U.S. patent application number 15/273947 was filed with the patent office on 2017-01-12 for horizontal articulated robot.
The applicant listed for this patent is Seiko Epson Corporation. Invention is credited to Katsuji IGARASHI, Masatoshi ONO.
Application Number | 20170008170 15/273947 |
Document ID | / |
Family ID | 45656038 |
Filed Date | 2017-01-12 |
United States Patent
Application |
20170008170 |
Kind Code |
A1 |
IGARASHI; Katsuji ; et
al. |
January 12, 2017 |
HORIZONTAL ARTICULATED ROBOT
Abstract
A robot includes an angular velocity sensor installed to a
second horizontal arm and for obtaining the angular velocity of the
first horizontal arm with respect to a base, and suppresses the
vibration of the first horizontal arm by driving a first electric
motor based on the angular velocity of the first horizontal arm. In
the robot, an electric wire to be connected to a second electric
motor incorporated in the second horizontal arm and electric wire
to be connected to the angular velocity sensor are laid around
through a wiring duct having end portions coupled respectively to
the base and the second horizontal arm, disposed outside the first
horizontal arm and outside the second horizontal arm, and having a
passage leading to the inside of the base and the inside of the
second horizontal arm.
Inventors: |
IGARASHI; Katsuji; (Chino,
JP) ; ONO; Masatoshi; (Suwa, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Seiko Epson Corporation |
Tokyo |
|
JP |
|
|
Family ID: |
45656038 |
Appl. No.: |
15/273947 |
Filed: |
September 23, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14317049 |
Jun 27, 2014 |
9481085 |
|
|
15273947 |
|
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|
|
13399084 |
Feb 17, 2012 |
8798795 |
|
|
14317049 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 9/1651 20130101;
B25J 9/1694 20130101; B25J 19/02 20130101; B25J 9/042 20130101;
B25J 9/1641 20130101; B25J 19/0029 20130101; Y10S 901/28 20130101;
B25J 9/1628 20130101; B25J 13/088 20130101 |
International
Class: |
B25J 9/16 20060101
B25J009/16; B25J 9/04 20060101 B25J009/04; B25J 19/02 20060101
B25J019/02 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 22, 2011 |
JP |
2011-035859 |
Claims
1. A robot comprising: a first arm connected to a base; a second
arm connected to the base via at least the first arm; an angular
velocity sensor disposed inside the second arm; and a first drive
source rotating the first arm based on an output from the angular
velocity sensor.
2. The robot according to claim 1, wherein: the second arm is
connected to the first arm.
3. The robot according to claim 1, comprising: a first drive source
incorporated in the base and adapted to rotate the first arm; and a
second drive source incorporated in the second arm and adapted to
rotate the second arm.
4. The robot according to claim 2, comprising: a first drive source
incorporated in the base and adapted to rotate the first arm; and a
second drive source incorporated in the second arm and adapted to
rotate the second arm.
5. The robot according to claim 1, comprising: a piping member
having one end connected to the base and the other end connected to
the second arm; and wherein an electric wire connected to the
angular velocity sensor is passed into the piping member.
6. The robot according to claim 2, comprising: a piping member
having one end connected to the base and the other end connected to
the second arm; and wherein an electric wire connected to the
angular velocity sensor is passed into the piping member.
7. The robot according to claim 3, comprising: a piping member
having one end connected to the base and the other end connected to
the second arm; and wherein an electric wire connected to the
angular velocity sensor is passed into the piping member.
8. The robot according to claim 4, comprising: a piping member
having one end connected to the base and the other end connected to
the second arm; and wherein an electric wire connected to the
angular velocity sensor is passed into the piping member.
9. The robot according to claim 5, wherein: a connection section
between the piping member and the second arm is disposed on an
upper side of the second arm.
10. The robot according to claim 6, wherein: a connection section
between the piping member and the second arm is disposed on an
upper side of the second arm.
11. The robot according to claim 7, wherein: a connection section
between the piping member and the second arm is disposed on an
upper side of the second arm.
12. The robot according to claim 8, wherein: a connection section
between the piping member and the second arm is disposed on an
upper side of the second arm.
13. The robot according to claim 1, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
14. The robot according to claim 2, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
15. The robot according to claim 3, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
16. The robot according to claim 4, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
17. The robot according to claim 5, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
18. The robot according to claim 6, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
19. The robot according to claim 9, wherein: a vibration of the
first arm is suppressed based on an output from the angular
velocity sensor.
20. The robot according to claim 1, wherein: the angular velocity
sensor is a gyroscope.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 14/317,049, filed Jun. 27, 2014, which is a
continuation of U.S. patent application Ser. No. 13/399,084, filed
Feb. 17, 2012, now U.S. Pat. No. 8,798,795, issued Aug. 5, 2014,
which claims priority to Japanese Patent Application No.
2011-035859 filed Feb. 22, 2011, all of which are expressly
incorporated by reference herein in their entireties.
BACKGROUND
[0002] 1. Technical Field
[0003] The present invention relates to a horizontal articulated
robot equipped with an angular velocity sensor.
[0004] 2. Related Art
[0005] In the past, there has been known a horizontal articulated
robot which suppresses vibration caused in the arm using an angular
velocity sensor for detecting the angular velocity of the arm as
described in JP-A-2005-242794 (Document 1). In the horizontal
articulated robot described in Document 1, a first arm rotatable
with respect to the base rotates due to the drive force of a first
drive source, and at the same time, the rotational angle of the
first drive source is detected by the first angle sensor. Further,
the angular velocity of the first arm with respect to the base is
detected by an angular velocity sensor mounted on the first arm.
Further, the drive amount of the first drive source is controlled
based on the angular velocity detected by the angular velocity
sensor so that the vibration caused in the first arm can be
suppressed.
[0006] Incidentally, the vibration caused in the first arm is
generally amplified by another arm coupled to the first arm, and
then reaches an end effector of the horizontal articulated robot.
Therefore, in order to suppress such a vibration of the end
effector, it is effective to perform such damping control as
described above on the first drive source.
[0007] On the other hand, in order to drive the angular velocity
sensor described above, it becomes necessary to connect a variety
of electric wires such as a wire for supplying the angular velocity
sensor with electricity or a wire for transmitting the detection
signal of the angular velocity sensor between the angular velocity
sensor and the controller. Further, such electric wires are also
required for the drive sources besides the angular velocity sensor,
and are generally connected to an external controller through a
hollow base. Further, if the configuration in which the angular
velocity sensor described above is mounted on the first arm is
adopted, it results that such an electric wire required to such an
angular velocity sensor is also connected between the first arm and
the controller through the base.
[0008] In this occasion, the track drawn by the first arm with
respect to the base generally includes a larger number of tracks
with small curvature compared to the tracks drawn by other arms
with respect to the base. Therefore, the chances of folding the
electric wires drawn from the first arm increase, and further, the
curvature in the folded portions also becomes smaller compared to
the electric wires drawn from other arms. Therefore, it is required
for the horizontal articulated robot performing damping control
using the angular velocity sensor to enhance the durability of such
an electric wire connected to the angular velocity sensor.
SUMMARY
[0009] An advantage of some aspects of the invention is to provide
a horizontal articulated robot performing the damping control using
an angular velocity sensor, and capable of enhancing the durability
of the electric wire connected to the angular velocity sensor.
[0010] An aspect of the invention is directed to a horizontal
articulated robot including a first arm coupled to a base, a second
arm coupled to the base via at least the first arm, a first drive
source incorporated in the base and adapted to rotate the first arm
in a horizontal direction, a second drive source incorporated in
the second arm and adapted to rotate the second arm in a horizontal
direction, and an angular velocity sensor installed to the second
arm, wherein the first drive source is driven based on the angular
velocity obtained by the angular velocity sensor to thereby
suppress vibration of the first arm.
[0011] According to the horizontal articulated robot of this aspect
of the invention, it becomes possible to draw the electric wire to
be connected to the angular velocity sensor from the second arm by
installing the angular velocity sensor inside the second arm. The
track drawn by the second arm with respect to the base generally
has a larger curvature compared to the track drawn by the first arm
with respect to the base. Therefore, since it becomes possible to
decrease the chance of folding the electric wire to be connected to
the angular velocity sensor, and to prevent the curvature of the
folded portions of the electric wire to be connected to the angular
velocity sensor from becoming smaller, it becomes possible to
enhance the durability of the electric wire.
[0012] The horizontal articulated robot of the above aspect of the
invention may be configured to further include a piping member
having one end coupled to the base and the other end coupled to the
second arm, disposed outside the first arm and outside the second
arm, and having a passage leading to an inside of the base and an
inside of the second arm, and an electric wire to be connected to
the second drive source and an electric wire to be connected to the
angular velocity sensor are laid around through the piping
member.
[0013] According to the horizontal articulated robot of the
configuration described above, the electric wire to be connected to
the second drive source and the electric wire to be connected to
the angular velocity sensor are laid around from the inside of the
second arm to the inside of the base through the passage provided
to the piping member. According to such a configuration, in order
to fold the electric wire to be connected to the angular velocity
sensor, it is required to fold the electric wire to be connected to
the second drive source and the piping member at the same time.
Therefore, since it becomes possible to decrease the chance of
folding the electric wire to be connected to the angular velocity
sensor, and to prevent the curvature of the folded portions of the
electric wire to be connected to the angular velocity sensor from
becoming smaller, it becomes possible to further enhance the
durability of the electric wire.
[0014] The horizontal articulated robot of the above aspect of the
invention may be configured to further include a belt disposed
inside the second arm, and adapted to transmit a drive force of a
third drive source to a displacement member displaced with respect
to the second arm, and the angular velocity sensor is disposed
above the belt.
[0015] Here, if the angular velocity sensor is installed below the
belt driven by the third drive source, there is a possibility that
a foreign matter generated from the belt drops and then adheres to
the angular velocity sensor. In contrast, according to the
configuration described above, even if the foreign matter is
generated from the belt, the foreign matter can be prevented from
adhering to the angular velocity sensor.
[0016] The horizontal articulated robot of the above aspect of the
invention may be configured such that a connection section between
the piping member and the second arm is disposed on an upper side
of the second arm.
[0017] Here, if the connection section between the second arm and
the piping member is disposed in the region of the second arm on
the horizontal direction side, the connection section and the
peripheral region of the end portion of the piping member, the end
portion being located near to the second arm, overlap the
rotational path of the second arm, and therefore, might pose an
impediment for the second arm to rotate. In contrast, according to
the configuration described above, the connection section between
the second arm and the piping member, and the peripheral region of
the end portion of the piping member, the end portion being located
near to the second arm, are disposed at positions never overlapping
the rotational path of the second arm. As a result, the smooth
rotation of the second arm can be realized.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The invention will be described with reference to the
accompanying drawings, wherein like numbers reference like
elements.
[0019] FIG. 1 is a front view showing a front structure of a robot
according to an embodiment of the invention.
[0020] FIG. 2 is a perspective view showing an internal structure
of a second horizontal arm, and is a perspective view showing a
state with an arm cover detached.
DESCRIPTION OF AN EXEMPLARY EMBODIMENT
[0021] Hereinafter, a horizontal articulated robot according to an
embodiment of the invention will be explained with reference to
FIGS. 1 and 2.
[0022] As shown in FIG. 1, in the robot 10 as the horizontal
articulated robot, a base end portion of a first horizontal arm 12
as a first arm rotating around a shaft center C1 along the vertical
direction with respect to a base 11 is coupled to an upper end
portion of the base 11 to be mounted on, for example, a floor.
Inside the base 11, there are disposed a first electric motor 13 as
a first drive source for rotating the first horizontal arm 12, and
a reduction gear 14 coupled to a rotating shaft 13a of the first
electric motor and having an output shaft 14a fixedly-coupled to
the first horizontal arm 12. Further, the first horizontal arm 12
rotates in a horizontal direction, namely makes a horizontal turn,
with respect to the base 11 due to the drive force of the first
electric motor 13 transmitted thereto via the reduction gear 14.
The first horizontal arm 12 is made of a metal material such as
cast iron, and has high rigidity in, for example, the longitudinal
direction and the circling direction.
[0023] To the tip portion of the first horizontal arm 12, there is
coupled a base end section of an arm main body 15a provided to a
second horizontal arm 15 as a second arm rotating around the shaft
center C2 along the vertical direction with respect to the first
horizontal arm 12. Inside the second horizontal arm 15, there are
installed a second electric motor 16 as a second drive source for
rotating the second horizontal arm 15, and a reduction gear 17
coupled to the rotating shaft 16a of the second electric motor 16
and having an output shaft 17a fixedly coupled to the first
horizontal arm 12. Further, the second horizontal arm 15 rotates in
a horizontal direction, namely makes a horizontal turn, around the
shaft center C2 with respect to the first horizontal arm 12 due to
the drive force of the second electric motor 16 transmitted thereto
via the reduction gear 17. The second horizontal arm 15 is made of
a metal material such as cast iron, and has high rigidity in, for
example, the longitudinal direction and the circling direction.
[0024] The second horizontal arm 15 has an arm cover 18 for
covering the upper side of the arm main body 15a from the base end
portion to the tip portion thereof including the second electric
motor 16 and so on. The arm cover 18 is made of, for example, a
resin material, and protects the devices such as the second
electric motor 16 while preventing the dust generated by the
devices from flying to the periphery. The second horizontal arm 15
according to the present embodiment is composed of the arm main
body 15a and the arm cover 18.
[0025] On the tip portion of the second horizontal arm 15, there is
disposed an up/down rotating shaft 19 as a displacement member
penetrating the arm main body 15a and the arm cover 18 and
displaced with respect to the second horizontal arm 15. The up/down
rotating shaft 19 is a columnar shaft member, and is provided with
a ball screw groove and a spline groove not shown formed on the
circumferential surface thereof. As shown in FIG. 2, the up/down
rotating shaft 19 is inserted so that the spline groove thereof is
fitted into the center of a spline nut 19S disposed at the tip
portion of the second horizontal arm 15, and that the ball screw
groove thereof is screwed into the center of a ball screw nut 19B
disposed also at the tip portion of the second horizontal arm 15.
Thus, the up/down rotating shaft 19 is supported rotatably with
respect to the second horizontal arm 15, and movably in a vertical
direction.
[0026] As shown in FIG. 2, inside the second horizontal arm 15,
there is installed a rotary motor 20 as a third drive source. The
rotary motor 20 has the drive force transmitted to the spline nut
19S via a belt 21. In other words, the up/down rotating shaft 19 is
positively and negatively rotated around the own shaft center C3
along a vertical direction in accordance with the spline nut 19S
being rotated positively and negatively by the rotary motor 20
described above.
[0027] Inside the second horizontal arm 15, there is installed a
lifting motor 23 also as the third drive source. The lifting motor
23 has the drive force transmitted to the ball screw nut 19B via a
belt 24. In other words, the up/down rotating shaft 19 performs
lifting and lowering movements in vertical directions in accordance
with the ball screw nut 19B being rotated positively and negatively
by the lifting motor 23 described above. Then, a work section 25 as
the lower end portion thereof is lifted and lowered in the vertical
directions due to the lifting and lowering movements thereof.
[0028] The work section 25 of the up/down rotating shaft 19 is
arranged to be able to be attached with a tool such as a device for
gripping a conveyed object or a device for processing a processed
object. Further, the robot is arranged to convey parts or process
parts using the respective tools attached to the work section
25.
[0029] Further, as shown in FIG. 2, inside the second horizontal
arm 15, there is installed an angular velocity sensor 30 for
measuring the angular velocity of the second horizontal arm 15. As
the angular velocity sensor 30, there is used a vibratory gyroscope
using a quartz crystal vibrator in the present embodiment. The
angular velocity sensor 30 is supported by a plurality of
supporting legs 31 erected inside the second horizontal arm 15 so
that the posture thereof can be adjusted.
[0030] Here, if a foreign matter is generated from the belts 21, 24
due to drive of at least one of the rotary motor 20 and the lifting
motor 23 described above, the foreign matter drops below the belts
21, 24. Therefore, if the angular velocity sensor 30 is installed
below the belts 21, 24, it becomes easy for the foreign matter to
adhere to the angular velocity sensor 30. In contrast, in the
present embodiment, the angular velocity sensor 30 supported by the
supporting legs 31 is always disposed above the belts 21, 24
regardless of the rotational angles of the first horizontal arm 12
and the second horizontal arm 15. Therefore, even if at least one
of the rotary motor 20 and the lifting motor 23 is driven, the
foreign matter dropping from the belts 21, 24 can be prevented from
adhering to the angular velocity sensor 30.
[0031] Further, as shown in FIG. 2, to the upper portion of the
second horizontal arm 15, there is coupled one end of a wiring duct
33 having flexibility as a piping member having the other end
coupled to the base 11. The wiring duct 33 has a tubular shape, and
the one end thereof is rotatably coupled to the second horizontal
arm 15, while the other end is rotatably coupled to the base 11.
The wiring duct 33 is provided with a passage 34 leading to the
inside of the second horizontal arm 15 and the inside of the base
11. Further, an electric wire 35 connected to the second electric
motor 16 installed inside the second horizontal arm 15 and an
electric wire 36 connected to the angular velocity sensor 30 are
laid around from the inside of the second horizontal arm 15 to the
inside of the base 11 through the passage 34 described above.
[0032] It should be noted that although not shown in FIGS. 1 and 2,
electric wire connected to the rotary motor 20 and electric wire
connected to the lifting motor 23 are also laid around to the
inside of the base 11 through the passage 34 described above.
Further, inside the passage 34, it is preferable that the materials
of the constituents of the electric wires and the layout of the
electric wires are considered so that the electric wire 36 is not
electrically affected by other electric wires.
[0033] Incidentally, it is also possible for the connection section
between the wiring duct 33 and the second horizontal arm 15 to be
disposed at a position shifted to the horizontal direction side of
the second horizontal arm 15, namely on the front side or the back
side of the drawing sheet in FIG. 1. However, in such a
configuration, the connection section and the peripheral region of
the end portion of the wiring duct 33, the end portion being
located near to the second horizontal arm 15, overlap the
rotational path of the second horizontal arm 15, and therefore,
might pose an impediment for the second horizontal arm 15 to
rotate. In contrast, in the present embodiment, the connection
section between the second horizontal arm 15 and the wiring duct 33
are disposed on the upper portion of the second horizontal arm 15.
Therefore, the connection section is disposed so that the
peripheral region of the end portion of the wiring duct 33, the end
portion being located near to the second horizontal arm 15, does
not overlap the rotational path of the second horizontal arm 15.
Thus, the smooth rotation of the second horizontal arm 15 can be
realized.
[0034] Further, the angular velocity sensor 30 is a sensor for
detecting the angular velocity of the second horizontal arm 15, and
is therefore only required to be installed in the second horizontal
arm 15. However, if the angular sensor is installed outside the
second horizontal arm 15 instead of the inside of the second
horizontal arm 15, a separate configuration for laying the electric
wire connected to the angular velocity sensor 30 around to the
inside of the second horizontal arm 15 becomes necessary in order
to lay the electric wires around through the passage 34 of the
wiring duct 33. Since the configuration for laying the electric
wire 36 around to the inside of the second horizontal arm 15
becomes unnecessary by installing the angular velocity sensor 30
inside the second horizontal arm 15 as in the case of the present
embodiment, simplification of the configuration of the second
horizontal arm 15, and consequently of the configuration of the
robot 10, can be achieved.
[0035] Further, the electric wires laid around to the inside of the
base 11 are bundled in the inside of the base 11 to thereby be laid
around to a controller 40, which is installed in the outside of the
base 11 to perform overall control of the robot 10, together with
an electric wire 37 connected to the first electric motor 13
described above.
[0036] The controller 40 controls the drive amount of the first
electric motor 13 based on the signal input from the angular
velocity sensor 30 so that the vibration of the second horizontal
arm 15 is suppressed. For example, the controller 40 obtains the
rotational angle of the first electric motor 13 from the encoder
installed in the first electric motor 13, and further obtains the
rotational angle of the second electric motor 16 from the encoder
installed in the second electric motor 16. Further, the controller
40 estimates the angular velocity of the first horizontal arm 12
based on the angular velocity of the second horizontal arm 15, the
rotational angle of the first electric motor 13, the rotational
angle of the second electric motor 16, and so on to thereby control
the drive amount of the first electric motor 13 so that the
vibration of the first horizontal arm 12 is suppressed.
[0037] As explained hereinabove, according to the robot 10 related
to the present embodiment, the advantages recited as follows can be
obtained.
[0038] 1. According to the robot 10 of the embodiment described
above, since the angular velocity sensor 30 for controlling the
drive amount of the first electric motor 13 is disposed in the
second horizontal arm 15, the electric wire 36 to be connected to
the angular velocity sensor 30 is drawn from the second horizontal
arm 15. Here, the track drawn by the second horizontal arm 15 to
the base 11 has larger curvature with respect to the base 11
compared to the track drawn by the first horizontal arm 12 to the
base 11. Therefore, since it becomes possible to decrease the
chance of folding the electric wire 36 to be connected to the
angular velocity sensor 30, and to prevent the curvature of the
folded portions of the electric wire 36 to be connected to the
angular velocity sensor 30 from becoming smaller, it becomes
possible to enhance the durability of the electric wire 36.
[0039] 2. According to the robot 10 of the embodiment described
above, the electric wire 35 to be connected to the second electric
motor 16 and the electric wire 36 to be connected to the angular
velocity sensor 30 are laid around from the inside of the second
horizontal arm 15 to the inside of the base 11 through the passage
34 provided to the wiring duct 33. The electric wire 36 to be
connected to the angular velocity sensor 30 can be laid around from
the second horizontal arm 15 to the base 11 using the wiring duct
33 coupled to both of the second horizontal arm 15 and the base 11
as realized in such a configuration. Since it is required to fold
the wiring duct 33 in addition to the electric wire 36 in order to
fold the electric wire 36, it is possible to reduce the chances of
folding the electric wire 36, and to prevent the curvature of the
folded portions from becoming smaller. As a result, it becomes
possible to further enhance the durability of the electric
wire.
[0040] Further, since the electric wires 35, 36 to be connected
respectively to the second electric motor 16 and the angular
velocity sensor 30 are laid around the inside of the base 11, there
are laid around inside the base 11 not only the electric wire 37 to
be connected to the first electric motor 13 but also the electric
wires 35, 36 to be connected respectively to the second electric
motor 16 and the angular velocity sensor 30. Therefore, it is also
possible to lay these electric wires 35 through 37 around to the
outside of the base 11 in a lump.
[0041] 3. In the embodiment described above, the angular velocity
sensor 30 is disposed inside the second horizontal arm 15. Thus,
there is no need to provide the configuration for laying the
electric wire 36 to be connected to the angular velocity sensor 30
around to the second horizontal arm 15, which is required in the
case of installing the angular velocity sensor 30 on the lower
surface of the arm main body 15a. As a result, simplification of
the configuration of the second horizontal arm 15, and consequently
the configuration of the robot 10, can be achieved.
[0042] 4. According to the robot 10 of the embodiment described
above, since the angular velocity sensor 30 is disposed above the
belts 21, 24, the foreign matter dropping from the belts 21, 24 can
be prevented from adhering to the angular velocity sensor 30.
[0043] 5. According to the robot 10 of the embodiment described
above, since the connection section between the second horizontal
arm 15 and the wiring duct 33 is disposed on the upper side of the
second horizontal arm 15, the peripheral region of the end portion
of the wiring duct 33, the end portion being near to the second
horizontal arm 15, is disposed at a position never overlapping the
rotational path of the second horizontal arm 15. As a result, the
smooth rotation of the second horizontal arm 15 can be
realized.
[0044] It should be noted that the embodiment described above can
be put into practice with the following modifications if
necessary.
[0045] In the embodiment described above, the connection section
between the second horizontal arm 15 and the wiring duct 33 is
disposed on the upper side of the second horizontal arm 15, namely
at the position not overlapping the rotational path of the second
horizontal arm 15. It is also possible to modify this configuration
to thereby dispose the connection section so as to overlap the
rotational path of the second horizontal arm 15 from the viewpoint
of laying the electric wires 35, 36 to be connected to the second
electric motor 16 and the angular velocity sensor 30 around to the
inside of the base 11 through the passage 34. Even with such a
configuration, advantages equivalent to the advantages recited as 1
through 4 above can be obtained.
[0046] In the embodiment described above, the angular velocity
sensor 30 is disposed above the belts 21, 24 for transmitting the
drive forces of the rotary motor 20 and the lifting motor 23. It is
also possible to modify this configuration to thereby dispose the
angular velocity sensor 30 below the belts 21, 24. Even with such a
configuration, advantages equivalent to the advantages recited as 1
through 3 above can be obtained.
[0047] In the robot 10 of the embodiment described above, there is
disposed the wiring duct 33 provided with the passage 34 through
which the electric wire 36 is laid around. Besides this
configuration, it is also possible for the robot 10 to have a
configuration in which the wiring duct 33 is reluctantly omitted to
thereby expose the electric wire extending from the angular
velocity sensor 30 to the base 11. Even with such a configuration,
an advantage equivalent to the advantage recited as 1 above can be
obtained providing that a variety of electric wires extending from
the arm is generally drawn to the outside through the base, and the
angular velocity sensor for suppressing the vibration of the first
arm is installed to the second arm.
[0048] It is also possible for the robot 10 of the embodiment
described above to have a configuration further including another
arm intervening between the first horizontal arm 12 and the second
horizontal arm 15.
[0049] The angular velocity sensor 30 of the embodiment described
above is disposed inside the second horizontal arm 15. However,
since the angular velocity sensor is only required to be installed
to the second horizontal arm 15, the installation position is not
limited to the inside of the second horizontal arm 15. Even with
such a configuration, the advantages recited as 1 and 2 above can
be obtained.
[0050] The robot 10 according to the embodiment described above has
the wiring duct 33 having a tubular shape provided with the passage
34 as a piping member. Besides this configuration, any piping
member capable of housing the electric wire and preventing the
electric wire from getting entangled during the operation of the
robot 10 can be adopted, and the shape thereof is not limited to
the tubular shape. Further, the piping member is only required to
have flexibility, and the material thereof is not particularly
limited.
[0051] As the angular velocity sensor 30 of the embodiment
described above, a vibratory gyroscope using a quartz crystal
vibrator is adopted. Besides this configuration, the angular
velocity sensor is only required to be able to measure the angular
velocity of the second horizontal arm 15 with respect to the base
11, and a rotary gyroscope, a gas gyroscope, a ring-laser
gyroscope, and so on can also be adopted.
[0052] The suppression of the vibration of the first horizontal arm
12 is only required to be achieved by controlling the drive amount
of the first electric motor 13 using the detection result of the
angular velocity sensor 30, and it is also possible to adopt the
process of, for example, detecting the vibration of the second
horizontal arm 15 from the detection result of the angular velocity
sensor 30 and the rotational angle of the second electric motor 16
to thereby suppress the vibration under the estimation that the
vibration thus detected is the vibration of the first horizontal
arm 12. Further, in the case in which the first horizontal arm 12
and the second horizontal arm 15 are fixed on the same axis line,
and the first horizontal arm 12 rotates alone, it is also possible
to adopt the process of, for example, estimating the vibration of
the first horizontal arm 12 based on the detection result of the
angular velocity sensor 30 and the rotational angle of the first
electric motor 13, and then suppressing the vibration.
* * * * *