Picking-up robot
A picking-up robot is successfully made more compact. The robot arm includes a plurality of arm tubes that fit one within another in a nested manner. A push chain is inserted in the robot arm. The push chain is connected to a foremost arm tube at one end of the push chain. A sprocket is rotatably attached to the strut. The push chain is engaged on the sprocket.
1 . A picking-up robot comprising:
a traveling body capable of traveling;
a strut set upright on the traveling body;
a robot arm attached to an arm supporting section located on an upper end side of the strut;
a robot hand that is provided at a distal end of the robot arm and that grasps an article;
a first rotary motor that causes the strut to rotate about an axis of the strut;
a tilt motor that causes the robot arm to tilt in an up-and-down direction; and
a second rotary motor that causes the robot arm to extend and contract, wherein
the robot arm is a telescopic robot arm having a plurality of arm tubes that fit one within another in a nested manner,
the picking-up robot comprising:
a push chain inserted in the plurality of arm tubes and having an end that is connected to a foremost arm tube of the plurality of arm tubes; and
a sprocket which is rotatably attached to the strut and on which the push chain is engaged, wherein
the second rotary motor rotates the sprocket, thereby causing the robot arm to extend and contract.
2 . The picking-up robot according to claim 1 , wherein
of a pair of arm tubes, fitting one within another, of the plurality of arm tubes, an inner arm tube has an outer flange provided on a proximal end-side of the inner arm and protruding outward, and an outer arm tube has an inner flange provided on a distal end-side of the outer arm tube and protruding inward, the inner flange being capable of contacting the outer flange.
3 . The picking-up robot according to claim 1 , wherein
of a pair of arm tubes, fitting one within another, of the plurality of arm tubes, an inner arm tube has a plurality of first rolling elements provided on a proximal end-side of the inner arm tube, the plurality of first rolling elements being circumferentially spaced and rolling to move on an inner circumferential surface of an outer arm tube of the pair, and the outer arm tube has a plurality of second rolling elements provided on a distal end-side of the outer arm tube, the plurality of second rolling elements being circumferentially spaced and rolling to move on an outer circumferential surface of the inner arm tube.
4 . The picking-up robot according to claim 1 , further comprising
a chain rack provided on a lower side of the strut and under the sprocket, having a chain guide which guides the push chain in the up-and-down direction, and housing the push chain.
5 . The picking-up robot according to claim 1 , further comprising
an electromagnetic brake configured to put a brake on rotation of the rotary motor.
6 . The picking-up robot according to claim 1 , further comprising
a movement restriction mechanism for restricting axial movement of an inner arm tube of at least one pair of arm tubes, fitting one within another, of the plurality of arm tubes, the axial movement being relative to an outer arm tube of the at least one pair.
7 . The picking-up robot according to claim 1 , further comprising
an image taking section configured to take an image of an environment surrounding the article.
8 . The picking-up robot according to claim 1 , wherein
the traveling body includes:
a traveling stage on which the strut is set upright; and
a crawler provided under the traveling stage.