 by reading and executing software such as a basic program stored in the storage unit 23b. For example, the control device 23 controls the operation of the articulated arm 20 based on a program stored in advance in the storage unit 23b or an operation input by an operator.

  That is, the arithmetic unit 23a generates a control command for the robot apparatus 100 and outputs it to the servo control unit 23c. The servo control unit 23c is configured to control the drive of the servo motor corresponding to each joint 22 of the multi-joint arm 20 based on the control command generated by the calculation unit 23a.

  Next, the arrangement of servo motors attached to the third link 213 will be described. FIG. 3 is a configuration diagram showing a part of the third link 213 partially broken to show the internal configuration.

  As described above, the third link is connected to the fourth link at the tip. The third link 213 and the fourth link 214 are connected via a fourth joint 224 having a third vent shaft BJT3. Therefore, the third link 213 and the fourth link 214 are connected so that the angle between them can be changed.

  A configuration of a connection portion in which the third link 213 and the fourth link 214 are connected so as to be able to change the angle between them will be described. The axis of the rotation axis of the fourth link 214 is S4.

  The third link 213 is provided with a fourth link drive motor (first drive device) 30 as a servo motor for moving the fourth link 214 relative to the third link 213. A gear 31 as a bevel gear is attached to the output shaft of the fourth link drive motor 30.

  A gear 32 as a bevel gear is attached to the upper portion of the gear 31 so as to mesh with the gear 31. In addition, a gear 33 is fixedly attached to a position on the base side of the gear 32 above the gear 32. The gear 32 and the gear 33 are fixedly attached to each other so that the rotation axis of the gear 32 and the rotation axis of the gear 33 coincide with each other.

  Further, the gear 34 is disposed adjacent to the gear 33 so as to mesh with the gear 33 on substantially the same surface as the surface on which the gear 33 is disposed. A shaft 35 is attached to the lower portion of the gear 34. The rotating shaft of the gear 34 and the rotating shaft of the shaft 35 are attached so as to coincide with each other.

  A flange 36 is fixedly attached to the shaft 35. A fourth link 214 is attached to the flange 36 integrally with the flange 36.

  When the fourth link drive motor 30 is driven at the connection portion between the third link 213 and the fourth link 214 configured as described above, the output shaft of the fourth link drive motor 30 rotates and the gear 31 is rotated. Rotates. When the gear 31 rotates, the gear 32 meshed with the gear 31 rotates accordingly. When the gear 32 rotates, the gear 33 fixedly attached to the gear 32 rotates in the same direction as the gear 32. When the gear 33 is rotated, the gear 34 meshed with the gear 33 is rotated around the axis S4. When the gear 34 rotates, the shaft 35 fixedly attached to the gear 34 similarly rotates around the axis S4. When the shaft 35 rotates, the flange 36 fixedly attached to the shaft 35 rotates about the axis S4. When the flange 36 rotates, the fourth link 214 rotates about the axis S4 accordingly.

  Thus, by driving the fourth link drive motor 30, the fourth link 214 can be rotated about the axis S4 with respect to the third link 213.

  Although the configuration of the third vent shaft BJT3 between the third link 213 and the fourth link 214 has been described here, the other vent shaft BJT may have the same configuration. Other vent shafts BJT may have other configurations.

  In addition, as described above, the fourth link 214 and the fifth link 215 are connected via the fifth joint 225 having the second swivel shaft SJT2. Accordingly, the fourth link 214 and the fifth link 215 are connected so as to be displaceable in a twisting direction.

  The third link 213 is provided with a fifth link drive motor (second drive device) 37 as a servo motor for moving the fifth link 215 relative to the fourth link 214. A gear 38 as a bevel gear is attached to the output shaft of the fifth link drive motor 37.

  A gear 39 as a bevel gear is attached to the lower part of the gear 38 so as to mesh with the gear 38. Further, a gear 40 is fixedly attached to a position on the base side of the gear 39 below the gear 39. The gear 39 and the gear 40 are fixedly attached to each other so that the rotation axis of the gear 39 and the rotation axis of the gear 40 coincide with each other.

  Further, the gear 41 is disposed adjacent to the gear 40 so as to mesh with the gear 40 on substantially the same surface as the surface on which the gear 40 is disposed. A shaft 42 is attached to the gear 41 at the top. The rotating shaft of the gear 41 and the rotating shaft of the shaft 42 are attached so as to coincide with each other.

  A gear 43 as a bevel gear is fixedly attached to the shaft 42. The gear 43 and the shaft 42 are attached to each other so that the rotating shaft of the gear 43 and the rotating shaft of the shaft 42 coincide with each other. A gear 44 as a bevel gear is attached to a position adjacent to the gear 43 so as to mesh with the gear 43. A fifth link 215 is fixedly attached to the gear 44.

  When the fifth link drive motor 37 is driven at the connecting portion between the fourth link 214 and the fifth link 215 configured as described above, the output shaft rotates and the gear 38 rotates. When the gear 38 rotates, the gear 39 engaged with the gear 38 rotates accordingly.

  When the gear 39 rotates, the gear 40 fixedly attached to the gear 39 rotates in the same direction as the gear 39. When the gear 40 is rotated, the gear 41 engaged with the gear 40 is rotated around the axis S4. When the gear 41 rotates, the shaft 42 fixedly attached to the gear 41 similarly rotates about the axis S4. When the shaft 42 rotates, the gear 43 fixedly attached to the shaft 42 rotates.

  When the gear 43 rotates, the gear 44 engaged with the gear 43 rotates. Since the gear 43 and the gear 44 are bevel gears, the gear 43 and the gear 44 mesh with each other at an angle. Therefore, when the gear 43 rotates, the gear 44 that meshes obliquely with the gear 43 moves with respect to the gear 43 along the circumferential direction of the fourth link 214. When the gear 44 moves along the circumferential direction, the fifth link 215 fixedly attached to the gear 44 moves along the circumferential direction of the fourth link 214 with respect to the fourth link 214. As a result, the fifth link 215 is displaced in a twisting direction with respect to the fourth link 214. As a result, the fourth link 214 and the fifth link 215 are displaced in a twisting direction.

  Thus, by driving the fifth link drive motor 37, the fifth link 215 can be rotated in the twisting direction with respect to the fourth link 214.

  Although the configuration of the second swivel shaft SJT2 between the fourth link 214 and the fifth link 215 has been described here, the other swivel shaft SJT may have the same configuration. Other swivel shafts SJT may have other configurations.

  Also, between the fifth link 215, the sixth link 216, and the seventh link 217, the swivel shaft SJT is arranged next to the vent shaft BJT in a relatively short section from the base 10 side toward the tip end side. It has a configuration. Accordingly, the fifth link 215, the sixth link 216, and the seventh link 217 may have the same configuration as the configuration between the third link 213, the fourth link 214, and the fifth link 215. .

  The third link 213 is provided with a cavity 50 around the center of the third link 213 in the radial direction along the direction in which the third link 213 extends. In the hollow portion 50, members constituting the link 21 and the joint 22 are not arranged. For example, wiring for connecting to a servo motor for driving each link 21 and wiring for driving an end effector can be passed through the cavity 50. When the wiring is disposed through the hollow portion inside the link 21, it is possible to suppress the wiring from hindering the movement of the link 21. Moreover, it can suppress that a wiring cut | disconnects by being pulled by the link 21. FIG.

  In addition, as what is arrange | positioned in the cavity part 50, it is not limited to the said embodiment. A configuration other than the wiring may be disposed in the cavity 50.

  The cavity 50 is also formed for the fourth link 214 to the seventh link 217. Accordingly, the cavity 50 is provided around the center in the radial direction along the extending direction of each link 21 from the third link 213 to the seventh link 217. The fourth link drive motor 30 and the fifth link drive motor 37 are attached inside the third link 213 while avoiding the cavity 50.

  The fourth link drive motor 30 and the fifth link drive motor 37 are arranged at positions facing each other across the cavity 50. The fourth link drive motor 30 and the fifth link drive motor 37 are arranged such that the extending directions of the output shafts of the fourth link drive motor 30 and the fifth link drive motor 37 are parallel to the extending direction of the cavity 50. Each is arranged.

  Since the fourth link drive motor 30 and the fifth link drive motor 37 are arranged in parallel to the axial direction of the third link 213 extending from the third link 213, a relatively long output in the opposite z direction. The shaft does not extend. A relatively long output shaft does not extend along the z direction in which the fourth link drive motor 30 and the fifth link drive motor 37 face each other, but relatively short portions of the respective motors extend along the z direction. become.

  In the present embodiment, the position where the fourth link drive motor 30 and the configuration of gears for driving the fourth link 214 overlap with the z direction of the fourth link drive motor 30 and the fifth link drive motor 37 facing each other. Is arranged. Similarly, with respect to the z direction, the fifth link drive motor 37 and a configuration such as a gear for driving the fifth link 215 are disposed at overlapping positions. Therefore, the third link 213 can be prevented from increasing in size in the z direction in which the fourth link drive motor 30 and the fifth link drive motor 37 face each other.

  Therefore, the third link 213 can be downsized along the z direction. Thereby, the robot apparatus 100 can be reduced in size. Therefore, the manufacturing cost of the robot apparatus 100 can be reduced. Further, it is not necessary to secure a large space for installing the robot apparatus 100, and the range in which the robot apparatus 100 can be applied can be expanded.

  In the present embodiment, the fourth link drive motor 30 and the fifth link drive motor 30 and the fifth link drive motor 37 are arranged so that the extending directions of the output shafts thereof are parallel to the extending direction of the cavity 50. Although the fifth link drive motor 37 is disposed, the present invention is not limited to the above embodiment. The output shafts of the fourth link drive motor 30 and the fifth link drive motor 37 may be inclined with respect to the direction in which the cavity 50 extends. If the direction in which the output shaft of each of the fourth link drive motor 30 and the fifth link drive motor 37 extends is inclined with respect to the direction in which the cavity 50 extends, but is inclined within 30 degrees, the third link 213 can be reduced in size. Therefore, the fourth link drive is performed so that the angle formed between the extending direction of the output shafts of the fourth link driving motor 30 and the fifth link driving motor 37 and the extending direction of the cavity 50 is within 30 degrees. The motor 30 and the fifth link drive motor 37 may be disposed.

  Further, in the present embodiment, drive system components such as a motor such as the fourth link drive motor 30 and the fifth link drive motor 37 are densely arranged. Accordingly, the space for arranging these drive system components is reduced in size. Therefore, many parts other than the drive system can be arranged in an area other than the area where the drive system parts are arranged, and the space inside the third link 213 can be used more effectively.

  An end effector is attached to the distal end portion of the seventh link 217. By controlling the articulated arm 20, the position of the end effector can be controlled, and work can be performed by the end effector at a predetermined position.

  In this embodiment, a spray gun for painting can be attached as an end effector. In this embodiment, in particular, a spray gun for painting used in a painting line of an automobile factory is attached to the distal end portion of the seventh link 217 as an end effector.

  Hereinafter, the operation of the robot apparatus 100 having the coating spray gun 60 attached as an end effector will be described.

  4A and 4B are side views of the robot apparatus 100 to which the spray gun 60 for painting is attached as an end effector.

  In the present embodiment, an opening 71 is formed in a painting object 70 to be painted by the painting spray gun 60. The coating spray gun 60 can spray coating paint from the tip. By spraying the paint from the tip with the tip of the spray gun for painting 60 facing the paint region where the painting is performed on the painting object 70, the paint can be sprayed onto the paint region to perform painting.

  As shown in FIG. 4A, the distal end portion of the articulated arm 20 in the robot apparatus 100 is inserted into the opening 71, and the spray gun 60 for painting is disposed on the part opposite to the base 10 in the painting object. be able to. Then, as shown in FIG. 4B, the base spray gun 60 is made to bend by bending the third vent shaft BJT3 and the fourth vent shaft BJT4 in the region on the back side of the coating object 70 with respect to the base 10. 10 can be opposed to the surface on the back side of the coating object 70.

  At this time, the spray gun for painting is formed by bending the third vent shaft and the fourth vent shaft with the tip of the articulated arm 20 positioned on the opposite side of the base 10 through the opening 71 of the painting object 70. 60 can be made to oppose the surface on the back side of the coating object 70.

  In the present embodiment, the distance L1 from the first vent axis BJT1 to the second vent axis BJT2, the distance L2 from the second vent axis BJT2 to the third vent axis BJT3, and from the third vent axis BJT3 to the fourth vent axis BJT4. When the distance is L3, L3 is configured to be the shortest among L1, L2, and L3. Therefore, the tip side portion of the third vent shaft BJT3 is formed to be relatively small. Therefore, the portion from the fourth link 214 to the seventh link 217 for making the coating spray gun 60 face the surface on the back side of the object to be coated 70 can be performed in a narrow space. Since the coating spray gun 60 can be routed in a narrow space so as to face the back surface of the painting object 70, a large space for the painting object 70 is not required inside the painting object 70, and the painting object 70. The applicable range can be widened.

  As described above, since the portion close to the tip of the multi-joint arm 20 is configured to be small, even when the portion close to the tip of the multi-joint arm 20 is inserted into a narrow space of the painting object 70, there are many portions inside the space. The operation of the joint arm 20 can be performed smoothly. Thereby, a front-end | tip part can be made to oppose over the whole inside narrow space in the coating object 70. FIG. When the end effector is attached to the tip of the articulated arm 20, the end effector can be operated over the entire narrow space. Therefore, the position where the tip of the robot arm does not reach can be reduced. Thereby, since the work by the end effector can be performed over a wider range, the work efficiency by the robot apparatus 100 can be improved. In the present embodiment, coating with the spray gun 60 for coating can be performed over a wider range.

  In addition, the third vent shaft BJT3, the second swivel shaft SJT2, the fourth vent shaft BJT4, and the third swivel shaft SJT3 are concentrated in a small region from the tip of the third link 213 to the tip of the seventh link 217. Is arranged. Therefore, the degree of freedom of the portion on the distal end side is higher than the distal end portion of the third link 213. Therefore, the posture of the spray gun 60 for painting can be finely adjusted. That is, the attitude of the end effector can be finely adjusted. Further, the tip end side of the third link 213 is formed smaller than the tip end portion. Therefore, the posture of the spray gun for painting 60 can be adjusted while avoiding interference with the surroundings in a narrow space. That is, the posture of the end effector can be adjusted in a narrow space.

  FIG. 5 shows a side view of the robot apparatus 100 in a state where the fourth vent shaft BJT4 is further bent from the state of FIG. 4B. As shown in FIG. 5, the sixth link extends in the direction in which the angle formed between the fifth link 215 and the sixth link 216 is smaller than 90 degrees along the arrow D1 around the fourth vent axis BJT4. 216 is moved. As a result, an acute angle is formed between the fifth link 215 and the sixth link 216, and the robot apparatus 100 is configured.

  By moving the sixth link 216 with respect to the fifth link 215, the area where the spray gun 60 for coating opposes can be changed. In FIG. 5, the sixth link 216 moves in the direction closer to the third link 213 with respect to the fifth link 215 around the fourth vent shaft BJT4.

  At this time, the third vent shaft BJT3 is configured so that the angle formed between the third link 213 and the fourth link 214 is from a reference state in which the third link 213 and the fourth link 214 are positioned in parallel to each other. , Bent at less than 180 degrees. Further, the fourth vent shaft BJT4 is configured so that the angle formed between the fifth link 215 and the sixth link 216 is a reference state in which the fifth link 215 and the sixth link 216 are positioned in a mutually parallel relationship. It is bent at less than 180 degrees. That is, the third vent shaft BJT3 is bent at an angle that is less than 180 degrees from the reference state in which the angles between the adjacent links sandwiching the third vent shaft BJT3 are in parallel relation to each other. . Further, the fourth vent shaft BJT4 is bent at an angle that is less than 180 degrees from the reference state in which the angles formed between the links adjacent to each other across the fourth vent shaft BJT4 are parallel to each other. .

  Here, the reference state refers to a state when the links are in a parallel positional relationship. The angle formed between the adjacent links is 0 degree when the links are in a parallel positional relationship, and the angle from the angle is referred to as the angle formed between the adjacent links.

  Thus, in this embodiment, since there are two vent shafts BJT in the region on the opposite side of the base 10 with respect to the coating object 70, the adjacent links around the respective vent shafts BJT are bent. Thereby, the bending between adjacent links can be made small. With the third vent shaft BJT3 and the fourth vent shaft BJT4 as the center, the coating spray gun 60 is opposed to a wide area by bending the links 21 at a relatively small angle of less than 180 degrees. Can do. That is, by bending between the links 21 at a relatively small angle, the tip of the seventh link 217 can be opposed to a wide area.

  At this time, it is possible to arrange the seventh link 217 with at least the tip of the seventh link 217 facing the third link 213. That is, the distal end portion of the seventh link 217 can be disposed so as to face between the second vent shaft BJT2, the third vent shaft, and the BJT3. In FIG. 5, the paint is sprayed on the region of the end portion closest to the third link 213 on the surface opposite to the base 10 in the coating object 70. According to this embodiment, by arranging two vent shafts BJT from the tip of the third link 213 to the tip of the seventh link, the third surface of the coating object 70 on the side opposite to the base 10 is arranged. The paint can also be sprayed on the area closest to the link 213.

  As described above, since the paint can be sprayed on the surface of the object 70 to be coated on the side opposite to the base 10, the paint can be sprayed on the area closest to the third link 213. The paint can be sprayed over the entire side surface. Therefore, when painting the coating object 70, the position where the painting spray gun 60 does not reach does not occur, and the entire painting object 70 can be applied evenly.

  In the present embodiment, the fourth link 214 is bent 90 degrees with respect to the third link from a reference state in which the third link 213 and the fourth link 214 are positioned in a parallel relationship with each other. In addition, the sixth link 216 is bent by 90 degrees or more with respect to the fifth link 215, whereby the seventh link 217 is arranged at a position where the tip of the seventh link 217 faces the third link 213. At this time, the sixth link 216 is bent relatively small with respect to the fifth link 215 from a reference state in which the fifth link 215 and the sixth link 216 are positioned in parallel with each other, less than 180 degrees. ing.

  If there is only one vent shaft BJT in the region on the opposite side of the base 10 with respect to the painting object 70, the vicinity of the opening 71 on the back surface of the painting object 70 opposite to the base 10 side is painted. For this, it is necessary to bend the bent shaft BJT approximately 180 degrees. That is, it is necessary to bend the angle formed by the adjacent links approximately 180 degrees from the reference state in which the adjacent links are parallel to the position where the adjacent links overlap. In that case, if the link between adjacent links is bent too much, the links interfere with each other, and the link between the links may be insufficient. Thereby, the spray gun 60 for coating cannot be made to oppose over the whole area | region on the opposite side to the base 10 to be coated, and the area | region which cannot perform coating may arise.

  On the other hand, in this embodiment, when painting the area | region on the opposite side to the base 10 about the coating object 70, the angle bent between adjacent links 21 can be made into a comparatively small angle. Therefore, interference between adjacent links can be suppressed, and the tip of the spray gun 60 for coating can be made to face a wide area at a position opposite to the base 10 with respect to the coating object 70. . Therefore, the coating can be performed over a wide range in the region of the coating object 70 opposite to the base 10.

  In addition, according to the robot apparatus 100 of the present embodiment, the distal end portion of the articulated arm 20 is separated from and close to the base 10 with the distal end portion of the articulated arm 20 inserted into the opening 71 of the painting target 70. It is possible to reciprocate in the direction. At this time, with the third vent shaft BJT3 and the fourth vent shaft BJT4 bent and the coating spray gun 60 facing the side where the base 10 is disposed, the tip of the third link 213 is moved to the base 10. On the other hand, it can be moved in the direction of approaching and separating. That is, it is possible to move the tip of the third link 213 in the direction of approaching and separating from the base 10 with the tip of the seventh link 217 facing the side where the base 10 is disposed. It is.

  That is, the third vent shaft BJT3 and the fourth vent shaft BJT4 are bent, and the third vent shaft BJT3 is moved with respect to the base 10 with the distal end portion of the seventh link 217 facing the side where the base 10 is disposed. It is possible to move in the direction of approaching and separating.

  FIG. 6 is a side view of the robot apparatus 100 when the coating spray gun 60 is moved in the direction of approaching and separating from the coating target 70 without changing the position of the coating target 70 facing the coating spray gun 60. Indicates. In FIG. 6, the distance between the spray gun 60 for painting and the painting object 70 is changed by moving each link 21 from the position indicated by the solid line to the position indicated by the broken line. . In FIG. 6, each of the links 21 is moved to a position indicated by a broken line, so that the painting spray gun 60 is brought close to the painting object 70.

  Thus, the direction in which the spray gun 60 for painting is directed is determined and positioning is performed by the spray gun 60 for painting, and then the spray gun 60 and the paint for painting are applied without changing the direction in which the spray gun 60 is directed. The distance to the object 70 can be changed. Therefore, it is possible to adjust the painting position during painting and the degree of paint diffusion by the painting spray gun 60. Thereby, the robot apparatus 100 with improved operability can be provided.

  Further, according to the robot apparatus 100 of the present embodiment, the distal end portion of the articulated arm 20 can be moved in the vertical direction with the distal end portion of the articulated arm 20 inserted into the opening 71 of the painting target 70. Is possible. At this time, it is possible to move the coating spray gun 60 in the vertical direction with the coating spray gun 60 facing the side where the base 10 is disposed. That is, it is possible to move the distal end portion of the seventh link 217 in the vertical direction with the distal end portion of the seventh link 217 facing the side where the base 10 is disposed. That is, it is possible to move the distal end portion of the seventh link 217 in the vertical direction with the distal end portion of the seventh link 217 facing the side where the base 10 is disposed. Therefore, it is possible to move the tip of the spray gun for painting 60 in the vertical direction with the tip of the spray gun for painting 60 facing the side where the base 10 is disposed.

  FIG. 7 shows a side view of the robot apparatus 100 when the coating spray gun 60 is moved in the vertical direction. Thus, in this embodiment, since the spray gun 60 for painting can be moved in the vertical direction with the articulated arm 20 inserted into the opening 71 of the painting object 70, the base 10 in the painting object 70 is The coating can be performed over the entire opposite surface. At this time, the spray gun for painting 60 can be moved in the vertical direction within the range that the seventh link 217 reaches.

  In the form shown in FIG. 7, the length of the fourth link 214 is longer than that in the form shown in FIG. Thus, any link may be exchanged and used according to the application. Since the fourth link 214 is formed long, the coating spray gun 60 can be moved over a wide vertical range. Moreover, links other than the 4th link 214 may be changed according to a use.

  In the above embodiment, the form using the spray gun for painting as the end effector has been described, but the present invention is not limited to the above embodiment. What is blown out is not paint, but blowing means for blowing out other liquid may be used as the end effector. Further, as the end effector, a device other than the blowing means for performing the blowing may be used. For example, a suction unit may be used as the end effector, and dust or dust may be sucked by the suction unit.

10 Base 21 Link 22 Joint BJT Vent shaft

Claims (8)

Base and
A plurality of links connected in series;
A plurality of joints connecting each of the plurality of links,
The plurality of joints are configured to have a vent shaft that connects between adjacent links and can be moved in a direction to change an angle formed by adjacent links.
The vent shaft has a first vent shaft, a second vent shaft, a third vent shaft, and a fourth vent shaft in order from the base to the tip.
The distance from the first vent shaft to the second vent shaft is L1,
The distance from the second vent shaft to the third vent shaft is L2,
When the distance from the third vent shaft to the fourth vent shaft is L3,
The robot apparatus according to claim 1, wherein L3 is the shortest among L1, L2, and L3.   The robot apparatus according to claim 1, wherein the plurality of joints are configured to have a swivel shaft that can be displaced in a twisting direction between adjacent links. The joint has a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, and a seventh joint in order from the base to the tip.
The swivel shaft has a first swivel shaft, a second swivel shaft, and a third swivel shaft in order from the base to the tip.
The link is
A first link connected to the base via the first joint having the first swivel shaft;
A second link connected to the first link via the second joint having the first vent shaft;
A third link connected to the second link via the third joint having the second vent shaft;
A fourth link connected to the third link via the fourth joint having the third vent shaft;
A fifth link connected to the fourth link via the fifth joint having the second swivel axis;
A sixth link connected to the fifth link via the sixth joint having the fourth vent shaft;
The robot apparatus according to claim 2, further comprising: a seventh link connected to the sixth link via the seventh joint having the third swivel shaft. The third vent shaft is bent at an angle of less than 180 degrees from the reference state in which the angles between the links adjacent to each other across the third vent shaft are parallel to each other,
When the fourth vent shaft is bent at an angle of less than 180 degrees from the reference state in which the angles between the links adjacent to each other across the fourth vent shaft are parallel to each other ,
4. The robot apparatus according to claim 1, wherein the distal end portion can be disposed between the second vent shaft and the third vent shaft. 5. .   The third vent shaft can be moved toward and away from the base in a state where the tip portion faces the side where the base is disposed. Item 5. The robot apparatus according to any one of Items 1 to 4.   The said front-end | tip part can be moved to a perpendicular direction in the state which the said front-end | tip part turned to the side by which the said base is arrange | positioned, The any one of Claim 1 to 5 characterized by the above-mentioned. Robotic device. A first drive device is attached to the third vent shaft, the first drive device moving in a direction that changes an angle formed between the third link and the fourth link,
A second drive device is attached to the second swivel shaft for displacement in a twisting direction between the fourth link and the fifth link.
A cavity is provided around the radial center of the third link;
The robot apparatus according to claim 3, wherein the first driving device and the second driving device are attached to the third link so as to avoid the hollow portion. The first driving device and the second driving device are disposed at positions facing each other across the cavity,
The first driving device such that an angle formed between the extending direction of the output shaft of each of the first driving device and the second driving device and the extending direction of the cavity is within 30 degrees. The robot apparatus according to claim 7, wherein the second driving device is arranged.

Images