WO2025115853A1 - Robot and dynamic vibration absorber - Google Patents

Abstract

A robot 100 comprises: a robotic hand 3; a robotic arm 4; and a dynamic vibration absorber 8 for dampening vibration of a vibrating object 61 that vibrates at a prescribed vibration frequency in conjunction with the movement of the robotic arm 4. The dynamic vibration absorber 8 includes: a base part 84; an elastic member 82 that is attached to the base part 84 and has a prescribed spring constant kt; and a mass body 81 that includes an oscillation member 81a having one end attached to the elastic member 82 with the other end protruding in a direction opposite to the elastic member 82, and a weight 81b attached to the oscillation member 81a and capable of oscillation together with the oscillation member 81a, and that is configured to be adjustable so that, in order to dampen the vibration of the vibrating object 61 vibrating at the prescribed vibration frequency, the vibration frequency of the dynamic vibration absorber 8 becomes close to said prescribed vibration frequency.

Description

Robots and Dynamic Vibration Absorbers

This invention relates to a robot and a dynamic vibration absorber, and in particular to a robot and a dynamic vibration absorber that are equipped with an elastic member.

　Dynamic vibration absorbers equipped with elastic members are known.

　Japanese Patent Application Laid-Open Publication No. 8-233028 discloses a vibration suppression device (dynamic vibration absorber) equipped with a viscoelastic material (elastic member).

The vibration suppression device of JP 8-233028 A comprises a support base, a first leaf spring, a viscoelastic material, a second leaf spring, and a weight. The support base is a base for mounting the vibration suppression device to a vibrating structure. The first leaf spring is attached to the support base. The viscoelastic material is attached to the first leaf spring. The second leaf spring is attached to the viscoelastic material. Weights are attached to both the left and right ends of the second leaf spring.

The vibration suppression device of JP 8-233028 A is configured to resonate at a natural frequency due to vibrations of the structure. In the vibration suppression device, the vibration energy is converted and released as thermal energy due to the deformation of the viscoelastic material accompanying resonance, thereby suppressing the vibration of the structure. Here, the natural frequency of the vibration suppression device is preset based on the spring constant of the viscoelastic material and the mass of the weight.

Japanese Patent Application Publication No. 8-233028

However, the vibration suppression device of JP 8-233028 A uses a weight with a mass preset to match the natural frequency of the structure, and a viscoelastic material with a spring constant preset to match the natural frequency of the structure, so if the natural frequency is not set appropriately, the actual vibration of the structure cannot be sufficiently suppressed. In this case, it is necessary to redesign the vibration suppression device and create a new, redesigned vibration suppression device, which poses the problem that it is not easy to provide a vibration suppression device (dynamic vibration absorber) with a natural frequency (predetermined frequency) that matches the vibration of the actual structure (object to be vibrated).

The aim of this study is to solve the above problems and provide a robot and dynamic vibration absorber that can be equipped with a dynamic vibration absorber that has a predetermined vibration frequency that matches the vibration of the actual object being vibrated, without the need to create a new dynamic vibration absorber that has been redesigned.

The robot according to the first aspect includes a robot hand, a robot arm to which the robot hand is attached at its tip, and a dynamic vibration absorber that suppresses vibration of a vibrating object that vibrates at a predetermined frequency as the robot arm moves. The dynamic vibration absorber includes a base, an elastic member attached to the base and having a predetermined spring constant, an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of the vibrating object that vibrates at the predetermined frequency. Here, the predetermined spring constant is a value obtained by dividing the load applied to the elastic member by the deformation amount of the elastic member. The predetermined frequency is set by changing the range of the frequency of the oscillating axis that responds (resonates) to vibration transmitted from the vibrating object to a predetermined range centered on the natural frequency while lowering the amplitude of the oscillating axis at one point of the natural frequency based on the viscoelasticity of the elastic member.

In the robot according to the first aspect, as described above, a mass body is provided that includes an oscillating member having one end attached to an elastic member and the other end protruding in the opposite direction from the elastic member, and a weight that is attached to the oscillating member and oscillates together with the oscillating member, and that is configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of a vibration target that vibrates at a predetermined frequency. In this way, after the dynamic vibration absorber is attached to the vibration target using the base, the dynamic vibration absorber can be adjusted to approach the actual predetermined frequency of the vibration target by adjusting the mass of the mass body while checking how well the dynamic vibration absorber is suppressing the actual vibration of the vibration target. As a result, a dynamic vibration absorber having a predetermined frequency that matches the vibration of the actual vibration target can be provided without having to create a new dynamic vibration absorber that has been redesigned.

The robot according to the second aspect includes a robot hand that holds an item, a robot arm to which the robot hand is attached at its tip, an imaging unit that is attached to a predetermined location and images the item held by the robot hand, and a dynamic vibration absorber that is adjusted so that the vibration frequency approaches a predetermined frequency in order to suppress vibrations at a predetermined location that vibrate at a predetermined frequency as the robot arm moves when the imaging unit images the item in order to hold the item with the robot hand.

In the robot according to the second aspect, as described above, in order to hold an item with the robot hand, when the image capturing unit captures an image of the item, a dynamic vibration absorber is provided whose vibration frequency is adjusted to approach the predetermined frequency in order to suppress vibrations at a predetermined location that vibrates at a predetermined frequency as the robot arm moves. This makes it possible to adjust the dynamic vibration absorber to approach the actual predetermined vibration frequency of the predetermined location (vibration object) by adjusting the mass of the mass body, etc., while checking how well the dynamic vibration absorber is suppressing the actual vibration of the predetermined location (vibration object). As a result, it is possible to provide a robot in which a dynamic vibration absorber having a predetermined frequency that matches the vibration of the actual predetermined location (vibration object) can be provided, without having to create a new dynamic vibration absorber that has been redesigned.

The dynamic vibration absorber according to the third aspect includes a base, an elastic member attached to the base and having a predetermined spring constant, an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction to the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, and a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches a predetermined frequency in order to suppress vibrations of a vibrating object that vibrates at a predetermined frequency.

As described above, the dynamic vibration absorber according to the third aspect includes an oscillating member whose other end protrudes in the opposite direction to the elastic member, and a weight that is attached to the oscillating member and oscillates together with the oscillating member, and in order to suppress the vibration of a vibrating object that vibrates at a predetermined frequency, a mass body is provided that is configured to be adjustable so that the vibration frequency of the dynamic vibration absorber approaches the predetermined frequency. As a result, after the dynamic vibration absorber is attached to the vibrating object using the base part, the dynamic vibration absorber can be adjusted to approach the actual predetermined vibration frequency of the vibrating object by adjusting the mass of the mass body while checking how well the dynamic vibration absorber suppresses the actual vibration of the vibrating object. As a result, a dynamic vibration absorber having a predetermined frequency that matches the vibration of the actual vibrating object can be provided without having to create a new dynamic vibration absorber that has been redesigned.

According to the present disclosure, as described above, it is possible to provide a dynamic vibration absorber that has a predetermined vibration frequency that matches the vibration of the actual object being vibrated, without having to create a new dynamic vibration absorber that has been redesigned.

FIG. 2 is a side view showing a state in which an object is held by the robot of the first embodiment. 10 is a plan view showing a state in which an image of an article to be held next by the robot of the first embodiment is captured by an imaging unit. FIG. 1 is a cross-sectional view taken along a radial direction of a dynamic vibration absorber according to a first embodiment. FIG. FIG. 4 is a cross-sectional view taken along a radial direction of the dynamic vibration absorber of the first embodiment after adjustment to a predetermined vibration frequency. FIG. 11 is a side view showing a robot to which a dynamic vibration reducer according to a second embodiment is attached. FIG. 11 is a side view of the dynamic vibration reducer of the second embodiment as viewed from the Y2 direction side. FIG. 11 is a side view of the dynamic vibration reducer of the second embodiment as viewed from the X1 direction side. FIG. 11 is a plan view of the dynamic vibration reducer of the second embodiment as viewed from the Z1 direction side. FIG. 11 is a side view showing a state in which an object is held by a robot according to a modified example of the first embodiment.

Below, an embodiment of this disclosure will be described with reference to the drawings.

[First embodiment]
The configuration of a robot 100 to which a dynamic vibration reducer 8 according to a first embodiment is applied will be described with reference to FIGS.

As shown in FIG. 1, the robot 100 autonomously performs the task of transporting items Ma stacked at a predetermined location P1 from the predetermined location P1 to a destination location P2 (see FIG. 2). In FIG. 1, a cardboard case is shown as an example of the items Ma, but the items Ma are not limited to packaged items such as cardboard cases, and may be other items such as unpackaged items.

Here, the up-down direction is the Z direction, the upward direction of the Z direction is the Z1 direction, and the downward direction of the Z direction is the Z2 direction. A specific horizontal direction perpendicular to the Z direction is the X direction, with one of the X directions being the X1 direction and the other of the X directions being the X2 direction. A horizontal direction perpendicular to the X direction is the Y direction, with one of the Y directions being the Y1 direction and the other of the Y directions being the Y2 direction.

The robot 100 comprises a transport vehicle 1, a storage unit 2, a robot hand 3, a robot arm 4, a control unit 5, an imaging unit support unit 6, an imaging unit 7, and a dynamic vibration absorber 8. The imaging unit support unit 6 is an example of the "predetermined location" and "vibration target" in the claims.

The transport vehicle 1 is configured to autonomously move the robot 100 on a floor surface. The transport vehicle 1 includes wheels 11, a base 12, and a drive unit (not shown). The base 12 is a member to which the wheels 11, the storage unit 2, and the robot arm 4 are attached. The drive unit has a drive source such as a motor.

The storage unit 2 is a member that stores devices such as the control unit 5, power supply unit 200, and negative pressure generating unit 300. The power supply unit 200 is configured to supply power to each of the transport vehicle 1, the robot hand 3, the robot arm 4, the control unit 5, the imaging unit 7, and the negative pressure generating unit 300. The negative pressure generating unit 300 is configured to generate negative pressure for adsorbing the item Ma in the robot hand 3.

The robot hand 3 is configured to hold an item Ma. That is, the robot hand 3 is configured to approach one of the multiple items Ma stacked in a predetermined location P1 from the X2 direction, pick up the item Ma, and then pull out the item Ma in the X2 direction to hold it and transport it. The robot hand 3 includes an attachment base 31, a suction section 32, and a moving placement section 33.

The mounting base 31 is a member for attaching the robot hand 3 to the tip of the robot arm 4. The suction unit 32 is configured to suction the side of the item Ma with a plurality of nozzles 32a. The plurality of nozzles 32a are connected to the negative pressure generating unit 300. As a result, a negative pressure for suctioning the side of the item Ma is generated in each of the plurality of nozzles 32a. The suction unit 32 is attached to the mounting base 31 so as to be movable in both directions, approaching the mounting base 31 and away from the mounting base 31. The moving mounting unit 33 also has a conveyor (not shown) that drives in accordance with the movement of the suction unit 32. As a result, the item Ma suctioned by the suction unit 32 is moved in both directions, approaching the mounting base 31 and away from the mounting base 31, by the movement of the suction unit 32 by the moving mounting unit 33 and the drive of the conveyor. The moving placement section 33 has a placement surface on which the item Ma is placed when moving toward the mounting base 31 and away from the mounting base 31, and when transporting the item Ma to the destination location P2.

The robot arm 4 is configured to bring the robot hand 3 closer to the item Ma from the X2 direction, move the robot hand 3 away from the item Ma, and move the robot hand 3 toward the destination location P2. The robot hand 3 is attached to the tip of the robot arm 4.

The robot arm 4 includes a fixed portion 41, a base 42, a drive unit 43, an arm portion 44, an arm portion 45, an arm portion 46, and an arm portion 47. The fixed portion 41 is a member for fixing the robot arm 4 to the transport vehicle 1. The base 42 is a member for attaching the drive unit 43, the arm portion 44, and the imaging unit support portion 6 to the fixed portion 41. The drive unit 43, the arm portion 44, and the imaging unit support portion 6 are attached to the base 42 so as to rotate integrally in each of the R1 direction (see FIG. 2) and the R2 direction (see FIG. 2) around the rotation center axis Cr (see FIG. 2) parallel to the Z direction. The base 42 has a joint portion JT1. The drive unit 43, the arm portion 44, and the imaging unit support portion 6 are attached to the joint portion JT1. The joint portion JT1 rotates in each of the R1 direction and the R2 direction by the driving force of the drive unit 43. The drive unit 43 has a drive source such as a motor and a reduction mechanism. The joint JT1 is an example of the "first joint" in the claims.

The arm portion 44 has joints JT2 and JT3. The base 42 is attached to the joint portion JT2 so as to be rotatable relative to the base 42. The joint portion JT2 has a drive portion 44a. The drive portion 44a has a drive source such as a motor and a reduction mechanism for rotating the arm portion 44 relative to the base 42. The arm portion 45 is attached to the joint portion JT3 so as to be rotatable relative to the base 42. The joint portion JT3 has a drive portion 44b. The drive portion 44b has a drive source such as a motor and a reduction mechanism for rotating the arm portion 44 relative to the arm portion 45.

Arm section 45 has joint section JT4. Arm section 44 is attached to joint section JT4 so as to be rotatable relative to it. Joint section JT4 has drive section 45a. Drive section 45a has a drive source such as a motor and a reduction mechanism for rotating arm section 45 relative to arm section 44. Arm section 46 is attached to joint section JT4. Arm section 46 has joint section JT5. Arm section 47 is attached to joint section JT5 so as to be rotatable relative to it. Joint section JT5 has drive section 46a. Drive section 46a has a drive source such as a motor and a reduction mechanism for rotating arm section 47 relative to arm section 46. Arm section 47 is attached to joint section JT5. Arm section 47 has joint section JT6. Robot hand 3 is attached to joint section JT6 so as to be rotatable relative to it. Joint section JT6 has a drive section (not shown). The drive unit has a drive source such as a motor and a reduction mechanism for rotating the robot hand 3 relative to the arm unit 47.

The control unit 5 is configured to control the robot 100. The control unit 5 is electrically connected to the robot hand 3, the robot arm 4, the imaging unit support unit 6, the imaging unit 7, and devices such as the power supply unit 200 and the negative pressure generating unit 300.

Specifically, the control unit 5 includes a CPU (Central Processing Unit), a storage unit having a HDD (Hard Disk Drive) and an SSD (Solid State Drive), and a memory having a ROM (Read Only Memory) and a RAM (Random Access Memory).

As shown in FIG. 1, the imaging unit support part 6 is attached to the joint part JT1. As a result, the imaging unit support part 6 is configured to rotate integrally with the joint part JT1 in each of the R1 direction and the R2 direction, and to support the imaging unit 7. Specifically, the imaging unit support part 6 has a support member 61 and a horizontal member 62.

The end of the support member 61 on the Z2 direction side is attached to the joint part JT1. The support member 61 extends in the Z1 direction from the joint part JT1. The support member 61 is configured to move the horizontal member 62 in both the Z1 direction and the Z2 direction. The support member 61 has a linear movement mechanism such as a guide rail (not shown) and a ball screw, and a drive source such as a motor.

When viewed from the Z1 direction side, the end of the horizontal member 62 on the side of the rotation center axis Cr is attached to the support member 61. The horizontal member 62 extends in the Dt1 direction (see FIG. 2) (or the Dt2 direction (see FIG. 2)), which is a tangential direction about the rotation center axis Cr. The horizontal member 62 is configured to move the imaging unit 7 in each of the Dt1 direction and the Dt2 direction. The horizontal member 62 has a guide rail (not shown) and a linear movement mechanism such as a ball screw, and a drive source such as a motor.

As shown in FIG. 2, the imaging unit 7 is attached to the horizontal member 62. The imaging unit 7 is configured to image the item Ma held by the robot hand 3. Specifically, the imaging unit 7 is configured to image the item Ma in order to identify the position of the next item Ma (shown by hatching in FIG. 2) to be transported among the multiple items Ma stacked at the predetermined location P1. The imaging unit 7 captures the image in parallel with the robot hand 3 transporting the item Ma to the destination location P2. That is, when the joint JT1 is rotated in the R1 direction (or R2 direction) to transport the item Ma held by the robot hand 3 to the destination location P2, the imaging unit 7 also rotates in the R1 direction (or R2 direction) together with the imaging unit support part 6, so that the imaging unit 7 captures the image after the rotation of the joint JT1 in the R1 direction (or R2 direction) is completed.

(Dynamic vibration absorber)
As shown in Fig. 2, the robot 100 of the first embodiment is provided with a dynamic vibration absorber 8 to suppress vibration of the imaging unit 7 after the rotation of the joint JT1 in the R1 direction (or the R2 direction) is completed. That is, the dynamic vibration absorber 8 is adjusted so that the dynamic vibration absorber-side predetermined frequency (the vibration frequency of the dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibration of the imaging unit support unit 6 (support member 61) that vibrates at the support-side predetermined frequency when the imaging unit 7 captures an image of the object Ma (shown by hatching in Fig. 2) in order to hold the object Ma with the robot hand 3. Specifically, the dynamic vibration absorber 8 is configured as an oscillating dynamic vibration absorber 8 that oscillates due to vibration after rotation of the imaging unit support unit 6 (support member 61) that rotates integrally with the joint JT1. The support-side predetermined frequency is an example of the "predetermined frequency" in the claims. The dynamic vibration absorber-side predetermined vibration frequency is an example of the "dynamic vibration absorber vibration frequency" in the claims.

Here, the specified frequency on the support side is a specified range of frequencies centered on the natural frequency of the support member 61. Also, the specified frequency on the dynamic vibration absorber side is a specified range of frequencies centered on the natural frequency f of the dynamic vibration absorber 8, which will be described later.

Such a dynamic vibration reducer 8 is attached to the horizontal member 62 of the imaging unit support 6. In other words, the dynamic vibration reducer 8 is attached to a portion of the horizontal member 62 on the Z1 direction side that is adjacent to the support member 61 in the R2 direction.

Here, since the imaging unit 7 is attached to the horizontal member 62, it vibrates together with the vibration of the support member 61 that accompanies the rotation of the joint JT1 in the R1 direction (or R2 direction) and then the rotation. At this time, the dynamic vibration absorber 8 oscillates and absorbs the vibration energy applied by the oscillation, thereby quickly converging the vibration of the support member 61, thereby suppressing the vibration of the imaging unit 7 and the support member 61 together. The detailed configuration of the dynamic vibration absorber 8 will be described in detail below with reference to Figures 3 and 4. Note that each of Figures 3 and 4 is a cross-sectional view taken along the Ra direction, which is the radial direction of the oscillation center axis Cs of the oscillation shaft 81a, which will be described later.

As shown in FIG. 3, the dynamic vibration absorber 8 includes a mass body 81, an elastic member 82, a cover member 83, and a base portion 84. Here, the predetermined frequency on the dynamic vibration absorber side is set by the mass body 81 and the elastic member 82. In the dynamic vibration absorber 8, the predetermined frequency on the dynamic vibration absorber side of the dynamic vibration absorber 8 is matched to the predetermined frequency on the support portion side of the support member 61. The predetermined frequency on the dynamic vibration absorber side of the dynamic vibration absorber 8 is a predetermined range of frequencies centered on the natural frequency f, which is set based on the viscoelasticity of the elastic member 82. As a result, the dynamic vibration absorber 8 does not resonate at one point of the natural frequency f, but resonates at a predetermined range of frequencies centered on the natural frequency f due to the viscoelasticity of the elastic member 82. First, the mass body 81 and the elastic member 82 will be described.

<Mass body>
The mass body 81 is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency in order to suppress vibration of the support member 61, which vibrates at a predetermined frequency. Specifically, the mass body 81 has an oscillating shaft 81a, a weight 81b, a plurality of adjustment parts 81c, and an attachment part 81d. The oscillating shaft 81a is an example of the "oscillating member" in the claims. The plurality of adjustment parts 81c are an example of the "adjustment part" and "clamping part" in the claims.

The oscillating shaft 81a has its end (one end) on the Z2 side attached to the elastic member 82, and its end (the other end) on the Z1 side protruding in the opposite direction to the elastic member 82. The oscillating shaft 81a is configured to oscillate in the Vb1 direction and the Vb2 direction with respect to the extension direction of the oscillating central axis Cs, with the end on the Z2 side as a fulcrum, in association with the vibration of the support member 61. Here, although only the two directions Vb1 direction and the Vb2 direction are shown in FIG. 3, the oscillating shaft 81a oscillates in the Vb1 direction and the Vb2 direction in each of a number of radial directions perpendicular to the oscillating central axis Cs in a plan view.

The oscillating shaft 81a has an outer peripheral surface on which a screw groove is formed. The end of the oscillating shaft 81a on the Z2 direction side is screwed into the elastic member 82.

The weight 81b is a metal member having a predetermined mass. The weight 81b has a cylindrical shape with an insertion hole 811b into which the oscillating shaft 81a is inserted. The insertion hole 811b penetrates the center of the weight 81b along the central axis. The weight 81b is attached to the oscillating shaft 81a by a plurality of adjustment parts 81c while inserted into the oscillating shaft 81a. As a result, the weight 81b oscillates together with the oscillating shaft 81a in each of the Vb1 direction and the Vb2 direction. The weights 81b are attached to the oscillating shaft 81a by a plurality of adjustment parts 81c so that they can be individually attached and detached. In FIG. 3, the weights 81b (three) are attached to the oscillating shaft 81a by being clamped by a plurality of adjustment parts 81c. The weights 81b (three) have the same predetermined mass.

The multiple adjustment parts 81c are configured to adjust the mounting position Pa on the oscillating shaft 81a by clamping the weight 81b after moving it on the oscillating shaft 81a. Each of the multiple adjustment parts 81c is configured to be inserted into the oscillating shaft 81a. Each of the multiple adjustment parts 81c has a nut 811c and a washer 812c. In the adjustment part 81c on the Z2 direction side of the multiple adjustment parts 81c, the weight 81b is supported from the Z2 direction side by the nut 811c via the washer 812c while the washer 812c is abutted against the weight 81b. In the adjustment part 81c on the Z1 direction side of the multiple adjustment parts 81c, the weight 81b is pressed from the Z1 direction side by the nut 811c via the washer 812c while the washer 812c is abutted against the weight 81b. As a result, the weight 81b is clamped by the swing shaft 81a.

As shown in FIG. 3, the multiple adjustment parts 81c are configured to adjust the mounting position Pa on the oscillating shaft 81a by clamping the weight 81b after moving it on the oscillating shaft 81a. As an example, from the state of the dynamic vibration absorber 8 shown in FIG. 3, the worker removes the side cover part 83a (described later) of the cover member 83 from the lower cover part 83b. Then, after removing the adjustment part 81c on the Z1 direction side, the worker removes the multiple (three) weights 81b from the oscillating shaft 81a. After removing the weight 81b, the worker moves the adjustment part 81c on the Z2 direction side in the Z1 direction to the mounting position Pa1.

Then, as shown in FIG. 4, the worker inserts one weight 81b into the swing shaft 81a and abuts it against the adjustment part 81c on the Z2 side, and then inserts the adjustment part 81c on the Z1 side into the swing shaft 81a so that the weight 81b is sandwiched between the adjustment part 81c on the Z1 side and the adjustment part 81c on the Z2 side. The worker then attaches the removed side cover part 83a to the lower cover part 83b.

As a result, the mounting position Pa of the weight 81b moves to mounting position Pa1. Furthermore, the movement of the weight 81b adjusts the length L from the root position Pb of the Z2-direction end of the oscillating shaft 81a to the center of gravity position Pg of the mass body 81 to the length L1 from the Z2-direction end of the oscillating shaft 81a to the center of gravity position Pg1 of the mass body 81. Here, the root position Pb of the Z2-direction end of the oscillating shaft 81a refers to the height position of the Z1-direction end of the elastic member 82 on the oscillating shaft 81a. Furthermore, because the number of weights 81b decreases, the weight of the mass body 81 decreases.

In this way, the multiple adjustment parts 81c are members for adjusting at least one of the attachment position Pa of the weight 81b relative to the oscillating shaft 81a and the mass m of the mass body 81. In other words, the multiple adjustment parts 81c are members for adjusting at least one of the attachment position Pa of the weight 81b relative to the base position Pb of the end of the oscillating shaft 81a on the Z2 direction side and the mass m of the mass body 81. In the example in Figure 4, the weight 81b is changed to one, but for example, it is also possible to keep the number of weights 81b at three and change only the attachment position Pa1, or to keep the attachment position Pa and change to one weight 81b.

The mounting portion 81d is a member that attaches the oscillating shaft 81a to the elastic member 82 by screwing the end of the oscillating shaft 81a on the Z2 direction side into the elastic member 82, and then inserting it into the oscillating shaft 81a and pressing the elastic member 82. The mounting portion 81d has a nut 811d and a washer 812d.

Elastic Member
3, the elastic member 82 is made of a rubber member 82a having a predetermined spring constant kt capable of supporting the end of the pivot shaft 81a on the Z2 direction side. Specifically, the elastic member 82 has a rubber member 82a, a flange portion 82b, and a flange portion 82c.

The rubber member 82a is a cylindrical member having a predetermined spring constant kt. The predetermined spring constant kt is the spring constant kt in the bending direction of the oscillating shaft 81a caused by the oscillation of the oscillating shaft 81a in the Vb1 direction and the Vb2 direction.

The flange portion 82b is attached to the end of the rubber member 82a on the Z1 side. A thread groove is formed in the center of the flange portion 82b in the Ra direction, into which the end of the oscillating shaft 81a on the Z2 side is screwed. The flange portion 82c is attached to the end of the rubber member 82a on the Z2 side. A thread groove is formed in the center of the flange portion 82c in the Ra direction, into which the fastening member 84f described below is screwed.

<Specified vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber>
The dynamic vibration reducer-side predetermined frequency of the dynamic vibration reducer 8 is set by the attachment position Pa of the weight 81b from the base side position Pb of the end of the oscillating shaft 81a in the Z2 direction, and the mass m of the mass body 81.

In other words, in the dynamic vibration absorber 8, a translational force F in a translational direction perpendicular to the extension direction of the oscillating shaft 81a is generated at the tip in the Z1 direction of the oscillating shaft 81a, which is supported by a rubber member 82a having a predetermined spring constant kt in the bending direction. This translational force F is the restoring force when the oscillating shaft 81a is oscillated.

The translational force F is calculated based on the displacement x of the tip of the oscillating shaft 81a in the translational direction and the spring constant kt in the translational direction relative to the tip of the oscillating shaft 81a. Specifically, it is calculated by F = kx = kLθ. The displacement x is calculated by multiplying the length L from the base position Pb of the end of the oscillating shaft 81a on the Z2 direction side to the center of gravity position Pg of the mass body 81 by the angle change θ of the end of the oscillating shaft 81a on the Z2 direction side when it oscillates.

On the other hand, the translational force F is also calculated based on the angle change θ of the end of the oscillation shaft 81a on the Z2 side when it oscillates, a predetermined spring constant kt in the bending direction, and the length L from the base position Pb of the end of the oscillation shaft 81a on the Z2 side to the center of gravity position Pg of the mass body 81. Specifically, it is calculated as F = ktθ/L.

　ここで、上記したように、動吸振器側所定振動数は、弾性部材８２の粘弾性に基づいて、上記固有振動数ｆの１点における揺動軸８１ａの振幅を下げつつ、振動対象物から伝達される振動により応答（共に振動）する揺動軸８１ａの振動数の範囲を固有振動数ｆを中心とした所定範囲まで変化させることにより設定される。 Since the translational forces F in the above two equations are equal, k = kt/ ^L2 is calculated. Therefore, the natural frequency f of the dynamic vibration absorber 8 of the first embodiment is calculated by the following equation (1). In addition, in equation (1), m is the mass of the mass body 81.

As described above, the specified frequency on the dynamic vibration absorber side is set by lowering the amplitude of the oscillating shaft 81a at one point of the above-mentioned natural frequency f based on the viscoelasticity of the elastic member 82, while changing the range of frequencies of the oscillating shaft 81a that responds to (vibrates together with) the vibration transmitted from the vibrating object to a specified range centered on the natural frequency f.

<Adjustment of the dynamic vibration absorber side specified frequency of the dynamic vibration absorber>
The dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8 can be adjusted by adjusting at least one of the attachment position Pa of the weight 81b from the root side position Pb of the end portion on the Z2 direction side and the mass m of the mass body 81. That is, as described above, the worker removes the weight 81b and then moves the adjustment part 81c on the Z2 direction side, thereby changing the attachment position Pa1 from the root side position Pb, and thus changing the center of gravity position Pg of the mass body 81. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8. The worker may also change the attachment position Pa without removing the weight 81b. The worker may also increase or decrease the number of weights 81b attached to the oscillating shaft 81a, thereby changing the mass m of the mass body 81. This adjusts the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 8.

The mass m of the mass body 81 is also changed when the length of the oscillating shaft 81a is increased or decreased while keeping the diameter the same. This adjusts the dynamic vibration absorber side specified frequency of the dynamic vibration absorber 8. The dynamic vibration absorber side specified frequency of the dynamic vibration absorber 8 is also adjusted when the spring constant kt of the rubber member 82a is increased or decreased.

As a result, the dynamic vibration absorber 8 of the first embodiment is configured to be adjustable to approach the predetermined support-side vibration frequency of the support member 61 in order to suppress vibration of the support member 61, which vibrates at a predetermined support-side vibration frequency. Specifically, the dynamic vibration absorber 8 is configured to be adjustable to approach the predetermined support-side vibration frequency of the support member 61 by adjusting at least one of the attachment position Pa of the weight 81b from the base position Pb of the end of the oscillating shaft 81a on the Z2 direction side by the multiple adjustment parts 81c, and the mass m of the mass body 81. The dynamic vibration absorber 8 is also configured to be adjustable to approach the predetermined support-side vibration frequency of the support member 61 by adjusting the spring constant kt of the rubber member 82a.

The dynamic vibration reducer side specified vibration frequency of the dynamic vibration reducer 8 is adjusted at the operating location of the robot 100 by the operator making the above-mentioned adjustments to the length L and the mass m of the mass body 81 while measuring the time it takes for the vibration of the imaging unit 7 to subside when the joint JT1 is rotated in the R1 or R2 direction.

Although this is merely one example of the measurement results, without the dynamic vibration absorber 8, it took approximately 6 seconds for the vibration of the imaging unit 7 to settle, but with the dynamic vibration absorber 8 installed, the time for the vibration of the imaging unit 7 to settle was reduced to approximately 1 second.

<Cover member>
As shown in FIG. 3, the cover member 83 is configured to cover the mass body 81 and the elastic member 82 from the side (outside in the Ra direction) and the Z2 direction side. The cover member 83 has a side cover portion 83a and a lower cover portion 83b. The side cover portion 83a is a cylindrical cover that covers the mass body 81 and the elastic member 82 from the side. The end portion of the side cover portion 83a on the Z2 direction side is detachably attached to the lower cover portion 83b by a bolt or the like. This allows the side cover portion 83a to be removed from the lower cover portion 83b when adjusting the dynamic vibration absorber side predetermined frequency of the dynamic vibration absorber 8 using the multiple adjustment portions 81c. In addition, after adjusting the dynamic vibration absorber side predetermined frequency of the dynamic vibration absorber 8 using the multiple adjustment portions 81c, the side cover portion 83a can be attached from the lower cover portion 83b. The lower cover portion 83b is a substantially circular cover that covers the mass body 81 and the elastic member 82 from the Z2 direction side. A central portion in the Ra direction of the lower cover portion 83b is attached to the base portion 84.

<Base>
The base portion 84 is a member that detachably attaches the dynamic vibration reducer 8 to the imaging unit support portion 6. The base portion 84 has a plate-shaped member 84a, a plate-shaped member 84b, a plurality of collars 84c, a plurality of fastening members 84d, and a plurality of fastening members 84e. The plate-shaped member 84a, the plate-shaped member 84b, the plurality of collars 84c, the plurality of fastening members 84d, and the plurality of fastening members 84e are members for fixing the dynamic vibration reducer 8 to the plate 62a of the horizontal member 62 of the imaging unit support portion 6. The combined configuration of the plate-shaped member 84a, the plate-shaped member 84b, the plurality of collars 84c, the plurality of fastening members 84d, and the plurality of fastening members 84e is an example of a "fixing portion" in the claims.

The base portion 84 is configured to grip the plate 62a using plate-shaped members 84a and 84b. A threaded groove is formed on the inner peripheral surface of each of the multiple collars 84c into which multiple fastening members 84d and multiple fastening members 84e are screwed. The multiple fastening members 84d and the multiple fastening members 84e are the same fastening member.

Here, multiple fastening members 84d are inserted into the plate-shaped member 84a from the Z2 direction side to fasten the multiple fastening members 84d to the Z2 direction portions of each of the multiple collars 84c, and multiple fastening members 84e are inserted into the plate-shaped member 84b from the Z1 direction side to fasten the multiple fastening members 84e to the Z1 direction portions of each of the multiple collars 84c, whereby the plate 62a is gripped by the base portion 84. With the plate 62a gripped by the base portion 84, a space is formed between the plate 62a and the lower cover portion 83b.

(Effects of the First Embodiment)
In the first embodiment, the following effects can be obtained.

In the first embodiment, as described above, the dynamic vibration absorber 8 is attached to the oscillating shaft 81a, includes a weight 81b that oscillates together with the oscillating shaft 81a, and is provided with a mass body 81 that is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibration of the vibration object (imaging unit support part 6) that vibrates at a support-side predetermined frequency (predetermined frequency). As a result, after the dynamic vibration absorber 8 is attached to the vibration object (imaging unit support part 6) using the base part 84, the dynamic vibration absorber 8 can be adjusted to approach the actual support-side predetermined frequency of the vibration object (imaging unit support part 6) by adjusting the mass m of the mass body 81, etc., while checking the degree to which the dynamic vibration absorber 8 suppresses the actual vibration of the vibration object (imaging unit support part 6). As a result, it is possible to provide a dynamic vibration absorber 8 that has a predetermined vibration frequency on the dynamic vibration absorber side that matches the vibration of the actual vibration target (imaging unit support part 6) without having to create a new dynamic vibration absorber 8 that has been redesigned.

In the first embodiment, as described above, the mass body 81 includes an adjustment unit 81c that adjusts the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 8) to approach the support-side predetermined frequency by adjusting at least one of the mounting position Pa (mounting position Pa1) of the weight 81b relative to the oscillating shaft 81a and the mass m of the mass body 81. This allows the adjustment unit 81c to adjust the mounting position Pa (mounting position Pa1) of the weight 81b from one end of the oscillating shaft 81a and the mass m of the mass body 81 to adjust the natural frequency f, thereby adjusting the dynamic vibration absorber-side predetermined frequency within a predetermined range centered on the natural frequency f. As a result, the dynamic vibration absorber-side predetermined frequency can be easily adjusted, and therefore the dynamic vibration absorber 8 having the dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual vibration target (imaging unit support unit 6) can be easily provided.

In addition, in the first embodiment, as described above, the adjustment unit 81c has a plurality of adjustment units 81c (clamping units) that are inserted into the oscillating shaft 81a and clamp the weight 81b on the oscillating shaft 81a. The plurality of adjustment units 81c (clamping units) are configured to adjust the mounting position Pa (mounting position Pa1) on the oscillating shaft 81a by clamping the weight 81b after moving it on the oscillating shaft 81a. This makes it easy to adjust the mounting position Pa (mounting position Pa1) of the weight 81b on the oscillating shaft 81a, thereby preventing an increase in the adjustment workload on the worker.

In addition, in the first embodiment, as described above, the weights 81b are individually and detachably attached to the oscillating shaft 81a by the adjustment unit 81c. This allows the weights 81b to be attached to and detached from the oscillating shaft 81a one by one to adjust the specified vibration frequency on the dynamic vibration reducer side, making it easy to adjust the mass m of the mass body 81 by the adjustment unit 81c, and also allowing the specified vibration frequency on the dynamic vibration reducer side (the vibration frequency of the dynamic vibration reducer 8) to be adjusted to match the specified vibration frequency on the support side of the object to be vibrated (imaging unit support unit 6).

In addition, in the first embodiment, as described above, the weight 81b has a cylindrical shape with an insertion hole 811b formed therein, into which the oscillating shaft 81a is inserted. As a result, the cylindrical weight 81b has a point-symmetric shape in a plan view, so that the restoring force generated in the elastic member 82 by the moment when the weight 81b oscillates can be made constant regardless of the direction in which the oscillating shaft 81a oscillates. Therefore, the natural frequency of the dynamic vibration absorber 8, which is calculated by formula (1) based on the translational force F, which is the restoring force when oscillating the oscillating shaft 81a, can be set to a constant value.

In addition, in the first embodiment, as described above, the elastic member 82 is composed of a rubber member 82a having a predetermined spring constant kt capable of supporting one end of the oscillating shaft 81a. As a result, the rubber member 82a has viscoelasticity, and can realize the function of setting the dynamic vibration absorber-side predetermined vibration frequency based on the natural frequency f of the dynamic vibration absorber 8, and the function of absorbing vibration energy, so that the dynamic vibration absorber 8 can be realized with a simple structure compared to the case where the above functions are realized using a hydraulic damper.

In addition, in the first embodiment, as described above, the rubber member 82a is made of a cylindrical member having a predetermined spring constant kt capable of supporting one end of the oscillating shaft 81a. As a result, the cylindrical rubber member 82a has a point-symmetric shape in a plan view, so a constant restoring force can be applied to the oscillating shaft 81a by the predetermined spring constant kt regardless of the oscillating direction of the oscillating shaft 81a. As a result, the natural frequency of the dynamic vibration absorber 8, which is calculated by formula (1) based on the translational force F, which is the restoring force when oscillating the oscillating shaft 81a, can be set to a constant value.

In the first embodiment, as described above, the base 84 includes fixing parts (plate-shaped member 84a, plate-shaped member 84b, multiple collars 84c, multiple fastening members 84d, and multiple fastening members 84e) for fixing to the vibration object (imaging unit support 6). This allows the dynamic vibration absorber 8 to be easily fixed to the vibration object (imaging unit support 6) by the fixing parts. In addition, since the vibration object (imaging unit support 6) can be transmitted to the dynamic vibration absorber 8 via the fixing parts, the dynamic vibration absorber 8 can also be vibrated at a dynamic vibration absorber-side predetermined frequency in conjunction with the vibration of the support part side of the vibration object (imaging unit support 6) at a predetermined frequency. As a result, the dynamic vibration absorber 8 can suppress the vibration of the support part side of the vibration object (imaging unit support 6) at a predetermined frequency.

In the first embodiment, as described above, the robot 100 is provided with a dynamic vibration absorber 8 that is adjusted so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency in order to suppress vibrations of a predetermined location (imaging unit support 6, vibrating object) that vibrates at a support-side predetermined frequency as the robot arm 4 moves when the imaging unit 7 captures the object Ma in order to hold the object Ma with the robot hand 3. This makes it possible to adjust the dynamic vibration absorber 8 so that the dynamic vibration absorber-side predetermined frequency approaches the support-side predetermined frequency while checking the degree to which the dynamic vibration absorber 8 suppresses the actual vibration of the predetermined location (imaging unit support 6) by adjusting the mass m of the mass body 81, etc. As a result, it is possible to provide a robot 100 that can be provided with a dynamic vibration absorber 8 that has a dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual predetermined location (imaging unit support 6) without creating a new dynamic vibration absorber 8 that has been redesigned.

In the first embodiment, as described above, the robot 100 is attached to the joint JT1 constituting the base 42 of the robot arm 4, rotates integrally with the joint JT1, and includes an imaging unit support part 6 that supports the imaging unit 7. The dynamic vibration reducer 8 is attached to the imaging unit support part 6. As a result, when the rotation of the joint JT1 stops after rotating integrally with the joint JT1, the imaging unit 7 vibrates together with the imaging unit support part 6. However, since the dynamic vibration reducer 8 can suppress the vibration of the imaging unit support part 6 at a predetermined vibration frequency on the support part side, the time required to attenuate the vibration of the imaging unit support part 6 can be reduced. As a result, the time required to attenuate the vibration of the imaging unit 7 is also reduced, so that the imaging unit 7 can quickly capture an image of the object Ma after the rotation of the joint JT1.

In the first embodiment, as described above, the imaging unit support section 6 is attached to the joint section JT1 and includes a support member 61 extending upward from the joint section JT1. The imaging unit support section 6 is attached to the support member 61, has the imaging unit 7 attached thereto, and includes a horizontal member 62 extending horizontally. The dynamic vibration absorber 8 is attached to the horizontal member 62. This allows the dynamic vibration absorber 8 to suppress vibrations of the horizontal member 62 that accompany vibrations of the support member 61 when the rotation of the joint section JT1 stops after rotating integrally with the joint section JT1, and therefore the time required to attenuate the vibrations of the imaging unit 7 attached to the horizontal member 62 can be reduced.

In addition, in the first embodiment, as described above, the dynamic vibration absorber 8 is an oscillating dynamic vibration absorber 8 that oscillates due to the vibration of the support member 61 after it rotates integrally with the joint JT1. As a result, the dynamic vibration absorber 8 oscillates in response to the vibration of the support member 61 when the rotation of the joint JT1 stops, and the vibration energy applied to the dynamic vibration absorber 8 due to the oscillation can be absorbed by the dynamic vibration absorber 8, thereby damping the vibration of the support member 61.

Also, in the first embodiment, as described above, the oscillating dynamic vibration absorber 8 includes a base portion 84 and an elastic member 82 attached to the base portion 84 and having a predetermined spring constant kt. The oscillating dynamic vibration absorber 8 has an oscillating shaft 81a having one end attached to the elastic member 82 and the other end protruding in the opposite direction to the elastic member 82, and a weight 81b attached to the oscillating shaft 81a and oscillating together with the oscillating shaft 81a, and includes a mass body 81 configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (the frequency of the oscillating dynamic vibration absorber 8) approaches the support-side predetermined frequency in order to suppress vibration of a vibration target (imaging unit support portion 6) which is a predetermined location (imaging unit support portion 6) that vibrates at a support-side predetermined frequency. As a result, after attaching the dynamic vibration reducer 8 to the object to be vibrated (imaging unit support part 6) using the base part 84, the degree to which the dynamic vibration reducer 8 is suppressing the actual vibration of the object to be vibrated (imaging unit support part 6) can be checked, and by adjusting the mass m of the mass body 81, etc., the dynamic vibration reducer 8 can be adjusted so that it approaches the actual predetermined vibration frequency of the support part of the object to be vibrated (imaging unit support part 6).

In the first embodiment, as described above, the mass body 81 further includes an adjustment unit 81c that adjusts the dynamic vibration absorber-side predetermined frequency (the frequency of the oscillating dynamic vibration absorber 8) to approach the support-side predetermined frequency by adjusting at least one of the attachment position Pa (attachment position Pa1) of the weight 81b from one end of the oscillating shaft 81a and the mass m of the mass body 81. This allows the adjustment unit 81c to adjust the attachment position Pa (attachment position Pa1) of the weight 81b from one end of the oscillating shaft 81a and the mass m of the mass body 81 to adjust the natural frequency f, thereby adjusting the dynamic vibration absorber-side predetermined frequency within a predetermined range centered on the natural frequency f. As a result, the dynamic vibration absorber-side predetermined frequency can be easily adjusted, and therefore a dynamic vibration absorber 8 having a dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual vibration target (imaging unit support unit 6) can be easily provided.

[Second embodiment]
The configuration of a robot 20 to which a dynamic vibration reducer 204 according to a second embodiment of the present disclosure is applied will be described. In the drawings, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

The configuration of the robot 20 to which the dynamic vibration reducer 204 according to the second embodiment is applied will be described with reference to Figures 5 to 8.

As shown in FIG. 5, the robot 20 is a robot that autonomously performs a specified task on an object.

Here, the up-down direction is the Z direction, the upward direction of the Z direction is the Z1 direction, and the downward direction of the Z direction is the Z2 direction. A specific horizontal direction perpendicular to the Z direction is the X direction, with one of the X directions being the X1 direction and the other of the X directions being the X2 direction. A horizontal direction perpendicular to the X direction is the Y direction, with one of the Y directions being the Y1 direction and the other of the Y directions being the Y2 direction.

The robot 20 comprises a robot hand 201, a robot arm 202, a control unit 203, and a dynamic vibration reducer 204. The robot arm 202 is an example of the "predetermined location" and "vibration target" in the claims.

The robot hand 201 is configured to perform tasks such as picking, painting, assembly, and welding. That is, the robot hand 201 has a suction nozzle, a spray nozzle, and a welding wire.

The robot arm 202 is configured to perform a predetermined task on an object using the robot hand 201. The robot hand 201 is attached to the tip of the robot arm 202.

The robot arm 202 includes a base 221, an arm portion 222, an arm portion 223, an arm portion 224, an arm portion 225, an arm portion 226, and an arm portion 227. The arm portion 222 is attached to the base 221. The arm portion 222 is attached to the base 221 so as to be rotatable in one and the other circumferential directions about a central axis of rotation Cr that is parallel to the Z direction. The base 221 has a joint portion JT1. The joint portion JT1 rotates in each of the one and the other circumferential directions by the driving force of the driving portion. The driving portion has a driving source such as a motor and a reduction mechanism.

The arm portion 223 has joints JT2 and JT3. The arm portion 222 is attached to the joint portion JT2 so as to be rotatable relative to the arm portion 222. The joint portion JT2 has a drive portion. The drive portion has a drive source such as a motor and a reduction mechanism for rotating the arm portion 223 relative to the arm portion 222. The arm portion 224 is attached to the joint portion JT3 so as to be rotatable relative to the arm portion 223. The joint portion JT3 has a drive portion. The drive portion has a drive source such as a motor and a reduction mechanism for rotating the arm portion 224 relative to the arm portion 223.

The arm section 225 is attached to the joint section JT4. The arm section 225 is attached to the joint section JT4 so as to be rotatable relative to the arm section 225. The joint section JT4 has a drive section. The drive section has a drive source such as a motor for rotating the arm section 225 relatively, and a reduction mechanism. The arm section 226 is attached to the arm section 225. The arm section 227 is attached to the arm section 226. The arm section 227 has a joint section JT5. The robot hand 201 is attached to the joint section JT5 so as to be rotatable relative to the arm section 227. The joint section JT5 has a drive section. The drive section has a drive source such as a motor for rotating the robot hand 201 relative to the arm section 227, and a reduction mechanism.

The robot hand 201 has a joint JT6. The joint JT6 has a drive unit. The drive unit has a drive source such as a motor and a reduction mechanism for rotating the robot hand 201 relative to the arm unit 227.

The control unit 203 is configured to control the robot 20. The control unit 203 is electrically connected to devices such as the robot hand 201 and the robot arm 202.

Specifically, the control unit 203 includes a CPU, a storage unit 231 having an HDD and SSD, and a memory having a ROM and RAM.

(Dynamic vibration absorber)
6, the robot 20 of the second embodiment is provided with a dynamic vibration reducer 204 in order to suppress vibration of the robot arm 202 after the movement of the robot arm 202 is stopped (particularly, after an emergency stop). Here, an emergency stop refers to a stop in which the driving of all the motors of the joints JT1, JT2, JT3, JT4, JT5, and JT6 is stopped while the robot arm 202 is moving.

In other words, the dynamic vibration absorber 204 is adjusted so that the dynamic vibration absorber-side predetermined frequency (the frequency of the dynamic vibration absorber 204) approaches the arm-side predetermined frequency in order to suppress the vibration of the robot arm 202, which vibrates at the arm-side predetermined frequency when the robot arm 202 is stopped. Specifically, the dynamic vibration absorber 204 is configured as an oscillating dynamic vibration absorber 204 that oscillates due to vibration caused by stopping the robot arm 202 after movement (particularly, an emergency stop). The arm-side predetermined frequency is an example of the "predetermined frequency" in the claims. The dynamic vibration absorber-side predetermined frequency is also an example of the "dynamic vibration absorber frequency" in the claims.

Here, the arm-side specified frequency is a specified range of frequencies centered on the natural frequency of the arm section 223 of the robot arm 202. The dynamic vibration reducer-side specified frequency is a specified range of frequencies centered on the natural frequency f of the dynamic vibration reducer 204, which will be described later.

Such a dynamic vibration reducer 204 is fixed to the robot arm 202. The dynamic vibration reducer 204 is fixed near the joint JT3 in the arm section 223 of the robot arm 202. Specifically, the dynamic vibration reducer 204 is fixed to the tip side of the arm section 223 (the end portion of the arm section 223 on the joint Jt3 side, i.e., near the joint JT3) via a bracket 205 fixed by a fastening member 206. Note that the fixing location of the dynamic vibration reducer 204 does not have to be near the joint JT3 in the arm section 223 of the robot arm 202, but may be another location on the robot arm 202.

Here, when the robot arm 202 vibrates as it stops after moving, the dynamic vibration absorber 204 swings and absorbs the vibration energy applied by the swing, quickly converging the vibration of the robot arm 202, thereby suppressing the vibration of the robot arm 202. The detailed configuration of the dynamic vibration absorber 204 will be described in detail below with reference to Figures 6 to 8.

As shown in FIG. 6, the dynamic vibration absorber 204 includes a mass body 241, an elastic member 242, and a base portion 243. Here, the dynamic vibration absorber-side predetermined frequency is set by the mass body 241 and the elastic member 242. In the dynamic vibration absorber 204, the dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 is matched to the arm-side predetermined frequency of the robot arm 202. The dynamic vibration absorber-side predetermined frequency of the dynamic vibration absorber 204 is a predetermined range of frequencies centered on the natural frequency f, which is set based on the viscoelasticity of the elastic member 242. As a result, the dynamic vibration absorber 204 does not resonate at one point of the natural frequency f, but resonates at a predetermined range of frequencies centered on the natural frequency f due to the viscoelasticity of the elastic member 242. First, the mass body 241 and the elastic member 242 will be described.

<Mass body>
The mass body 241 is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency approaches the arm-side predetermined frequency in order to suppress vibration of the robot arm 202, which vibrates at a predetermined frequency. Specifically, the mass body 241 has a swinging plate-like member 241a, a weight 241b, a plurality of adjustment long holes 241c, and a fastening member 241d. The swinging plate-like member 241a is an example of the "swinging member" in the claims. The combination of the plurality of adjustment long holes 241c and the fastening member 241d is an example of the "adjustment section" in the claims.

As shown in FIG. 6, the end (one end) of the oscillating plate member 241a on the Z2 side is attached to the elastic member 242, and the end (the other end) on the Z1 side protrudes in the opposite direction from the elastic member 242.

The oscillating plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b. The oscillating plate member 241a has a first plate member 2411a and a second plate member 2412a. The first plate member 2411a is a plate member extending from the second plate member 2412a in the direction from the elastic member 242 toward the weight 241b. The second plate member 2412a is a plate member extending in a direction perpendicular to the direction from the elastic member 242 toward the weight 241b.

The first plate member 2411a connects the second plate member 2412a and the weight 241b. The first plate member 2411a is fixed to the weight 241b by fastening members 241d. The first plate member 2411a is fixed to the second plate member 2412a by welding. The second plate member 2412a is fixed to the elastic member 242 by fastening members 244 described below.

The swinging plate member 241a is a plate member that swings by having one end attached to the elastic member 242 and the weight 241b attached to the other end. The swinging plate member 241a is configured to swing in each of the Vb1 direction and the Vb2 direction with respect to the direction of the swing center axis Cs, with the connection point Pf between the elastic member 242 and the base part 243 as a fulcrum, in association with the vibration of the robot arm 202. The swing center axis Cs is a straight line that passes through the intermediate position Pm between the two elastic members 242 described later and extends in a direction from the elastic member 242 toward the weight 241b. Here, although only two directions, the Vb1 direction and the Vb2 direction, are shown in FIG. 6, the swinging plate member 241a swings in the Vb1 direction and the Vb2 direction in each of a plurality of radial directions perpendicular to the swing center axis Cs in a plan view.

The weight 241b is a metal member having a predetermined mass (for example, about 3 kg). The weight 241b has a hexahedral shape with a screw hole 2411b into which a fastening member 241d for connecting to the oscillating plate member 241a is screwed. The screw hole 2411b is recessed in the direction from the first plate member 2411a toward the weight 241b on the side surface of the weight 241b on the first plate member 2411a side. The weight 241b is attached to the oscillating plate member 241a with the fastening member 241d fastened. As a result, the weight 241b swings together with the oscillating plate member 241a in each of the Vb1 direction and the Vb2 direction. The weight 241b is detachably attached to the oscillating plate member 241a by the fastening member 241d.

As shown in FIG. 7, the adjustment long hole 241c is formed in the swing plate member 241a. The adjustment long hole 241c extends in a direction (Z1 direction) from the elastic member 242 toward the weight 241b. The adjustment long hole 241c is a long hole for attaching the weight 241b so that the position in the direction from the elastic member 242 toward the weight 241b can be adjusted. When viewed from the side (X1 direction side) perpendicular to the direction from the elastic member 242 toward the weight 241b, two adjustment long holes 241c are provided symmetrically with respect to the swing central axis Cs. The two adjustment long holes 241c are arranged adjacent to each other in a direction (Y direction) perpendicular to the direction from the elastic member 242 toward the weight 241b. A fastening member 241d is inserted into each of the two adjustment long holes 241c. Then, the inserted fastening member 241d is screwed into the screw hole 2411b, thereby fixing the weight 241b to the swinging plate member 241a.

The two adjustment long holes 241c are configured to adjust the mounting position Pa on the oscillating plate member 241a by fastening the weight 241b with the fastening members 241d after moving the weight 241b on the oscillating plate member 241a. As an example, from the state of the dynamic vibration absorber 204 shown in FIG. 7, the worker loosens the two fastening members 241d and then moves the weight 241b in the Z1 direction (or Z2 direction). Then, when the worker reaches the moved position and tightens the two fastening members 241d, the mounting position Pa of the weight 241b moves to another mounting position in the Z1 direction (or Z2 direction).

This movement of weight 241b adjusts the length Lg from the midpoint Pm of the two elastic members 242 to the center of gravity Pmg of the mass body 241 when viewed from the side (X1 direction) perpendicular to the direction from the elastic members 242 to weight 241b. In this way, weight 241b is attached to the oscillating plate member 241a so that its position in the direction from the elastic members 242 to weight 241b (Z1 direction) can be adjusted. Here, the midpoint Pm of the two elastic members 242 is the position halfway between center positions Pc1 and Pc2 of the two elastic members 242 in the direction in which the two elastic members 242 are lined up.

In this way, the two adjustment long holes 241c are configured to adjust the mounting position Pa of the weight 241b relative to the oscillating plate member 241a. In other words, the two adjustment long holes 241c are configured to adjust the mounting position Pa of the weight 241b based on the intermediate position Pm. In the example shown in FIG. 7, an example is shown in which the weight 241b is moved, but the mass of the weight 241b may also be changed.

As described above, the fastening member 241d is a member for fixing the weight 241b to the oscillating plate member 241a.

Elastic Member
7, the elastic member 242 is made of a rubber member 242a having a predetermined spring constant kt capable of supporting the end portion of the swing plate member 241a on the Z2 direction side. Specifically, the elastic member 242 has a rubber member 242a, a flange portion 242b, a flange portion 242c, a screw groove 242d, a screw groove 242e, a rubber washer 242f, and a rubber washer 242g.

The rubber member 242a is a cylindrical member having a predetermined spring constant kt. The predetermined spring constant kt is the spring constant kt in the bending direction of the bending of the oscillating plate member 241a caused by the oscillation of the oscillating plate member 241a in the Vb1 direction and the Vb2 direction.

The flange portion 242b is attached to the end of the rubber member 242a on the Z1 direction side. A screw groove 242d is formed in the center of the flange portion 242b, into which the fastening member 244 is screwed. This fixes the oscillating plate member 241a to the flange portion 242b. The flange portion 242c is attached to the end of the rubber member 242a on the Z2 direction side. A screw groove is formed in the center of the flange portion 242c, into which the fastening member 245 is screwed. This fixes the flange portion 242bc to the base portion 243. The rubber washer 242f is disposed between the oscillating plate member 241a and the flange portion 242b. The rubber washer 242g is disposed between the flange portion 242c and the base portion 243.

As shown in FIG. 8, the two elastic members 242 are arranged line-symmetrically with respect to a first line Lsy passing through the center position Pw of the weight 241b when viewed from the direction from the elastic member 242 toward the weight 241b (Z1 direction side). When viewed from the direction from the elastic member 242 toward the weight 241b (Z1 direction side), the two elastic members 242 are line-symmetrical with respect to the first line Lsy, and are arranged side by side with the weight 241b on a second line Lar perpendicular to the first line Lsy. When viewed from the direction from the elastic member 242 toward the weight 241b (Z1 direction side), the two elastic members 242 and the weight 241b are arranged adjacent to each other with some overlapping. When viewed from the direction from the elastic member 242 toward the weight 241b (Z1 direction side), the weight 241b is arranged between the two elastic members 242.

<Specified vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber>
As shown in Figure 7, the specified frequency of the dynamic vibration reducer 204 on the dynamic vibration reducer side is set by the width Ax of the two elastic members 242, the intermediate position Pm of the width Ax of the two elastic members 242, the length L from the intermediate position Pm to the mounting position Pa of the weight 241b, and the mass m of the mass body 241.

　ここで、上記したように、動吸振器側所定振動数は、弾性部材２４２の粘弾性に基づいて、上記固有振動数ｆの１点における揺動用板状部材２４１ａの振幅を下げつつ、振動対象物から伝達される振動により応答（共に振動）する揺動用板状部材２４１ａの振動数の範囲を固有振動数ｆを中心とした所定範囲まで変化させることにより設定される。 Here, in the dynamic vibration absorber 204, a swinging motion occurs with the center of swing being the center position Pm of the two elastic members 242, with the center of swing being the center of gravity Pmg (mass point) of the mass body 241. This swinging motion is caused by the application of a restoring force by the two elastic members 242 to the center of gravity Pmg of the mass body 241. If the amount of movement of the center of gravity Pmg of the mass body 241 in a direction perpendicular to the Z direction is x, then the force F applied to the center of gravity Pmg of the mass body 241 is F=k×Ax/Lg×x. Thus, the natural frequency f of the dynamic vibration absorber 204 is expressed by the following formula (21). Here, in formula (21), M is the mass of the mass body 241.

As described above, the specified frequency on the dynamic vibration absorber side is set by lowering the amplitude of the oscillating plate-like member 241a at one point of the above-mentioned natural frequency f based on the viscoelasticity of the elastic member 242, while changing the range of vibration frequencies of the oscillating plate-like member 241a that responds (vibrates together) to the vibration transmitted from the vibrating object to a specified range centered on the natural frequency f.

<Adjustment of the dynamic vibration absorber side specified frequency of the dynamic vibration absorber>
As shown in Fig. 7, the dynamic vibration reducer-side predetermined frequency of the dynamic vibration reducer 204 can be adjusted by adjusting at least one of the attachment position Pa of the weight 241b from the intermediate position Pm and the mass M of the mass body 241. That is, as described above, the worker moves the weight 241b along the adjustment elongated hole 241c toward the Z1 direction (or the Z2 direction), thereby changing the attachment position Pa from the intermediate position Pm, and therefore changing the center of gravity position Pmg of the mass body 241. This adjusts the dynamic vibration reducer-side predetermined frequency of the dynamic vibration reducer 204. The worker also adjusts the dynamic vibration reducer-side predetermined frequency of the dynamic vibration reducer 204 by changing the mass of the weight 241b.

The mass M of the mass body 241 is also changed when the thickness of the oscillating plate member 241a is increased or decreased. This adjusts the predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber 204. The predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber 204 is also adjusted when the spring constant kt of the rubber member 242a is increased or decreased. The predetermined vibration frequency on the dynamic vibration absorber side of the dynamic vibration absorber 204 is also adjusted when the width Ax of the two elastic members 242 is increased or decreased.

Therefore, the dynamic vibration absorber 204 of the second embodiment is configured to be adjustable to approach the predetermined arm-side vibration frequency of the robot arm 202 in order to suppress the vibration of the robot arm 202 that vibrates at the predetermined arm-side vibration frequency. Specifically, the dynamic vibration absorber 204 is configured to be adjustable to approach the predetermined arm-side vibration frequency of the robot arm 202 by adjusting at least one of the attachment position Pa of the weight 241b from the intermediate position Pm by the adjustment long hole 241c and the mass m of the mass body 241. The dynamic vibration absorber 204 is also configured to be adjustable to approach the predetermined arm-side vibration frequency of the robot arm 202 by adjusting the spring constant kt of the rubber member 242a. The dynamic vibration absorber 204 is also configured to be adjustable to approach the predetermined arm-side vibration frequency of the robot arm 202 by adjusting the width Ax of the two elastic members 242.

The dynamic vibration reducer side predetermined vibration frequency of the dynamic vibration reducer 204 is adjusted at the operating location of the robot 100 by the operator making the above-mentioned adjustments to the mounting position Pa and the mass M of the mass body 241 while measuring the time it takes for the vibration of the robot arm 202 to subside when the robot arm 202 is stopped in an emergency after being moved.

Note that, while this is merely an example of the measurement results, without the dynamic vibration absorber 204, it took about 5 seconds for the vibration of the robot arm 202 to settle, but with the dynamic vibration absorber 204 attached, the time for the vibration of the robot arm 202 to settle was reduced to about 2 seconds.

<Base>
8, the base part 243 is a member for detachably mounting near the joint part JT3. The base part 243 is fixed to the tip side of the arm part 223 (the end part of the arm part 223 on the joint part Jt3 side, i.e., near the joint part JT3) via the bracket 205. The base part 243 is fixed to the bracket 205 by a fastening member 206. The combination of the base part 243, the bracket 205 and the fastening member is an example of a "fixed part" in the claims.

The rest of the configuration of the second embodiment is similar to that of the first embodiment, so the description will be omitted.

(Effects of the Second Embodiment)
In the second embodiment, the following effects can be obtained.

In the second embodiment, similarly to the first embodiment, the dynamic vibration absorber 204 is attached to an oscillating plate member 241a, includes a weight 81b that oscillates together with the oscillating plate member 241a, and is provided with a mass body 241 that is configured to be adjustable so that the dynamic vibration absorber-side predetermined frequency (frequency of the dynamic vibration absorber 204) approaches the arm-side predetermined frequency in order to suppress vibration of the vibrating object (robot arm 202) that vibrates at a predetermined arm-side frequency (predetermined frequency). This makes it possible to provide a dynamic vibration absorber 204 that has a dynamic vibration absorber-side predetermined frequency that matches the vibration of the actual vibrating object (robot arm 202) without creating a new dynamic vibration absorber 204 that has been redesigned.

In addition, in the second embodiment, as described above, the oscillating member includes a plate-shaped oscillating plate member 241a that is oscillated by having one end attached to the elastic member 242 and having weight 241b attached to the other end. As a result, compared to when a weight is attached to the oscillating shaft, the contact area (support area) between the oscillating shaft and the weight is smaller on the oscillating shaft, but the contact area (support area) with weight 241b of the plate-shaped oscillating plate member 241a can be made larger, so that weight 241b can be supported more stably.

In addition, in the second embodiment, as described above, the weight 241b is attached to the oscillating plate member 241a so that its position in the direction from the elastic member 242 toward the weight 241b can be adjusted. This allows the position of the center of gravity Pwg of the mass body 241 to be changed by adjusting the position of the weight 241b, and therefore allows the natural frequency of the dynamic vibration reducer 204 to be adjusted. As a result, the predetermined frequency on the dynamic vibration reducer side can be matched to the vibration of the object to be vibrated (robot arm 202).

In addition, in the second embodiment, as described above, the swinging plate member 241a is formed with an adjustment slot 241c that extends in a direction from the elastic member 242 toward the weight 241b and that attaches the weight 241b so that the position in the direction from the elastic member 242 toward the weight 241b can be adjusted. This allows the position of the weight 241b to be adjusted by the adjustment slot 241c in both the direction from the elastic member 242 toward the weight 241b and the direction from the weight 241b toward the elastic member 242, so that the position adjustment of the weight 241b in two directions can be achieved with the simple structure of the adjustment slot 241c.

In addition, in the second embodiment, as described above, the oscillating plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b. As a result, by disposing the weight 241b in the space formed by the L-shaped oscillating plate member 241a, the weight 241b can be prevented from protruding from the oscillating plate member 241a, and interference between the structure outside the robot 20 and the dynamic vibration reducer 204 can be suppressed.

In addition, in the second embodiment, as described above, the dynamic vibration reducer 204 is fixed to the robot arm 202, which is the object to be vibrated. As a result, even if the robot arm 202 vibrates in the event of an emergency stop while the robot arm 202 is moving, the dynamic vibration reducer 204 can quickly converge the vibration of the robot arm 202.

In addition, in the second embodiment, as described above, two elastic members 242 are arranged symmetrically with respect to a first straight line Lsy passing through the center position Pw of the weight 241b when viewed from the direction from the elastic member 242 toward the weight 241b. This makes it possible to stabilize the oscillation of the mass body 241 including the weight 241b, and therefore makes it possible to prevent an excessive load from being applied to either of the two elastic members 242.

In addition, in the second embodiment, as described above, when viewed from the direction from the elastic members 242 toward the weight 241b, the two elastic members 242 are line-symmetrical with respect to the first line Lsy, and are arranged next to the weight 241b on the second line Lar that is perpendicular to the first line Lsy. This allows the mass body 241 to oscillate more stably than when the two elastic members 242 and the weight 241b are arranged at positions offset from the second line Lar.

Note that the other effects of the second embodiment are similar to those of the first embodiment, so a description thereof will be omitted.

[Modification]
It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

For example, in the first embodiment, an example has been shown in which the dynamic vibration reducer 8 is attached to the horizontal member 62 of the imaging unit support section 6, but the present disclosure is not limited to this. In the present disclosure, as in the modified example shown in FIG. 9, in the robot 400, the dynamic vibration reducer 8 may be attached to the tip of the Z1 direction side of the support member 61 of the imaging unit support section 6, which is located near the horizontal member 62. The dynamic vibration reducer may also be attached to the transport vehicle, storage section, or robot arm other than the imaging unit support section. The dynamic vibration reducer may also be attached to a location other than the first joint section (joint section JT1).

In addition, in the above first and second embodiments, an example was shown in which the robot arm 4 has joints JT1, JT2, JT3, JT4, JT5, and JT6, but the present disclosure is not limited to this. In the present disclosure, the robot arm may have one to five joints, or seven or more joints.

In addition, in the above first and second embodiments, the elastic member 82 is a rubber member 82a, but the present disclosure is not limited to this. In the present disclosure, the elastic member may be a resin member that is elastically deformable other than a rubber member.

In the above first embodiment, the weight 81b has a cylindrical shape, but the present disclosure is not limited to this. In the present disclosure, the weight may have a polygonal shape, such as a rectangular shape, in a plan view.

In addition, in the above first embodiment, an example was shown in which the dynamic vibration reducer 8 was applied to the robot 100, but the present disclosure is not limited to this. In the present disclosure, the dynamic vibration reducer may be applied to an autonomous mobile vehicle, or to a robot that does not have a carrier vehicle.

In the above first embodiment, an example was shown in which the robot 100 is a robot that autonomously performs the task of transporting items Ma stacked at a predetermined location P1 from the predetermined location P1 to a destination location P2, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot other than a robot that autonomously performs a transport task.

In addition, in the above first embodiment, an example has been shown in which the side cover portion 83a is attached to the base portion 84 by being detachably attached to the lower cover portion 83b with bolts or the like, but the present disclosure is not limited to this. In the present disclosure, the cover member may have another configuration, such as attaching the side cover portion directly to the base portion without providing a lower cover portion.

In the above first embodiment, an example was shown in which the cover member 83 covers the mass body 81 and the elastic member 82 from the sides with the side cover portion 83a and covers the mass body 81 and the elastic member 82 from below with the bottom cover portion 83b, but the present disclosure is not limited to this. In the present disclosure, the cover member may be configured to cover all of the top, bottom, and sides.

In addition, in the above first embodiment, an example was shown in which the side cover portion 83a was a cylindrical cover, but the present disclosure is not limited to this. In the present disclosure, the side cover portion may be a cover having a shape other than a cylindrical shape. In this case, the lower cover portion may or may not be a cover having a shape that matches the shape of the side cover portion.

In the above second embodiment, an example was shown in which one weight 241b was detachably attached to the oscillating plate member 241a by the fastening member 241d, but the present disclosure is not limited to this. In the present disclosure, two or more weights may be detachably attached to the oscillating plate member by fastening members.

In the second embodiment, the weight 241b has a hexahedral shape, but the present disclosure is not limited to this. In the present disclosure, the weight may have a polyhedral shape.

In the above second embodiment, an example was shown in which the weight 241b is attached to the oscillating plate member 241a so that its position in the direction from the elastic member 242 toward the weight 241b can be adjusted, but the present disclosure is not limited to this. In the present disclosure, the weight may be attached to the oscillating plate member so that its position in a direction perpendicular to the direction from the elastic member toward the weight can also be adjusted. Furthermore, the mass body may be attached to the elastic member so that it can be adjusted in a direction perpendicular to the direction from the elastic member toward the weight, relative to the elastic member. This makes it possible to adjust the position of the center of gravity of the mass body and the intermediate position to overlap when viewed from the direction from the elastic member toward the weight.

In the second embodiment, the oscillating plate member 241a is provided with an adjustment slot 241c that extends in a direction from the elastic member 242 toward the weight 241b and that allows the weight 241b to be attached so that its position in the direction from the elastic member 242 toward the weight can be adjusted. However, the present disclosure is not limited to this. In the present disclosure, the weight may be provided with a plurality of screw holes, and the oscillating plate member 241a may be provided with through holes at positions that correspond to the plurality of screw holes.

In addition, in the second embodiment, the oscillating plate member 241a has an L-shape when viewed from the side perpendicular to the direction from the elastic member 242 toward the weight 241b, but the present disclosure is not limited to this. In the present disclosure, the oscillating plate member may have a U-shape or the like when viewed from the side perpendicular to the direction from the elastic member toward the weight.

In addition, in the second embodiment, an example was shown in which two elastic members 242 are arranged line-symmetrically with respect to the first straight line Lsy passing through the center position Pw of the weight 241b when viewed from the direction from the elastic member 242 toward the weight 241b, but the present disclosure is not limited to this. In the present disclosure, the elastic members do not have to be arranged line-symmetrically, and one, or three or more elastic members may be arranged.

In addition, in the above second embodiment, when viewed from the direction from the elastic members 242 toward the weight 241b, the two elastic members 242 are line-symmetrical with respect to the first line Lsy, and are arranged side by side with the weight 241b on the second line Lar that is perpendicular to the first line Lsy, but the present disclosure is not limited to this. In the present disclosure, when viewed from the direction from the elastic members toward the weight, the two elastic members and the weight may be arranged at a position offset from the second line.

[Aspects]
The above-described embodiment is a specific example of the following aspects.

(Aspect 1)
A robot hand and
a robot arm having the robot hand attached to a tip thereof;
a dynamic vibration absorber that suppresses vibration of a vibration object that vibrates at a predetermined frequency in association with the movement of the robot arm,
The dynamic vibration absorber includes:
A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
a mass body including an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, the mass body being configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of the vibrating object vibrating at the predetermined frequency.

(Aspect 2)
The robot of aspect 1, wherein the mass body further includes an adjustment unit that adjusts the vibration frequency of the dynamic vibration reducer to approach the predetermined frequency by adjusting at least one of an attachment position of the weight relative to the oscillating member and a mass of the mass body.

(Aspect 3)
the oscillating member includes an oscillating shaft having one end attached to the elastic member and the other end protruding in a direction opposite to the elastic member,
the adjustment unit has a clamping unit that is inserted into the pivot shaft and clamps the weight on the pivot shaft;
The robot according to aspect 2, wherein the clamping unit is configured to adjust the mounting position on the pivot shaft by clamping the weight after moving the weight on the pivot shaft.

(Aspect 4)
The robot according to aspect 3, wherein the weights are individually and detachably attached to the pivot shaft by the adjustment unit.

(Aspect 5)
4. The robot according to claim 3, wherein the weight has a cylindrical shape with an insertion hole into which the oscillating shaft is inserted.

(Aspect 6)
2. The robot according to claim 1, wherein the elastic member is made of a rubber member having the predetermined spring constant capable of supporting the one end of the oscillating member.

(Aspect 7)
7. The robot according to claim 6, wherein the rubber member is a cylindrical member having the predetermined spring constant capable of supporting the one end of the oscillating member.

(Aspect 8)
The robot according to aspect 1, wherein the base portion includes a fixing portion for fixing the base portion to the vibration target object.

(Aspect 9)
The robot according to aspect 2, wherein the oscillating member includes a plate-shaped oscillating plate member having one end attached to the elastic member and having the weight attached to a portion on the other end side thereof, the plate-shaped oscillating plate member being oscillated by the weight being attached to a portion on the other end side.

(Aspect 10)
The robot according to aspect 9, wherein the weight is attached to the swinging plate member so that its position in a direction from the elastic member toward the weight can be adjusted.

(Aspect 11)
The robot described in aspect 10, wherein the swinging plate member has an adjustment long hole formed therein, the adjustment long hole extending in a direction from the elastic member toward the weight, and for attaching the weight so that the position of the weight in the direction from the elastic member toward the weight can be adjusted.

(Aspect 12)
The robot according to aspect 9, wherein the swinging plate member has an L-shape when viewed from a side perpendicular to a direction from the elastic member toward the weight.

(Aspect 13)
A robot according to aspect 8, wherein the dynamic vibration reducer is fixed to the robot arm as the vibration target.

(Aspect 14)
The robot according to aspect 9, wherein the elastic members are arranged symmetrically with respect to a first line passing through a center position of the weight when viewed from a direction from the elastic members toward the weight.

(Aspect 15)
The robot described in aspect 14, wherein, when viewed from a direction from the elastic members toward the weight, the two elastic members are linearly symmetrical with respect to the first line and are arranged alongside the weight on a second line perpendicular to the first line.

(Aspect 16)
A robot hand that holds an object;
a robot arm having the robot hand attached to a tip thereof;
an imaging unit attached to a predetermined location and configured to image the object held by the robot hand;
a dynamic vibration absorber, the dynamic vibration absorber being adjusted so that a vibration frequency approaches a predetermined frequency in order to suppress vibration of the predetermined location that vibrates at a predetermined frequency in association with movement of the robot arm when the imaging unit captures an image of the object in order to hold the object with the robot hand, the dynamic vibration absorber being adjusted so that a vibration frequency approaches the predetermined frequency.

(Aspect 17)
an imaging unit support part that is attached to a first joint part constituting a base of the robot arm, rotates integrally with the first joint part, and supports the imaging unit;
A robot according to aspect 16, wherein the dynamic vibration reducer is attached to the imaging unit support.

(Aspect 18)
The imaging unit support portion is
A support member attached to the first joint portion and extending upward from the first joint portion;
a horizontal member attached to the support member, the imaging unit attached to the horizontal member, and extending in a horizontal direction;
18. The robot of claim 17, wherein the dynamic vibration absorber is mounted on or near the horizontal member.

(Aspect 19)
The robot according to aspect 18, wherein the dynamic vibration reducer is an oscillating dynamic vibration reducer that oscillates due to vibration after rotation of the support member that rotates integrally with the first joint portion.

(Aspect 20)
The oscillating dynamic vibration absorber comprises:
A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
The robot described in aspect 16 includes a mass body having an oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating shaft and oscillating together with the oscillating shaft, and configured to be adjustable so that the frequency of the oscillating dynamic vibration absorber approaches the specified frequency in order to suppress vibration of a vibrating object that is the specified location vibrating at the specified frequency.

(Aspect 21)
The robot of aspect 20, wherein the mass body further includes an adjustment unit that adjusts the vibration frequency of the oscillating dynamic vibration absorber to approach the predetermined frequency by adjusting at least one of the attachment position of the weight from the one end of the oscillating shaft and the mass of the mass body.

(Aspect 22)
A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
A dynamic vibration absorber comprising: an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member; and a weight attached to the oscillating member and oscillating together with the oscillating member, the dynamic vibration absorber comprising: a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches a predetermined frequency in order to suppress vibration of a vibrating object that vibrates at the predetermined frequency.

Claims (22)

A robot hand and
a robot arm having the robot hand attached to a tip thereof;
a dynamic vibration absorber that suppresses vibration of a vibration object that vibrates at a predetermined frequency in association with the movement of the robot arm,
The dynamic vibration absorber includes:
A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
a mass body including an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating member and oscillating together with the oscillating member, the mass body being configured to be adjustable so that the frequency of the dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of the vibrating object vibrating at the predetermined frequency. The robot of claim 1, further comprising an adjustment unit that adjusts the vibration frequency of the dynamic vibration absorber to approach the predetermined vibration frequency by adjusting at least one of the attachment position of the weight relative to the oscillating member and the mass of the mass. the oscillating member includes an oscillating shaft having one end attached to the elastic member and the other end protruding in a direction opposite to the elastic member,
the adjustment unit has a clamping unit that is inserted into the pivot shaft and clamps the weight on the pivot shaft;
The robot according to claim 2 , wherein the clamping unit is configured to adjust the attachment position on the pivot shaft by clamping the weight after moving the weight on the pivot shaft. The robot according to claim 3, wherein the weights are individually and detachably attached to the pivot shaft by the adjustment unit. The robot according to claim 3, wherein the weight has a cylindrical shape with an insertion hole into which the oscillating shaft is inserted. The robot according to claim 1, wherein the elastic member is made of a rubber member having the predetermined spring constant capable of supporting the one end of the oscillating member. The robot according to claim 6, wherein the rubber member is a cylindrical member having the predetermined spring constant capable of supporting the one end of the oscillating member. The robot according to claim 1, wherein the base portion includes a fixing portion for fixing the base portion to the vibration target object. The robot according to claim 2, wherein the oscillating member includes a plate-shaped oscillating plate member whose one end is attached to the elastic member and whose other end has the weight attached thereto, thereby causing the oscillating plate member to oscillate. The robot according to claim 9, wherein the weight is attached to the swinging plate member so that the position of the weight in the direction from the elastic member to the elastic member can be adjusted. The robot according to claim 10, wherein the swinging plate member has an adjustment slot formed therein that extends from the elastic member toward the weight and that allows the weight to be attached so that its position in the direction from the elastic member toward the weight can be adjusted. The robot according to claim 9, wherein the swinging plate-shaped member has an L-shape when viewed from a side perpendicular to the direction from the elastic member toward the weight. The robot according to claim 8, wherein the dynamic vibration absorber is fixed to the robot arm as the vibration target. The robot according to claim 9, wherein the elastic members are arranged in two symmetrical positions with respect to a first line passing through the center of the weight when viewed from the direction from the elastic members toward the weight. The robot according to claim 14, wherein, when viewed from the direction from the elastic members toward the weight, the two elastic members are symmetrical with respect to the first line, and are arranged next to the weight on a second line perpendicular to the first line. A robot hand that holds an object;
a robot arm having the robot hand attached to a tip thereof;
an imaging unit attached to a predetermined location and configured to image the object held by the robot hand;
a dynamic vibration absorber, the dynamic vibration absorber being adjusted so that a vibration frequency approaches a predetermined frequency in order to suppress vibration of the predetermined location that vibrates at a predetermined frequency in association with movement of the robot arm when the imaging unit captures an image of the object in order to hold the object with the robot hand, the dynamic vibration absorber being adjusted so that a vibration frequency approaches the predetermined frequency. an imaging unit support part that is attached to a first joint part constituting a base of the robot arm, rotates integrally with the first joint part, and supports the imaging unit;
The robot according to claim 16 , wherein the dynamic vibration reducer is attached to the imaging unit support. The imaging unit support portion is
A support member attached to the first joint portion and extending upward from the first joint portion;
a horizontal member attached to the support member, the imaging unit attached to the horizontal member, and extending in a horizontal direction;
18. The robot of claim 17, wherein the dynamic vibration absorber is mounted on or near the horizontal member. The robot according to claim 18, wherein the dynamic vibration absorber is an oscillating dynamic vibration absorber that oscillates due to vibrations after the support member rotates integrally with the first joint. The oscillating dynamic vibration absorber comprises:
A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
17. The robot according to claim 16, further comprising: a mass body having an oscillating shaft having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member, and a weight attached to the oscillating shaft and oscillating together with the oscillating shaft, the mass body being configured to be adjustable so that the frequency of the oscillating dynamic vibration absorber approaches the predetermined frequency in order to suppress vibration of a vibrating object that is the predetermined location vibrating at the predetermined frequency. The robot of claim 20, further comprising an adjustment unit that adjusts the vibration frequency of the oscillating dynamic vibration absorber to approach the predetermined vibration frequency by adjusting at least one of the attachment position of the weight from the one end of the oscillating shaft and the mass of the mass. A base portion;
an elastic member attached to the base portion and having a predetermined spring constant;
A dynamic vibration absorber comprising: an oscillating member having one end attached to the elastic member and the other end protruding in the opposite direction from the elastic member; and a weight attached to the oscillating member and oscillating together with the oscillating member, the dynamic vibration absorber comprising: a mass body configured to be adjustable so that the frequency of the dynamic vibration absorber approaches a predetermined frequency in order to suppress vibration of a vibrating object that vibrates at the predetermined frequency.

Images