Articulated robot

Abstract

An articulated robot comprises a movable first transferring portion and a second transferring portion movably supported in relation to the movable first transferring portion by a joint portion. A workpiece is positioned at a position, where a workpiece positional deviation detecting means is located, by a hand portion formed at an end of the second transferring portion. The workpiece positional deviation detecting means detects the amount of deviation in the position of the workpiece. A positioning portion of the workpiece and a sensor portion for detecting deviations of the workpiece are formed either at the first transferring portion of the second transferring portion which form the articulated robot. A detecting operation by the sensor portion and transferring of the first and second transferring portions are enabled when the workpiece is positioned at the positioning portion of the articulated robot.

What is claimed is:  
     
         1 . An articulated robot comprising: 
 a movable first transferring portion;    a second transferring portion being movably supported in relation to said movable first transferring portion by a joint portion;    a workpiece being positioned at a position, where a workpiece positional deviation detecting means is located, by a hand portion formed at an end of said second transferring portion;    said workpiece positional deviation detecting means for detecting the amount of deviation in the position of said workpiece;    a positioning portion of said workpiece and a sensor portion for detecting deviations of said workpiece being formed at one of said first transferring portion and said second transferring portion, which form said articulated robot; and    a detecting operation by said sensor portion and transferring of said first and second transferring portions being enabled when said workpiece is positioned at said positioning portion of said articulated robot.    
     
     
         2 . The articulated robot described in  claim 1  wherein: 
 said positioning portion comprises a rotating means to rotate said mounted workpiece; and  
 said sensor portion for detecting a given position of the end of said workpiece.  
 
     
     
         3 . The articulated robot described in  claim 2  wherein: 
 said second transferring portion is formed by a second arm and a third arm, which is connected to said second arm; and  
 said positioning portion and said sensor portion being formed either at said first transferring portion or at said second arm.  
 
     
     
         4 . The articulated robot described in  claim 3  wherein: 
 said first transferring portion is a slide transferring portion; and  
 said second arm, said third arm and said hand portion being rotatably connected to said slide transferring portion by joint portions.  
 
     
     
         5 . The articulated robot described in  claim 3  wherein: 
 said first transferring portion is a turn table; and  
 said turn table being rotatably connected to said second arm, said third arm and said hand portion by joint portions.  
 
     
     
         6 . The articulated robot described in  claim 3  wherein: 
 said transferring portion is a turntable;  
 a first rotational axis being formed at a position eccentric in relation to the rotational center of said turn table which is assigned as a first arm portion;  
 an arm, which is rotatably supported by said first rotational axis, being assigned as a second arm;  
 a third arm being rotatably supported at an end of said second arm;  
 a hand portion being rotatably supported at an end of said third arm; and  
 generation of singularities being prevented by separately controlling rotations of said first arm portion, said second arm said third arm and said hand portion.  
 
     
     
         7 . The articulated robot described in  claim 6  wherein said second arm and said third arm carry out linear movement of said hand portion while said hand portion is positioned to face one direction such that generation of singularities is prevented by controlling the rotation of said first arm portion.  
     
     
         8 . The articulated robot described in  claim 7  wherein generation of singularities is prevented by shifting the position of said rotational axis until a sufficient distance with a path of linear movement of said hand portion is obtained.  
     
     
         9 . The articulated robot described in  claim 8  wherein the following is true:  
       ( L   2 − L   3 )≦ L   1 : 
       where: 
 L 1 =distance between axes of said first arm portion;  
 L 2 =distance between axes of said second arm; and  
 L 3 =distance between axes of said third arm.  
 
     
     
         10 . An articulated robot comprising: 
 two arms being rotatably connected by a joint portion;    a workpiece being positioned at a positioning portion of a workpiece positional deviation detecting means by a hand portion formed at an end of one of said two arms, which is located further than other, such that the amount of deviation in the position of said workpiece is detected;    a positioning portion of said workpiece and a sensor portion for detecting positional deviations of said workpiece being formed on one of said two arms, which is located toward the bottom; and    a detecting operation by said sensor portion and transfer of said first and second transferring portions being performed while said workpiece is positioned at said positioning portion.    
     
     
         11 . An articulated robot comprising: 
 a first rotational axis being formed at a position eccentric in relation to the rotational center of a turn table which being assigned as a first arm portion;    an arm, which is rotatably supported by said first rotational axis, being assigned as a second arm;    a third arm being rotatably supported at an end of said second arm;    a hand portion being rotatably supported at an end of said third arm; and    generation of singularities being prevented by separately controlling rotations of said first arm portion, said second arm said third arm and said hand portion.    
     
     
         12 . The articulated robot described in  claim 11  wherein generation of singularities is prevented by shifting the position of said rotational axis until a sufficient distance with a path of linear movement of said hand portion is obtained.  
     
     
         13 . The articulated robot described in  claim 12  wherein said first arm portion or said second arm is formed to be movable in the vertical direction.  
     
     
         14 . The articulated robot described in  claim 11  wherein said second arm and said third arm carry out linear movement of said hand portion while said hand portion is positioned to face one direction such that generation of singularities is prevented by controlling the rotation of said first arm portion.  
     
     
         15 . The articulated robot described in  claim 14  wherein the following is true:  
       ( L   2 − L   3 )≦ L   1 : 
       where: 
 L 1 =distance between axes of said first arm portion;  
 L 2 =distance between axes of said second arm; and  
 L 3 =distance between axes of said third arm.