JP2003071774A - Eject mechanism and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To implement an eject mechanism and a robot device capable of securing the safety with a simple structure. SOLUTION: The eject mechanism for ejecting a mounted electronic part according to the outside operation and the robot device having the mechanism has a connecting means for connecting the transmission force corresponding to the outside operation to the ejecting motion of the electronic part, and a changing means engaged with the connecting means for changing the transmission force corresponding to the outside operation to idling motions other than the ejecting motion of the electronic part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an eject mechanism and a robot device, and is suitable for application to, for example, a pet robot.

[0002]

2. Description of the Related Art In recent years, a four-legged walking type pet robot has been developed and sold by the present applicant. Such a pet robot has a shape similar to dogs and cats raised in ordinary households, and is designed to be able to autonomously act according to the user's actions such as “striking” and “stroking” and the surrounding environment. It was done by.

In many pet robots of this type, a controller for controlling the operation of the entire pet robot is built in the body unit, and a battery or a power source for the pet robot is provided in the body unit. An external memory in which various control parameters are stored is detachably attached.

Usually, as a mechanism for attaching and detaching a battery and an external memory to and from the body unit, the user inserts the battery and the external memory into the body unit directly through the insertion port to store and hold the battery and the external memory. In some cases, the corresponding eject button is pressed by the user so that the battery or the external memory is pushed out in whole or in part according to the pushing force.

In such a battery or external memory attachment / detachment mechanism, the data stored in the external memory is destroyed when the user performs an eject operation while the pet robot is operating or when data is written to the external memory. In order to prevent this, a mechanism for locking each eject button has been proposed and realized.

[0006]

However, in the battery or external memory attaching / detaching mechanism having such a lock mechanism,
When the user actually presses the eject button, the load corresponding to the pressing force is applied to the internal mechanism, so when a pressing force exceeding the component strength is applied, each component forming the internal mechanism is There was a risk of damage.

As one method for solving such a problem,
A mechanism is conceivable in which a lid is provided at each insertion port of the body unit and the lid is locked, but there is a problem in that the structure is complicated due to the provision of the lid, and design restrictions are imposed.

The present invention has been made in consideration of the above points, and an object thereof is to propose an eject mechanism and a robot apparatus which can ensure safety with a simple structure.

[0009]

In order to solve the above problems, according to the present invention, in an eject mechanism for ejecting loaded electronic parts according to an external operation and a robot apparatus having the eject mechanism, transmission according to an external operation is performed. A connecting means for connecting the force to the discharging operation of the electronic component, and a switching means engaged with the connecting means for switching the transmission force corresponding to an external operation to the idling operation other than the discharging operation of the electronic component as necessary are provided. I chose

As a result, in the eject mechanism and the robot apparatus having the eject mechanism, the internal component forming the mechanism is prevented by preventing the transmission force corresponding to the external operation from being applied as a load to the mechanism constructing the discharging operation of the electronic component. It is possible to avoid damage.

Further, according to the present invention, each of the plurality of electronic parts has an external operation and a corresponding connecting means,
The switching means is engaged with the plurality of connecting means, and switches the transmission force corresponding to the plurality of external operations to a idling operation other than the ejecting operation of the corresponding electronic component as necessary.

As a result, in the eject mechanism and the robot apparatus having the eject mechanism, in addition to the prevention of damage to the outer and inner parts, it is possible to switch all of the plurality of connecting means to the idling operation by a single operation of the switching means, and the corresponding structure is provided. Can be simplified, and the time required to switch to the idling operation can be shortened.

Further, according to the present invention, a transmission force according to a single external operation which is engaged with one or a plurality of connecting means and which is different from the external operation corresponding to one or a plurality of electronic parts as required. Is provided with a forcible connecting means for connecting the one or a plurality of electronic components to the discharging operation.

As a result, in the eject mechanism and the robot apparatus having the same, the electronic components can be forcibly ejected by the forcible connecting means when a failure such as breakage occurs in the connecting means or the input stage of the external operation. , It is possible to minimize the damage caused by the failure. Further, even when there are a plurality of electronic components, by forcibly ejecting all the electronic components by a single compulsory connecting means, the configuration can be simplified by that amount and each electronic component needs to be ejected. The time can be shortened. [Detailed Description of the Invention]

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Structure of Pet Robot According to this Embodiment In FIG. 1, reference numeral 1 denotes the pet robot according to this embodiment as a whole, and leg units 3A to 3D are connected to the front, rear, left and right of the body unit 2, respectively. In addition, the head unit 5 is connected to the front end of the body unit 2 with the collar 4 interposed therebetween.

In this case, in the body unit 2, as shown in FIG. 2, a controller 10 for controlling the operation of the entire pet robot 1, a battery 11 serving as a power source of the pet robot 1, a battery sensor 12 and Various internal sensors such as the temperature sensor 13 and the like, a speaker 14 that functions as a substantial “mouth” of the pet robot 1, a detachable external memory 15 in which various control parameters are stored, and the like are stored. Further, in the vicinity of the rear end of the upper surface of the body unit 2, an LED (LightEmit) is attached to the front end thereof.
A joystick 17 having a tongue diode 16 therein is provided so as to project outwardly.

Further, the head unit 5 has a CCD (Charg) corresponding to the substantial "eyes" of the pet robot 1.
e Coupled Device) A camera 18 and a microphone 19 corresponding to a substantial “ear” are housed, and a corner portion 21 (FIG. 1) of a predetermined shape which houses the LED 20 is provided on the top of the head so as to project. ing.

Furthermore, the knee joint portion of each leg unit 3A to 3D, each leg unit 3A to 3D and the body unit 2
Actuators 22 corresponding to the respective degrees of freedom for the hip joints that connect the head units 5 and the body unit 2 and the like.
_{1 to} 22 _n and potentiometers 23 ₁ to 23 _n are arranged.

The CCD camera 18 of the head unit 5
Captures the surrounding situation and sends the obtained image signal S1 to the controller 10. In addition, the microphone 19 collects voice commands such as “walk”, “sitting” or “follow the ball” and ambient sounds emitted by the user, and sends the voice signal S2 thus obtained to the controller 10.

Further, the battery sensor 1 of the body unit 2
2 detects the remaining amount of the battery 11, sends the detection result to the controller 10 as a battery remaining amount detection signal S3, and the temperature sensor 13 detects the internal temperature of the body unit 2 and outputs the detection result to the temperature. The detection signal S4 is sent to the controller 10.

Further, each potentiometer 23 ₁ to 23 _n
Detects the rotation angle of the output shaft of the corresponding actuator 221 to 22n, the detection result angle detection signal _S5 1 ~
S5 _n is sent to the controller 10, and the tail portion 17 of the body unit 2 sends an operation detection signal S6 to the controller 10 when the user operates it.

The controller 10 includes a CCD camera 18,
Microphone 19, battery sensor 12, temperature sensor 1
3. Potentiometers 23 ₁ to 23 _n and tail portion 17
Based on the image signal S1, the audio signal S2, the battery remaining amount detection signal S3, the temperature detection signal S4, the angle detection signals S5 _{1 to} S5 _{n, the} operation detection signal S6, etc. given from Determines whether there is a command from the user and whether there is an action from the user.

Then, the controller 10 determines the subsequent action based on the result of this determination, the control program stored in advance in the internal memory 10A, and various control parameters stored in the external memory 15, and the necessary action is determined based on the determination result. By vibrating the different actuators 22 _{1 to} 22 _n , the pet robot 1 is caused to perform actions such as swinging the head unit 5 up and down, left and right, and driving the leg units 3A to 3D to walk.

Further, at this time, the controller 10 outputs a voice based on the voice signal S7 to the outside by giving a predetermined voice signal S7 to the speaker 14 as needed, or in the corner portion 21 and the tail portion 17. The LEDs 20, 16 are turned on, turned off, or blinked.

In this way, the pet robot 10 behaves autonomously according to the external and internal conditions, the presence / absence of commands and actions from the user, various control parameters stored in the external memory 15, and the like. It is designed to get you.

(2) Processing of Controller 10 Here, the processing of the controller 10 relating to such action generation of the pet robot 1 will be described.

As shown in FIG. 3, when the processing contents of the controller 10 relating to the action generation of the pet robot 1 are functionally classified, the state recognition unit 30 that recognizes the external and internal states and the recognition result of the state recognition unit 30. An emotion / instinct model 31 that determines an emotion and an instinct state based on the action, and an action that determines the next action based on the recognition result of the state recognition unit 30 and the emotion / instinct state determined in the emotion / instinct model 31 Based on the determination unit 32, a posture transition control unit 33 that makes a series of motion plans of the pet robot 1 for performing the action or action decided by the action determination unit 32, and the action plan made by the posture transition control unit 33 LED16,
20 and actuators 22 _{1 to} 22 _{n and the} like, and a device control unit 34 that controls devices.

In this case, the state recognizing section 30 includes an image signal S1 and a voice signal S2 provided from the CCD camera 18, the microphone 19, the battery sensor 12, the temperature sensor 13, the potentiometers 23 ₁ to 23 _{n, the} tail section 17, and the like.
Battery level detection signal S3, the temperature detection signal S4, recognizes a particular state based on the various sensor signal S10 such as the angle detection signal S5 _{1-S5 n} and the operation detection signal S6, the recognition result as the state recognition information D1 Emotional / instinct model 31
Also, the action determination unit 32 is notified.

Specifically, the state recognizing section 30 constantly monitors the image signal S1 given from the CCD camera 18, and in the image based on the image signal S1, for example, "a red round object" or "an object located in the traveling direction". When it detects "," it recognizes that "there is a ball" and "there is an obstacle", and notifies the emotion / instinct model 31 and the action determination unit 32 of the recognition result.

The state recognition unit 30 also includes a microphone 19
The HMM (H
When various voices such as "walk", "prone", "follow the ball" are recognized by a voice recognition method such as idden Markov Model)
The instinct model 31 and the action determination unit 32 are notified.

Further, the state recognition unit 30 recognizes the remaining amount of the battery and the internal temperature based on the battery remaining amount detection signal S3 and the temperature detection signal S4 provided from the battery sensor 12 and the temperature sensor 14, respectively, and the recognition result is emotional.・
The instinct model 31 and the action determination unit 32 are notified.

Further, the state recognizing section 30 has an angle detection signal S5 ₁ given from each of the potentiometers 23 ₁ to 23 _n.
To S5 _n are constantly monitored, and, for example, the angle detection signals S5 ₁ from the potentiometers 23 ₁ to 23 _n corresponding to the actuators 22 _{1 to} 22 _n in the pitch direction of the head unit 5, respectively.
When it is detected that the head unit 5 is pushed downward or upward based on S5 _n , it is recognized as "praised" or "scold" and the recognition result is the emotion / instinct model 3
1 and the action determination unit 32 are notified.

Furthermore, the state recognition section 30 constantly monitors the operation detection signal S6 given from the tail section 17, and when it detects that the tail section 17 has been operated based on the operation detection signal S6, it responds to the operation. The intention of the user is recognized, and the recognition result is notified to the emotion / instinct model 31 and the action determination unit 32.

The emotion / instinctive model section 31 is "joyful",
With respect to a total of six emotions of “sadness”, “surprise”, “fear”, “disgust”, and “anger”, a parameter representing the intensity of the emotion is held for each emotion. The emotion / instinct model unit 31 then sets the parameter values of each of these emotions based on specific recognition results such as “praised” and “scold” given as the state recognition information D1 from the state recognition unit 30. Change sequentially.

Similarly, the emotion / instinct model unit 31 has five independent desires of "love desire", "search desire", "exercise desire", "charge desire" and "sleep desire". , Each of these desires holds a parameter indicating the strength of the desire. And the emotion / instinct model part 31
The parameter value of each of these desires is set to the state recognition unit 3 respectively.
It is sequentially changed based on the recognition result from 0, the elapsed time, and the like.

On the other hand, the action deciding section 32 includes the state recognizing section 30.
When the state recognition information D1 is given by the user, when a certain time has passed after the current action, or when the emotion or instinct model 31 has any emotion or instinct parameter value exceeding a threshold value, The next action is determined based on the control program stored in the internal memory 10A and the control parameters stored in the external memory 15.

Specifically, the action determining section 32 determines the state as a node N as shown in FIG. 4 as a method for determining the next action.
Expressed as D _{A0 to} ND _An , one node ND _A0
From which node ND _{A0 to} ND _An is completed at its own node ND _{A0 to} NDAn or an arc AR _A0 connecting each node ND _{A0 to} ND _An
~ Transition Probability P ₀ Set for AR _An ~
An algorithm called a probabilistic automaton that determines probabilistically based on P _n is used.

In this case, the connection relation between the nodes ND _{A0 to} ND _An and the arcs A in this probability automaton.
R _A0 to Ar transition probability _P 1 to P _n and for _An, the external memory 1 as the arc _AR A0 _{to Ar An} action associated respectively control parameters (action model)
Stored in 5.

Then, the action determining section 32 receives the state recognition information D1 from the state recognizing section 30, or when a certain period of time elapses after the current node (ND _A0 ) has passed, the emotion / instinctive model section. When any emotion or instinct parameter value in 31 exceeds a threshold value, etc., the next transition destination node (N
D _{A0 to} ND _An are stochastically determined based on the transition probabilities P _{0 to} P _n for the respective arcs AR _{A0 to} AR _An, and the nodes (ND _{A0 to} ND _An ) determined at this time and the original node (ND _A0). ) Is connected to the arc (AR _A0 ~ AR
_An action corresponding to _{An 2} ) is notified as action determination information D2 to the posture transition control unit 33 as an action to be expressed next.

In the posture transition control unit 33, when the action decision information D2 is given from the action decision unit 32, a series of action plans of the pet robot 1 for taking an action based on the action decision information D2 are made, and the action is concerned. The operation command information D3 based on the plan is output to the device control unit 34.

In this case, the posture transition control section 33 determines the postures of the pet robot 1 as shown in FIG.
_{B0 to} ND _B2, and transitionable nodes ND _{B0 to} ND
Conclusion In a directed arc _AR B0 _{to Ar B2} representing the operation between _B2, and the operation to complete on one node _ND B0 _{to ND B2} using a directed graph to represent as a self-operating arc _AR C0 _{~AR C3.}

Specifically, in the case of the pet robot 1, each node ND _{B0 to} ND _B2 is associated with a posture such as “standing”, “sitting”, “down”, and the like.
Each directed arc AR _{B0 to} AR _B2 connecting between these nodes ND _{B0 to} ND _B2 is associated with an operation for transitioning the posture. Also, each self-moving arc A
R _{C0 to A} RC ₃ are associated with various actions such as “walking”, “dancing”, “shaking the head”, and “handing” that can be expressed in the corresponding postures.

Then, the posture transition control unit 33 receives the action command such as "stand", "walk", "dance" from the action determining unit 32 as the action determining information D2, and then the directed arcs AR _{B0 to} AR _B2. while following the direction, the current node _ND B0 _{to ND B2} nodes specified attitude or operation associated with the _ND B0 _{to ND B2} or directed arc _AR B0 _{to Ar B2} or self operating arc _{AR C0} ~
A shortest route to AR _C3 is searched, and each directed arc AR _{B0 to} AR _B2 and the self-moving arc A on the searched route are searched.
The operation commands for sequentially performing the operations respectively associated with R _{C0 to} AR _C3 are sequentially output to the device control unit 34 as the operation command information D3.

For example, when the pet robot 1 is in the "sitting" posture, the posture control control unit 33 receives the action command "slap your limbs in the prone state" from the action determining unit 32. Is a motion called "falling down" associated with a directed arc AR _B1 connecting between the node ND _B1 corresponding to the "sit" posture and the node ND _B2 corresponding to the "down" posture (hereinafter, this will be referred to as "falling down". Motion command ”and a motion“ flapping hands and feet ”associated with the self-motion arc AR _C3 (hereinafter, referred to as“ motion ”).
This is referred to as a “limb and flap operation”) and is sequentially sent to the device control unit 34.

In the device control unit 34, each directed arc AR of the directed graph held by the posture transition control unit 33.
_{B0 to} AR _B2 and each self-moving arc AR _{C0 to} AR _C3
Each of the motions, such as which actuator 22 _{1 to} 22 _n (FIG. 2) is driven at which timing and in order to cause the pet robot 1 to express the motion in association with each motion associated with each motion. A file that defines the time-series control contents of the actuators 22 _{1 to} 22 _n (hereinafter, referred to as operation file)
In the external memory 15.

[0047] The device control unit 34, each time the given operation command information D3 from the posture transition control unit 33, are sequentially reproduced corresponding operation file based on the control parameters stored in the operation file drive signals S11 ₁ ~
S11 generates _n, by a corresponding actuator ₂₂ 1 through 22 _n for controlling the driving based on the driving signal _S11 1 ～S11 _n, expressing an operation corresponding to the pet robot 1.

Therefore, for example, when the pet robot 1 is in the "sitting" posture, the device control section 34 is sequentially given the above-mentioned "prone movement" and "limb slap movement" operation commands from the posture transition control section 33. In such a case, first, each of the corresponding actuators 22 _{1 to} 22 _n is sequentially controlled in time series on the basis of the motion file corresponding to the “lie down motion” to cause the pet robot 1 to perform the “lie down motion”. Following this, the pet robot 1 is caused to express the “limb slap movement” by sequentially controlling the corresponding actuators 22 _{1 to} 22 _n in time series based on the motion file corresponding to the “limb slap movement”.
As a result, the pet robot 1 as a whole exhibits a series of motions in which the posture is changed from “sitting” to “falling down” and then “fluttering hands and feet”.

Further, the device control unit 34 controls the WA of various sounds.
Multiple audio files that are VE files and LED1
A plurality of LEs in which drive data of 6 and 20 (FIG. 2) are stored
The pet drive 1 has a D drive file in the external memory 15, and when the motion file is played back, the voice file and / or the LED drive file associated with the motion file are played back at the same time, thereby causing the pet robot 1 to move. In addition, output audio from the speaker 14 (Fig. 2),
The LEDs 16 and 20 are driven to blink.

In this way, the controller 10 can make the pet robot 1 act autonomously according to the external and internal conditions, the command from the user and the presence or absence of the action.

(3) Body Unit Unit of Pet Robot (3-1) Structure of Mechanism Holding Unit and Eject Base Unit Next, the structure of the body unit 2 of the pet robot 1 will be described. In this pet robot 1, in the body unit 2, as shown in FIG. 6, a slide type in which a synthetic resin material such as plastic is formed on the front surface side (that is, the abdominal surface side) to have an appearance shape similar to the belly of an animal, for example. An openable / closable lid (hereinafter, referred to as a belly lid) 40 is detachably attached.

By removing the belly-shaped lid 40 while sliding it in the direction shown by the arrow a, as shown in FIG. 7, the panel surface 41A of the mechanism holding portion 41 made of a synthetic resin material such as plastic is exposed. The panel surface 41A is provided with an insertion port for mounting the battery 11 serving as a power source of the pet robot 1 and the external memory 15 storing various control parameters (hereinafter, these will be referred to as a battery insertion port 41AB and a memory insertion port). 41A
B and 41 AM are opened respectively.

As shown in FIG. 8, the mechanism holding portion 41 has a box shape as a whole, and a storage chamber 4 for the battery 11 which is inserted into the battery insertion opening 41AB of the panel surface 41A.
1B is formed, and a base portion (hereinafter, referred to as an eject base portion) 42 having an eject mechanism for mounting or discharging the battery 11 and the external memory 15 is screwed so as to cover the storage chamber 41B. It is fixedly held by the etc.

On the panel surface 41A of the mechanism holding portion 41, the battery 11 protruding from the eject base portion 42 is provided.
Eject lever (hereinafter, referred to as battery eject lever) BL and eject button for external memory 15 (hereinafter, referred to as memory eject button)
Corresponding to the above, opening holes are formed at respective predetermined positions, and the battery eject lever BL and the memory eject button MB are provided on the panel surface 41 via the corresponding opening holes.
It is designed to be exposed from A to the outside.

Here, FIGS. 9 and 10 show external configurations of the battery 11 and the external memory 15. As shown in FIG. 9, the battery 11 is made of a synthetic resin material having a substantially quadrangular prism outer shape, and has a substantially concave notch groove 11G formed at a predetermined position on the upper surface. Further, as shown in FIG. 10, the external memory 15 has a thin, substantially stamp-sized plate-like shape having a predetermined thickness, and a terminal (not shown) is formed at the tip thereof.

As shown in FIG. 8, the eject base portion 42 has a frame 42A made of a metal material and having a predetermined shape as a base, and a memory surface of the panel surface 41A of the mechanism holding portion 41 is inserted into one surface of the frame 42A. A memory driver 43 that holds the external memory 15 inserted through the mouth 41AM and reads and writes data is provided.

On the other surface side of the frame 42A of the eject base portion 42, the panel surface 4 of the mechanism holding portion 41 is provided.
A coil spring 44 (FIG. 11, which will be described later) that applies a biasing force to the battery 11 inserted through the battery insertion port 41AB of 1A in the discharging direction is fixed.

In the eject base portion 42, a series of mechanism systems 50 (hereinafter, referred to as a battery eject mechanism system) from the pressing operation of the battery eject lever BL to the discharging of the battery 11 and the pressing of the memory eject button MB. A series of mechanism systems (hereinafter, referred to as a memory eject mechanism system) 51 from operation to discharge of the external memory 15 and functions in both the battery eject mechanism system 50 and the memory eject mechanism system which are the features of the present invention. A mechanical system 52 for canceling the combined state (hereinafter referred to as an idling mechanical system) 52 and a mechanical system for forcibly discharging the battery 11 and the external memory 15 (hereinafter referred to as a forced eject mechanical system). ) 53 and.

(3-2) Battery Ejecting Mechanism System 50 FIG. 11 shows the battery housing side of the eject base portion 42. The battery ejecting mechanism system 50 includes a battery eject lever BL, a connecting arm 55, and a converting lever 56.
And a battery lock portion 57.

First, the battery eject lever BL, which is generally V-shaped, is rotatably attached via a fulcrum shaft 60 provided on the frame 42A, one end of which is formed as a user's grip portion BLA, and the other end of which is formed. A pin BLP is formed so as to project in the axial direction of the rotation center.

The pin BLP at the other end of the battery eject lever BL is movably engaged in an opening 55H formed at one end of a long plate-shaped connecting arm 55.

The end of the opening 55H formed at one end of the connecting arm 55 has a coil spring C between the frame 42A and the frame 42A on the memory storage side (FIG. 8).
B1 is bridged, and the biasing force of the coil spring CB1 is always applied in the direction of arrow a, so that the battery eject lever BL can be always kept closed.

The connecting arm 55 of FIG. 11 is rotatably attached in the central position via a fulcrum shaft 61 provided on the frame 42A in the direction of arrow b or in the opposite direction,
One end of the conversion lever 56 is rotatably attached to the other end.

The conversion lever 56 has a protrusion 5 at the other end.
6T is formed, and a pin 56P is formed in the vicinity of the protrusion 56T so as to project in the axial direction of the rotation center. The protrusion 56T is in contact with a claw 57N that constitutes the battery lock portion 57, and the pin 56P is slidably fitted in a guide groove 62GX formed in a slide conversion arm 62 of a later-described swing mechanism system 52. Has been.

As shown in FIG. 8, the battery lock portion 57 has a structure in which a triangular prism shaped claw portion 57N having a tapered surface and a fulcrum shaft portion 57S axially supported in the surface direction of the frame 42A are integrally formed. Therefore, one end of the fulcrum shaft portion 57S is engaged with the other end of the coil spring CB2 fixed to the frame 42A. In this battery lock portion 57, even when the claw portion 57N is pressed inward about the fulcrum shaft portion 57S as the center of rotation, the elastic force of the coil spring urges the claw portion in the opposite direction. .

The claw portion 57N of the battery lock portion 57
Is normally urged to project from the frame 42A to the battery storage side, and the claw portion 57N is fitted into the notch groove 11G of the battery 11 when the battery 11 is loaded.

The other end of the coil spring 44 (FIG. 11), one end of which is fixed to the end of the frame 42A, has the battery insertion port 41AB for accommodating the battery 11 stored in the storage chamber 41B of the mechanism holding unit 41 described above. It is designed to bias to the side.

Thus, the battery 11 has the mechanism holding portion 41.
While being biased by the coil spring 44 in the storage chamber 41B of the battery lock portion 57, the claw portion 57N of the battery lock portion 57 is provided with the cutout groove
It is in a locked state by being fitted into G.

In this way, the battery eject mechanism system 50
Then, as shown in FIG. 11, when the user presses the battery eject lever BL in the opening direction in the state where the battery 11 is loaded, the connecting arm 55 causes the connecting arm 55 to move in the direction of the arrow b according to the rotation of the battery eject lever BL. When the pin 56P of the conversion lever 56 slides along the guide groove 62GX of the idling mechanism system 52 in the direction of arrow c, the projection 56 of the conversion lever 56 rotates at the same time.
When T touches and presses the tapered surface of the claw portion 57N of the battery lock portion 57, the claw portion 57N is pressed against the frame 42.
It can be buried in the external memory storage side of A.

As a result, the battery 11 is urged in the discharging direction by the pressing force of the coil spring 44 at the same time that the claw portion 57N of the battery lock portion 57 is removed from the notch groove 11G and the lock is released. It is discharged to the outside through the insertion port 41AB.

(3-3) Memory Eject Mechanism System 51 FIG. 12 shows the memory storing side of the eject base portion 42. The memory eject mechanism system 51 includes a connecting arm 70 to which a memory eject button MB is fixed at one end, and a conversion arm. It is composed of a lever 71 and a memory ejection arm 72.

The connecting arm 70 has a substantially L-shape as a whole, and has a guide groove 70 of a predetermined length at one end and at a curved portion along the pressing direction of the memory eject button MB.
The GA and 70 GB are formed, and one end of the conversion lever 71 is rotatably attached to the other end. These guide grooves 70GA, 70GB are fitted into the pins 73, 74 fixed to the frame 42A, and the respective pins 7
The sliding direction of the connecting arm 70 is determined on the basis of 3, 74.

The conversion lever 71 has a protrusion 7 at the other end.
1T (FIG. 8) is formed, and a pin 71P is formed so as to project in the axial direction of the rotation center substantially at a position adjacent to the protrusion 71T. The protrusion 71T is formed on the memory ejection arm 7
2 is in contact with a bent portion 72B formed at one end of
Further, the pin 71P is provided with an idle swing mechanism system 52 (see FIG.
Guide groove 6 formed in slide conversion arm 62 of 1)
It is fitted in 2GY.

The memory discharge arm 72 is rotatably attached at a central position via a fulcrum shaft 75 provided on the frame 42A in the direction of arrow d or in the opposite direction, and the other end thereof is a read / write section 43R of the memory driver 43. It is fitted in the guide notch 43WA formed in the.

A coil spring CB3 is bridged between the end of the memory discharge arm 72 and the frame 42A, and the urging force of the coil CB3 spring is always applied in the direction of arrow a so that the memory is discharged. Eject button M
It is designed so that B can always be held in a state of being pushed outward.

The memory driver 43 is provided with a memory pressing portion 43K made of a leaf spring at a predetermined position between the read / write portion 43A and the memory insertion opening 41AM of the mechanism holding portion 41, and the external memory 15 is inserted therein. When
The external memory 15 is sandwiched and urged from the thickness direction.

The memory discharge arm 72 is rotatably attached in the central position via a fulcrum shaft 75 provided in the frame 42A in the direction of arrow d or in the opposite direction, and the hook portion 72W at the other end is attached to the memory driver 43. Read / write unit 43
The guide notch 43WA formed in the R is slidably movable.

As described above, in the memory eject mechanism system 51, when the memory eject button MB is pressed by the user with the external memory 15 loaded, the connecting arm 70 causes the pins 73 and 7 of the frame 42A.
The conversion lever 71 is pressed in the same direction while its position is regulated by 4 in the pressing direction.

At this time, the pin 71P (FIG. 11) of the conversion lever 71 slides along the guide groove 62GY of the idling mechanism system 52 in the direction of arrow c, and at the same time, the conversion lever 71 concerned.
71T is the bent portion 72B of the memory ejection arm 72.
The memory discharge arm 72 is pressed against the memory discharge arm 72.
While rotating in the direction of arrow d about the support shaft 75, the hook portion 72W is slid in the guide notch of the read / write portion 43R of the memory driver 43 in the discharging direction.

As a result, the external memory 15 slides in the guide notch 43WA of the read / write portion 43R while the hook portion 72W of the memory discharge arm 72 slides while abutting and pressing the end surface of the external memory 15. 41
It is discharged to the outside via AM.

(3-4) Idling mechanism system 52 On the battery storage side of the eject base portion 42 shown in FIG. 11, the idling mechanism system 52 includes a motor 80 provided at the end of the frame 42A and an output of the motor 80. The disk cam 81 (FIG. 8) fixed to the shaft and the disk cam 81
And a slide conversion arm that slides according to the rotation of the.

The slide conversion arm is in the shape of an arm having a plurality of curved portions. The cam surface of the disk cam 81 contacts the bent portion at one end, and the other end is on the memory storage side of the frame 42A shown in FIG. A torsion spring 83 is stretched between the frame 42A and the biasing force of the torsion spring 83 is always applied in the direction of arrow e, so that the bent portion 62B (FIG. 8) always contacts the cam surface of the disc cam 81. It is designed to be held in contact with each other.

The slide conversion arm 6 shown in FIG.
2 has guide grooves 62GA, 62GB, 62GC of a predetermined length along the biasing direction of the torsion spring 83, and in the vicinity of the two guide grooves 62GA, 62GB close to the disc cam 81 among them. The guide grooves 62GX and 62GY having a predetermined length are formed in the directions perpendicular to the guide grooves 62GA and 62GB, respectively.

These guide grooves 62GA, 62GB, 62
The GC has pins 85, 86 fixed to the frame 42A,
87, and the respective pins 85, 86, 87
The slide direction of the slide conversion arm 62 is determined with reference to.

On the other hand, the other two guide grooves 62GX, 62GX
The GY is fitted into the pins 56P and 71P of the conversion levers 56 and 71 of the battery eject mechanism system 50 and the memory eject mechanism system 51 described above, and the pins 56P and 71P of the conversion levers 62 and 71P correspond to the slide movement of the slide conversion arm 62.
71P is also designed to be moved.

That is, in the above-described battery eject mechanism system 50 and memory eject mechanism system 51, since the conversion levers 56 and 71 have their one ends rotatably attached to the connecting arms 55 and 70, respectively, the slide conversion arm 62. Is slid, the conversion levers 56 and 71 are moved to the pin 5 by the corresponding guide grooves 62GX and 62GY of the slide conversion arm 62.
While 6P and 71P are being pulled, they rotate by that amount with the engaging portions of the connecting arms 55 and 70 as rotation centers.

As a result, the battery eject mechanism system 50
Then, the protrusion 56T of the conversion lever 56 is connected to the connecting arm 5
In the memory eject mechanism system 51, the protrusion 71T of the conversion lever 71 is perpendicular to the pressing direction of the connecting arm 70 while being separated from the claw portion 57N of the battery lock portion 57 in a direction perpendicular to the rotation direction of the battery 5. However, the memory discharge arm 72 is not in contact with the bent portion 72B.

Therefore, in the battery eject mechanism system 50 in such a state, when the user presses the battery eject lever BL in the opening direction, the connecting arm 55 moves in the direction of arrow b in accordance with the rotation of the battery eject lever BL. Rotate, pin 5 of conversion lever 56
6P slides in the direction of arrow c along the guide groove 62GX of the idling mechanism system 52, but the projection 56T of the conversion lever 56 only idling and does not come into contact with anything.

Further, in the memory eject mechanism system 51 in such a state, when the memory eject button MB is pressed by the user, the connecting arm 70 is positionally regulated in the pressing direction by the pins 73 and 74 of the frame 42A, Press the conversion lever 71 in the same direction,
The pin 71P (FIG. 8) of the conversion lever 71 is the idling mechanism system 5
Although it slides in the direction of arrow c along the second guide groove 62GY, the projection 71T of the conversion lever 71 is simply swung and does not come into contact with anything.

The controller 10 (FIG. 2) actually switches the slide conversion arm 62 in the idling mechanism system 52 by switching from the normal mode to the idling mode when the pet robot 1 is operating or writing data to the external memory 15. The motor 80 is controlled so that the cam surface of the disc cam 81 that contacts the portion 62B is positioned at the position farthest from the cam shaft.

(3-5) Forced Eject Mechanism System 53 On the memory storage side of the eject base portion 42 shown in FIG. 12, the forced eject mechanism system 53 as a whole is approximately J
The emergency lever 90 is in the shape of a letter plate.

In this emergency lever 90, an emergency button 90B having a minute hemispherical recess on the end face is formed at one end, and the claw portion 57N of the battery lock portion 57 in the battery eject mechanism system 50 and the memory eject portion. Bending portion 72 of memory ejection arm 72 in mechanism system 51
The protrusion 90TA (see FIG.
1) and 90 TB (FIG. 8) are formed at the other end.

Further, guide grooves 90GA, 90GB, 90GC of a predetermined length are formed on one end side and the other end side of the emergency lever 90 along the pressing direction of the emergency button 90B, respectively. 90GA, 90GB, 9
0GC is the pins 95 and 9 fixed to the frame 42A.
6, 97, and the pins 95, 96,
The slide direction of the emergency lever 90 is determined based on 97.

Further, the coil spring CB4 is stretched between the end portion of the emergency lever 90 on the one end side and the frame 42A, and the urging force of the coil spring CB4 is constantly applied in the direction of the arrow a. The button 90B can be held in a state of being always pushed outward.

Here, the claw portion 57N of the battery lock portion 57 in the battery eject mechanism system 50 described above is
The protruding portion 56T of the conversion lever 56 and the protruding portion 90TA of the emergency lever 90 are positioned in parallel so as to separately abut without interfering with each other. Further, the memory ejection arm 7 in the memory eject mechanism system 51 described above.
The second bent portion 72B has a protrusion 71T of the conversion lever 71.
And the protruding portion 90TB of the emergency lever 90 are positioned so as to abut separately without overlapping and interfering with each other.

As described above, in the forced eject mechanism system 53, when the user presses the emergency button 90B with the battery 11 and / or the external memory 15 loaded, each guide groove 90G of the emergency lever 90 is pressed.
A, 90 GB, 90 GC are each pin 9 of the frame 42A
The emergency lever 90 is pressed in the same direction while its position is regulated in the pressing direction by 5, 96 and 97.

At this time, the protrusion 90T of the emergency lever 90
A touches and presses the tapered surface of the claw portion 57N of the battery lock portion 57 so that the claw portion 57N is pressed against the frame 42.
By embedding it in the memory storage side of A, the battery 1
The lock of No. 1 can be released, and the battery 11 can be discharged to the outside through the battery insertion opening 41AB.

At the same time, the protrusion 9 of the emergency lever 90
The hook portion 72W is read / written by the memory driver 43 while 0TB abuts and presses the bent portion 72B of the memory discharge arm 72, and the memory discharge arm 72 is rotated about the support shaft 75 in the direction of arrow d. Part 43
By sliding the guide notch 43WA of R in the discharging direction, the external memory 15 is inserted into the memory insertion opening 41AM.
It can be discharged to the outside via.

(4) Operations and Effects According to the Present Embodiment In the pet robot 1 configured as described above, the battery insertion port 41AB and the memory insertion port formed on the panel surface 41A of the mechanism holding portion 41 in the body unit 2 are inserted. Mouth 41
When the battery 11 and the external memory 15 are loaded via the AM and the user presses the battery eject lever BL and the memory eject button MB in this state, the loaded battery 11
And a battery insertion port 41AB corresponding to the external memory 15
And is discharged to the outside through the memory insertion opening 41AM.

Then, when the pet robot 1 is in operation or when writing data to the external memory 15, the controller 10 switches the mode from the normal mode to the idling mode,
The battery eject mechanism system 50 is driven by the idle swing mechanism system 52.
Also, both the engaged states of the memory eject mechanism system 51 are released.

Even if the user presses the battery eject lever BL and the memory eject button MB in this state, the pressing force is transmitted to the internal mechanism of both the battery eject mechanism system 50 and the memory eject mechanism system 51. It will be an empty swing.

As a result, it is possible to prevent the external memory 15 from being taken out during the operation of the pet robot 1 or the writing of data to the external memory 15 to prevent the data stored in the external memory 15 from being destroyed. In addition to the above, it is possible to prevent the load corresponding to the pressing force by the user from being applied to the internal mechanism via the battery eject lever BL and the memory eject button MB, and the respective parts forming the internal mechanism are damaged. Can be avoided.

Further, the idling mechanism system 52 is replaced by the battery eject mechanism system 50 and the memory eject mechanism system 5.
The structure can be simplified by incorporating it in a part of No. 1 and by disengaging both the battery eject mechanism system 50 and the memory eject mechanism system 51 by a single operation of the idling mechanism system 52. In addition, the time required to release the engaged state can be shortened.

Further, when the internal mechanism of the battery eject mechanism system 50 and the memory eject mechanism system 51 fails due to damage or the like, or when the battery eject lever BL and the memory eject button MB itself suffers damage such as damage, it is forced. By pressing the emergency button 90B in the eject mechanism system 53, the battery 11 and the external memory 15 can be forcibly discharged to the outside, and damage due to a failure can be minimized.

The forced eject mechanism system 53 is incorporated into a part of the battery eject mechanism system 50 and the memory eject mechanism system 51, and the battery eject mechanism system 50 and the memory eject mechanism system 51 are operated by a single operation of the idling mechanism system 52. Since both are constructed to be forcibly engaged with each other, the configuration can be simplified and the time required for discharging the battery 11 and the external memory 15 can be shortened.

According to the above configuration, in the pet robot 1, the battery eject mechanism system 50 and the memory eject mechanism system 51 for discharging the loaded battery 11 and external memory 15 in the body unit 2.
By providing an idle swing mechanism system 52 that is freely engageable with both of the above, and by causing both of the battery eject mechanism system 50 and the memory eject mechanism system 51 to be disengaged by the idle swing mechanism system 52, Both the battery eject mechanism system 50 and the memory eject mechanism system 51 can be idly swung without being transmitted to the internal mechanism, and thus the pet robot 1 which can ensure safety with a simple configuration can be realized.

(5) Other Embodiments In the above-mentioned embodiments, the case where the present invention is applied to the four-legged walking type pet robot 1 has been described, but the present invention is not limited to this. As long as a microphone is provided in the head unit, it can be widely applied to robot devices of various configurations other than four legs.

Further, in the above-described embodiment, the case where the eject base portion 42 as shown in FIG. 8 is applied as the eject mechanism of the present invention has been described, but the present invention is not limited to this, and external operation is possible. If it has a structure for ejecting the electronic component loaded according to the above, it can be widely applied to various other eject mechanisms.

Further, in the above-described embodiment, the battery eject mechanism system 50 and the memory eject mechanism system 51 are applied as the connecting means for connecting the transmission force according to the external operation to the discharging operation of the electronic component. However, the present invention is not limited to this, and can be widely applied to various electronic components other than the battery 11 and the external memory 15 as an electronic component, and can be used as a connecting unit having various mechanisms according to the electronic component. It can be widely applied.

Further, in the above-described embodiment, the battery eject mechanism system 50 and the memory eject mechanism system 51 are engaged with the connecting means, and the transmission force corresponding to the external operation is transmitted to the battery 11 and the external memory 15 as necessary. Although the case where the idling mechanism system 52 shown in FIG. 11 is applied as the switching means for switching to the idling operation other than the discharging operation of the electronic components such as the above, the present invention is not limited to this and is not limited to two. The present invention can be widely applied to switching means having various mechanisms for simultaneously idling three or more connecting means.

Further, in the above-described embodiment, the external operation is engaged with the connecting means such as the battery eject mechanism system 50 and the memory eject mechanism system 51, and is of a different system from the external operation corresponding to the electronic parts as necessary. The case where the forced eject mechanism system 53 shown in FIG. 12 is applied as the forced connecting means for connecting the transmission force according to the above to the ejecting operation of the electronic component has been described, but the present invention is not limited to this, and the electronic force is forcibly applied. If the component can be discharged, it can be widely applied to the forced coupling means having various other configurations. In this case, the larger the number of electronic components and the corresponding connecting means to be ejected by the single forcible connecting means, the more effective it is because the structure is simple.

[0112]

As described above, according to the present invention, in the eject mechanism for ejecting the loaded electronic component according to the external operation and the robot apparatus having the eject mechanism, the transmission force according to the external operation is transmitted to the electronic component. By providing the connecting means for connecting to the discharging operation and the switching means that is engaged with the connecting means and switches the transmission force corresponding to the external operation to the idling operation other than the discharging operation of the electronic component as necessary,
The transmission force according to the external operation can be prevented from being applied as a load to the mechanism for constructing the discharging operation of the electronic component, and the internal components forming the mechanism can be prevented from being damaged, thus providing a simple structure and safety. It is possible to realize an eject mechanism and a robot device that can secure the property.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an external configuration of a pet robot according to this embodiment.

FIG. 2 is a block diagram showing an internal configuration of a pet robot.

FIG. 3 is a block diagram for explaining processing of a controller.

FIG. 4 is a conceptual diagram for explaining a probability automaton.

FIG. 5 is a conceptual diagram for explaining a directed graph.

FIG. 6 is a schematic diagram showing an external configuration of a body unit.

FIG. 7 is a schematic diagram showing a state in which a belly lid of the body unit is removed.

FIG. 8 is a perspective view showing configurations of a mechanism holding portion and an eject base portion.

FIG. 9 is a schematic diagram showing an external configuration of a battery.

FIG. 10 is a schematic diagram showing an external configuration of an external memory.

FIG. 11 is a side view showing the configuration of the eject base portion on the battery storage side.

FIG. 12 is a side view showing a configuration of an eject base portion on a memory storage side.

[Explanation of symbols]

1 ... Pet robot, 2 ... Body unit, 5 ...
Head unit, 5A, 5B ... Ear, 10 ... Controller, 10A ... Internal memory, 11 ... Battery, 14
...... Speaker, 15 ...... External memory, 19 ...... Microphone, 30 ...... State recognition part, 31 ...... Emotion / instinct model part, 32 ...... Action decision part, 40 ...... Abdominal lid, 41 ...... Mechanism holding 42 ... Eject base part, 50 ... Battery eject mechanism system, 51 ... Memory eject mechanism system, 52 ... Missing mechanism system, 53 ... Forced eject mechanism system, S2 ... Voice signal, D1 ... State Recognition information, D2
...... Action decision information.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masaki Nagatsuka             Sony 6-735 Kitashinagawa, Shinagawa-ku, Tokyo             Within the corporation F-term (reference) 2C150 CA02 DA05 DA24 DA26 DA27                       DA28 EB01 EB36 EB37 FA04                       FA42 FA57                 3C007 AS36 CS08 WA04 WA14 WC00

Claims (8)

[Claims] 1. An ejecting mechanism for ejecting a loaded electronic component in response to an external operation, a coupling means for coupling a transmission force according to the external operation to a discharging operation of the electronic component, and the coupling means. And an ejecting mechanism for switching the transmission force corresponding to the external operation to an idling operation other than the ejecting operation of the electronic component as necessary. 2. A forcible connecting means which is engaged with the connecting means and connects a transmission force according to an external operation of a series different from an external operation corresponding to the electronic component to the ejecting operation of the electronic component, if necessary. The eject mechanism according to claim 1, further comprising: 3. The external operation and the corresponding connecting means respectively corresponding to a plurality of the electronic parts are provided, and the switching means is engaged with the plurality of the connecting means, and a plurality of the external parts if necessary. The ejecting mechanism according to claim 1, wherein the transmission force according to the operation is switched to the idling operation other than the corresponding ejecting operation of the electronic component. 4. A transmission force according to a single external operation which is engaged with a plurality of the connecting means and which is different from the external operation corresponding to the plurality of the electronic parts as required, and which transmits the transmission force. The ejecting mechanism according to claim 3, further comprising a forcible connecting means for connecting the ejecting operation of the ejecting mechanism. 5. A robot apparatus having an eject mechanism for ejecting a loaded electronic component according to an external operation, wherein the eject mechanism couples a transmission force according to the external operation with an ejecting operation of the electronic component. A robot apparatus comprising: a connecting means; and a switching means that is engaged with the connecting means and that switches a transmission force according to the external operation to an idling operation other than a discharging operation of the electronic component as necessary. . 6. The ejecting mechanism is engaged with the connecting means, and transmits a transmission force according to an external operation of a series different from the external operation corresponding to the electronic component to the ejecting operation of the electronic component, if necessary. The robot apparatus according to claim 5, further comprising a forcible connecting means for connecting. 7. The ejecting mechanism has the external operation and the corresponding connecting means respectively corresponding to a plurality of the electronic parts, and the switching means is engaged with the plurality of the connecting means, and if necessary. 6. The robot apparatus according to claim 5, wherein a plurality of transmission forces corresponding to the external operations are switched to a corresponding idling operation other than the corresponding ejecting operation of the electronic component. 8. The ejecting mechanism is engaged with a plurality of the connecting means, and transmits a transmission force according to a single external operation of a different system from the external operation corresponding to the plurality of electronic components as necessary. 8. The robot apparatus according to claim 7, further comprising a forcible connecting means for connecting the plurality of electronic components to the ejecting operation.