JP2006305642A - Humanoid robot, and detachable type buttocks - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a humanoid robot of high practicability, provided with buttocks that is suitable to operation environments or applications. <P>SOLUTION: The detachable buttocks 301 are properly installed on a back surface of a lower body 104 of a humanoid robot 101 in accordance with the operation environments or applications. For example, the detachable buttocks 301 having a structure suitable to be seated on a chair is provided, and it is installed on the back surface of the lower body 104 of the humanoid robot 101. On a cabin 500 of a heavy machine, for example, the humanoid robot 101 can be seated on a chair 501, so that driving operation using hands and feet can be carried out. The humanoid robot 101 can be provided with a function to be stably seated on an ordinary chair 504. A humanoid robot of high practicability having an excellent seating function can be provided. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a structure of a buttocks of a humanoid robot.

  Humanoid robots have been developed that walk on two legs and exhibit the same physical functions as humans. Such humanoid robots have various usage purposes. For example, assistance at construction sites and civil engineering work sites, assistance for elderly care and medical care, and other work on behalf of humans are being considered. In addition, it is also conceivable to cause a humanoid robot to perform work in a place contaminated with a harmful substance that may be harmful to the human body (or a place where there is a risk of contamination).

  Furthermore, humanoid robots can perform work similar to work using human limbs. For example, humanoid robots are used to operate heavy machinery and human-operated devices instead of humans. It is also considered that

In the case of a humanoid robot, it is important to deal with the problem of falling because of the relationship that enables biped walking. Regarding this technique, there is a technique described in Patent Document 1, for example. Patent Document 1 describes a back structure that is easy to get up even if it falls.
JP 2001-157972 A

  However, according to the research of the present inventors, when trying to make a humanoid robot work instead of such a human, not only the problem of falling, but also the work to be done and the environment to be operated Responsive physical function has been found to be important.

  Particularly important in this physical function is a function related to the sitting motion. For example, in a human buttocks, a function to maintain a stable posture in a sitting state (sitting state), a cushion function to relieve an impact when falling, a place to sit when performing a sitting operation (for example, a floor or a chair) ), A function to adjust the body there, or a function to slightly shift the body in a sitting state.

  In conventional humanoid robots, no particular consideration has been given to this point. For example, the humanoid robot's buttocks were not designed to be seated in the same way as a human being. Considering the practicality of humanoid robots, humanoid robots also need functions that allow various tasks to be performed while seated, but the structure of the buttock is designed with this in mind. It wasn't.

  Thus, when considering the practicality of a humanoid robot, that is, letting the humanoid robot perform human work on its behalf, the function of the buttocks becomes important. However, as described above, there are a plurality of functions of the buttocks, and it is difficult to pursue these functions with a single function. In such a background, an object of the present invention is to provide a highly practical humanoid robot provided with a buttocks suitable for an operating environment and applications.

  The humanoid robot of the present invention includes a lower body of the humanoid robot and a removable detachable heel part attached to the lower body, and the detachable type heel part has a protective function, a seating function, and a seated state. It is characterized by having at least one of a movement function, a fall-supporting function, and a storage function.

  The lower torso is a part corresponding to the lower body part of the torso of a humanoid robot. Usually, two legs are connected to the lower body.

  According to the present invention, it is possible to exchange the buttocks of the humanoid robot according to the work environment and work purpose of the humanoid robot. Accordingly, it is possible to further increase the practicality of a humanoid robot that helps human work or performs various work on behalf of a human. In addition, since it is only necessary to attach a buttock suitable for the work environment and application, a required buttock function can be appropriately selected without causing an increase in cost. For this reason, by replacing the buttocks, one humanoid robot can be used properly according to various environments and applications.

  The detachable saddle part includes (1) an attachment part attached to the back surface of the lower body, (2) an extension part extending from the attachment part, and (3) an object surface on which the extension part is seated when seated. It is preferable to employ a configuration that includes a contact portion.

  According to this aspect, a seating function capable of maintaining a stable seating posture at the time of seating can be obtained. For example, when performing various operations by moving the arm in the seated state, it is important to maintain the sitting posture even if various operations are performed, but according to this aspect, it is possible to meet this requirement.

  Further, according to this aspect, in the sitting state, the posture that does not contact the target surface on which the hip joint portion of the humanoid robot is seated can be taken by contacting the target surface on which the detachable buttocks are seated. . For this reason, the structure which does not restrain the operation | movement of a leg part in a seating attitude | position can be implement | achieved, and the leg which is not a support leg can be freely moved as a free leg state. For example, in the seated state, one leg can be brought into contact with the floor or the like to support the sitting posture, and the other leg can be in a free state and a pedal can be depressed.

  In the present invention, the detachable saddle part includes (1) an attachment part attached to the back surface of the lower body, and (2) an extension part extending from the attachment part, and (3) a wheel on the extension part. It is preferable to have.

  According to this aspect, the humanoid robot can be moved without depending on the walking motion in the seated posture. For example, by bringing the wheel of the detachable collar part into contact with the floor or the ground, it is possible to perform an operation that has been difficult with a conventional humanoid robot such as a luggage pulling operation with a lowered posture. Further, for example, when the work is performed while sitting on a humanoid robot, it is possible to easily move without performing a complicated operation.

  In addition, according to this aspect, the head of the humanoid robot can be maintained in a state substantially equivalent to the standing state even during work in a low posture state in which the wheel of the removable buttock is in contact with the floor or the ground. Can do. For this reason, in a humanoid robot that includes a camera in the head and controls the operation using the captured image, the neck axis can be moved in the same manner as when standing. This is useful for ensuring the visibility (visual information acquisition capability) of the humanoid robot at the time of working in the low posture described above.

  In this aspect, it is preferable to hold the wheel on the detachable type collar through the shock absorbing mechanism. By doing so, it is possible to prevent the impact received by the wheels from being transmitted to the robot body as it is. This configuration also acts as a shock absorbing function during a fall. As the shock absorbing mechanism, a suspension (suspension device or shock absorber) mechanism of an automobile or the like can be used.

  In the present invention, the detachable collar portion includes (1) an attachment portion attached to the back surface of the lower body, (2) an extension portion extending from the attachment portion, and (3) a curved shape portion in the extension portion. Is preferably provided.

  According to this aspect, the seating function and / or the fall-supporting function can be effectively expressed. For example, in a state where the humanoid robot sits down on the ground, the outer surface of the curved portion formed in the extending portion extending from the lower body comes into contact with the ground, and the stability as illustrated in FIG. The seated posture is ensured. Moreover, the curved shape part comprised by this extension part has a function which maintains an attitude | position just like putting a buttocks at the time of falling backward, and relieves | impacts the impact at the time of falling. Also in this aspect, the orientation of the head of the humanoid robot can be kept substantially equal to the standing state in the sitting posture.

  In this aspect, a part or all of the detachable mold collar part, in particular, a curved shape part configured as an extension part extending downward from the attachment part, for example, is made of an elastic material, and the removable mold collar part itself has an impact absorbing function. May be provided. Since this curved shape part is effectively deformed by receiving an impact at the time of falling backward, a high impact absorbing function can be obtained.

  It is preferable that the detachable collar portion has a storage space inside. According to this aspect, it is possible to obtain a humanoid robot having a function of storing luggage or the like in the buttocks.

  According to this aspect, for example, when the humanoid robot assists the construction work, tools, parts, and the like required by the worker can be stored therein. In this case, the function as a movable tool box or a movable parts box can be given to the humanoid robot. Although what is stored is not specifically limited, For example, electronic devices, such as a communication apparatus, an electric power generating apparatus, and a battery may be sufficient. The stored item may be a container such as a container or a cylinder containing fuel, liquid, gas, or the like.

  In the present invention, it is preferable that the seating function is a function of securing a contact surface with respect to a target surface to be seated and stabilizing the seating posture by cooperating with the lower body and / or the legs connected to the lower body. .

  According to this aspect, at the time of sitting, a part of the removable buttock and a part of the lower body and / or a part of the leg connected to the lower body come into contact with a target surface (sitting object: chair, for example). . Thereby, there are a plurality of contact portions with the target surface to be seated, a contact area is ensured, and the stability of the seated posture can be further increased.

  According to the aspect described above, by using a common attachment / detachment mechanism for the detachable type collar part to the humanoid robot, a plurality of types of removable type collar parts prepared according to the purpose can be selected as necessary. It can be attached to a humanoid robot as appropriate. By doing so, it is possible to obtain a humanoid robot having an optimal buttocks corresponding to the operating environment and the purpose of use. Since this detachable collar can be easily attached and removed at the work site, the necessary functions are selected as appropriate without incurring an increase in cost, and the functions of the collar according to the operating environment and work contents are selected. Can be given to.

  The present invention can also be grasped as a detachable type collar that can be attached to and detached from the lower body of the humanoid robot. That is, the detachable saddle of the present invention is a detachable saddle that can be attached to and detached from the lower body of the humanoid robot, and includes a protective function, a seating function, a moving function in a sitting state, a fall-supporting function, and a luggage storage function. It has at least one function. According to the present invention, a detachable type collar having the above-described advantages as a collar that can be attached to and detached from a robot is provided.

  The detachable type collar part includes (1) an attachment part that is detachably attached to the back surface of the lower body, (2) an extension part that extends from the attachment part, and the extension when the humanoid robot is seated It is preferable to provide a portion that contacts the target surface on which the portion is seated. According to this aspect, a detachable collar that is suitable for seating is provided.

  The detachable mold collar is (1) an attachment part that is detachably attached to the back surface of the lower body, (2) an extension part that extends from the attachment part, and (3) an attachment part that is attached to the extension part. It is preferable to provide a wheel. According to this aspect, the removable type collar part provided with the function which can perform the movement using a wheel in a seating state is provided.

  The detachable collar portion is configured to (1) an attachment portion that is detachably attached to the back surface of the lower body, (2) an extension portion that extends from the attachment portion, and (3) the extension portion. It is preferable to include a curved shape portion. According to this aspect, the detachable type collar part provided with the fall corresponding | compatible function in which the impact at the time of a fall is relieved is provided.

  It is preferable that the detachable mold collar has a storage space inside. According to this aspect, a detachable collar unit having a function of storing a tool or the like is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the practicality of a humanoid robot can be improved by mounting | wearing a humanoid robot with the buttocks suitable for an operating environment or a use.

1. First embodiment
FIG. 1 is a perspective view showing an outline of a humanoid robot using the present invention. FIG. 1A is a perspective view seen from an obliquely upper right direction when viewed from the robot itself, and FIG. 1B is a perspective view similarly seen from an obliquely upper left direction. A humanoid robot 101 shown in FIG. 1 includes a head 102, an upper body 103, a lower body 104, a right arm 105, a left arm 106, a right leg 107, and a left leg 108.

  The upper torso 103 corresponds to the thorax above the abdomen in the human body. The upper body 103 mainly stores a control system device for controlling various operations. The head body 102 is provided at the upper part thereof, and the right arm 105 and the left arm 106 are connected to the left and right thereof. A camera is disposed on the head 102. In various actions using walking and limbs, visual information based on images captured by the camera is used.

  The lower torso 104 corresponds to a waistline portion in the human body. A battery serving as a power source is stored in the lower body 104, and a right leg 107 and a left leg 108 are connected to the lower part of the battery. In this configuration, the back surface portion of the lower body 104 in FIG.

  The upper fuselage 103 and the lower fuselage 104 can rotate the upper fuselage 103 with respect to the lower fuselage 104 in the yaw axis (around the vertical axis), and further rotate the pitch of the upper fuselage 103 back and forth (around the horizontal axis). It is connected by the movable shaft 112 (refer FIG. 2) which can perform. The movable shaft 112 will be described later.

  FIG. 1 shows a state in which a detachable collar 201 with an emphasis on mobility is attached to the main body side collar. The detachable type heel part 201 illustrated here is a mobility-oriented type that prioritizes the walking function. In order to place importance on mobility, the removable collar 201 has a thin and lightweight structure.

  Hereinafter, an example of a mounting structure of the detachable collar 201 on the humanoid robot 101 will be described. FIG. 2 is a perspective view showing an attachment structure of the detachable collar 201. FIG. 2 shows a state where the upper body 103 of the humanoid robot 101 in FIG. 1 is removed from the lower body 104. Here, FIG. 2A is a perspective view of the humanoid robot from which the upper body 103 has been removed as viewed from the upper left front, which is the same as FIG. 1B. FIG. 2B is a perspective view of the humanoid robot from which the upper body 103 has been removed as viewed from the upper right and diagonally the same as in FIG.

  2 shows a lower body 104, a right leg 107 and a left leg 108 connected to the lower body 104, a movable shaft 112 for connecting the lower body 104 and the upper body 103 (see FIG. 1), and a lower part by an attachment method described later. The detachable type collar 201 is fixed to the body side collar 208 (the back of the lower trunk 104) of the trunk 104.

  The movable shaft 112 has a function of rotating the upper body 103 (see FIG. 1) with respect to the lower body 104 by a yaw axis (operation of twisting the upper body left and right with respect to the lower body) and an upper portion with respect to the lower body 104. This is a connecting movable shaft that provides a function of rotating the body 103 by a pitch axis (an operation of tilting the upper body back and forth with respect to the lower body).

  An opening 209 is formed in the main body side flange 208, and the device stored in the lower body 104 can be accessed from the opening 209. FIG. 2B shows a receiving connector 210 used when charging the battery from the opening 209.

  The detachable collar 201 is provided with two through holes 202 and three protruding pins 205. Further, the body side flange 208 is formed with three positioning holes 206 corresponding to the protruding pins 205 and fixing holes 204 into which the fixing members 203 are respectively inserted.

  The fixing member 203 is called a quick release fastener, has a pin-like structure, and has a convex part on which the mating member is caught at the tip part. When the fixing member 203 is inserted into the fixing hole 204 having a predetermined structure and rotated, the tip engages with the internal structure of the hole and cannot be pulled out from the hole. A similar function can be realized by a screw.

  The fixing hole 204 is a receiving structure for the fixing member 203, and has a structure in which the fixing member cannot be pulled out when the fixing member 203 described above is inserted and the fixing member 203 is rotated. In order to pull out the fixing member 203 from the fixing hole 204, the fixing member 203 may be rotated in the direction opposite to that at the time of fixing to release the engagement state.

  To attach the detachable mold collar 201 to the main body side collar 208, firstly position the projection pin 205 in the positioning hole 206, and then attach the removable mold collar 201 so that the projection pin 205 is inserted into the positioning hole 206, respectively. Press against the body side collar 208. Thereafter, the fixing member 203 is inserted into the fixing hole 204 through the through-hole 202 and the fixing member 203 is further rotated so that the fixing member 203 is not pulled out from the fixing hole 204. In this way, the removable type collar part 201 is attached to the main body side collar part 208. In addition, the removal of the detachable type collar 201 from the main body side collar 208 may be performed in the reverse manner.

  The method for fixing the detachable buttocks to the humanoid robot is not limited to the above example, and examples include a method using a hook-and-loop fastener, a method using a magnet, a method using a fitting structure, and a method combining a plurality of these methods. it can.

2. Second Embodiment This embodiment is an example in which a humanoid robot is equipped with a detachable collar that gives priority to a seating function. FIG. 3 is a side view (A) and a rear view (B) showing an outline of the humanoid robot in the present embodiment. FIG. 4 is a perspective view (A) of the detachable mold collar according to the present embodiment as viewed from the right rear obliquely upward direction, a perspective view (B), a rear view (C), and a top view (leftward obliquely upward direction). D) and a side view (E). Here, the back and back are considered based on the back and back of the humanoid robot.

  FIG. 3 shows a state in which a detachable type collar 301 that gives priority to the seating function is attached to the back surface (main body side collar) of the lower body 104. The detachable collar portion 301 is attached to the back surface of the lower body 104, and further includes an extension portion 302 extending downward from the attachment portion, and a flat portion 303 at the tip (lower end) of the extension portion 302. Yes.

  When the detachable type heel part 301 is attached to the humanoid robot 101, the flat part 303 comes into contact with a target surface (for example, a seat surface of a chair) in the seated state. The flat portion 303 has a flat structure so that a large contact area with the target surface to be seated can be secured in the seated state. By doing so, the stability in the seated state can be ensured.

  An opening 306 for inserting the fixing member 305 is formed on the back surface of the detachable mold collar 301. The detachable collar 301 is attached to the lower body 104 by pressing the attachment surface 304 against the back surface of the lower body 104 and inserting the fixing member 305 into the fixing hole on the lower body side (not shown) from the opening 306. . The details of the mounting mechanism are the same as the example shown in FIG.

  Hereinafter, an example of the seated state will be described. FIG. 5A is a side view showing a state where the humanoid robot 101 is sitting on the chair 501 of the driver seat 500 of the heavy machinery and driving the heavy machinery. FIG. 5B is a side view showing a state in which the humanoid robot 101 is seated on an ordinary chair 504.

  In the state shown in FIG. 5A, the humanoid robot 101 is seated by placing the flat portion 303 of the detachable collar portion 301 on the seating surface 510a of the chair 501. In a state where the humanoid robot 101 is seated on the chair 501, the left leg 108 is brought into contact with the floor of the driver's seat, the pedal 503 is operated using the right leg 107, and the handle 502 is operated using the left hand 106. The state is shown.

  As shown in FIG. 5A, a humanoid robot having a structure that allows easy sitting on a chair can be obtained by using the detachable collar portion 301. By doing so, it is possible to enhance the practicality when the humanoid robot is operated on behalf of a human by operating a heavy machine or the like.

  In particular, in this aspect, in the sitting state, the detachable buttocks 301 come into contact with the chair 501 and the hip joint portion 104a of the humanoid robot 101 (the joint portion connecting the lower body 104 and the legs 107 and 108) is the chair 501. Can be in a state of not touching. For this reason, even if one leg is brought into contact with the floor or the like and balanced, the movement of the other leg is not restricted, and this leg can be used freely. For example, as illustrated in FIG. 5, the pedal 503 can be operated using the freely usable right leg 107.

  FIG. 5B shows a state where the humanoid robot 101 is seated on an ordinary chair 504. By using the detachable collar portion 301, it is possible to perform sitting in a human chair in a stable state. As a result, it is possible to improve the practicality when the humanoid robot performs light work or the like while sitting on a human chair. In addition, when considering the use of a humanoid robot in daily life, affinity for human life can be enhanced.

  In the sitting state shown in FIG. 5, only the flat part 303 of the removable buttock 301 is brought into contact with the chair, and the balance is maintained using the limbs. You may make it contact a chair and keep a sitting posture.

  Moreover, even if priority is given to the same seating function, a plurality of detachable collars 301 having different dimensions and materials may be prepared. By doing so, it is possible to appropriately select the detachable type collar 301 that has selected the optimum size, structure or material according to the type of the mating member or chair to be seated.

  Here, an example of sitting on a chair has been described, but according to this configuration, an operation of sitting lightly on an appropriate place like a human is possible. This is significant in enhancing the practicality of a humanoid robot that emphasizes human affinity.

3. Third Embodiment In the present embodiment, an example will be described in which a humanoid robot 101 is equipped with a detachable collar that has a function of moving in a sitting posture. FIG. 6 is a side view (A) and a rear view (B) showing an outline of the humanoid robot in the present embodiment. FIG. 7 is a perspective view (A) of the detachable mold collar according to the present embodiment as viewed from the right rear diagonally upward direction, a perspective view (B) as viewed from the left front diagonal upward direction, a rear view (C), and a top view ( D) and a side view (E). Here, the back and back are considered based on the back and back of the humanoid robot.

  The detachable collar 601 shown in FIG. 7 includes an extending portion 601a that extends downward from a mounting surface 604 to the robot body, and includes a wheel 602 at a lower end portion thereof. The wheel 602 contacts the object to be seated in the posture in which the humanoid robot 101 is seated.

  An opening 603 for inserting the fixing member 605 is formed on the back surface (rear surface when viewed from the humanoid robot 101) of the detachable mold collar 601. The detachable type collar 601 is mounted on the lower body 104 by pressing the mounting surface 604 against the back surface of the lower body 104 and inserting the fixing member 605 into the fixing hole on the lower body side (not shown) from the opening 603. . The details of the mounting mechanism are the same as the example shown in FIG.

  Hereinafter, an example of the function of the detachable collar unit 601 will be described. FIG. 8 is a side view showing a state in which the humanoid robot pulls a cart loaded with luggage. FIG. 8 shows a state where the humanoid robot 101 is performing a work of pulling the carriage 802 while lowering the posture in a passage 801 like a mine with a low height.

  In this case, the humanoid robot 101 puts both feet forward, simultaneously lowers the position of the lower body 104 so as to drop the waist, and makes the wheels 602 of the removable heel part 601 contact the floor surface 801a of the passage 801. Then, the handle 804 at the tip of the cart operation arm 803 fixed to the cart 802 is gripped by the tip portion 105 a at the tip of the right arm 105 and the tip portion 106 a at the tip of the left arm 106. In this state, the carriage 802 can be moved in the direction of the arrow 805 by kicking the floor surface 801a using the right leg 107 and the left leg 108.

  During this movement, the wheels 602 roll on the floor surface 801a, and the humanoid robot 101 can move smoothly while balancing the middle and lower back posture.

  In a conventional humanoid robot, it has been difficult to stably perform the operation of pulling the carriage in the posture as shown in FIG. 8, but by using the detachable type collar 601 with wheels 602, Difficult tasks can be performed stably and easily.

  Moreover, this aspect also has the function which can maintain the seating attitude | position in the state which dropped the waist which was illustrated in FIG. When humans perform various tasks, the posture may have to be lowered because the ceiling is low or there are obstacles. When there is such a restriction, the aspect of the present embodiment that can easily take the posture as shown in FIG. 8 is useful.

  Moreover, according to this aspect, as shown in FIG. 8, the direction of the head 102 of the humanoid robot 101 can be maintained in a state substantially equivalent to the standing state. Therefore, the neck shaft supporting the head 102 in the low posture as shown in FIG. 8 can be moved in the same manner as when standing. Thereby, the visibility (visual information acquisition capability) of the humanoid robot 101 at the time of work in a low posture state as shown in FIG. 8 can be ensured in the same manner as when standing. This is useful when the humanoid robot 101 is in a low posture as shown in FIG.

  In the present embodiment, it is preferable that the wheel 602 is attached to the removable collar 601 via a suitable suspension mechanism. By doing so, it is possible to realize a configuration in which the wheel 602 has an impact absorption capability, and it is possible to suppress unnecessary vibration and impact from being transmitted to the robot body.

  Alternatively, the wheels 602 may be drive wheels provided with drive means that can be driven by a motor or the like. In this case, when moving in the posture as shown in FIG. 8, the movement can be assisted by driving and rotating the wheel 602 by a motor or the like. In the movement in the posture as shown in FIG. 8, more reliable and stable movement can be performed by using the driving force of the wheels 602 in addition to the legs. In particular, this configuration is effective when performing hard work such as towing the carriage 802.

  Moreover, you may provide the brake mechanism (brake) which brakes rotation of the wheel 602, or the lock mechanism which locks so that the wheel 602 may not rotate. For example, when the humanoid robot 101 wants to maintain the posture shown in FIG. 8 on the slope, it is not preferable that the wheels 602 rotate without resistance. In such a case, the function of maintaining the posture can be strengthened by making the wheel 602 difficult to rotate or locking. Further, in the case of sliding down the slope with the legs first in the posture as shown in FIG. 8, it is possible to obtain the action of controlling the speed and posture of sliding down by applying braking to the wheel 602.

4). Fourth Embodiment This embodiment is an example in which a detachable type heel portion having a seating function and a fall-supporting function is mounted on a humanoid robot. FIG. 9 is a side view (A) and a front view (B) showing an outline of the humanoid robot in the present embodiment. FIG. 10 is a perspective view (A) of the detachable mold collar according to the present embodiment as viewed from the right rear diagonally upward direction, a perspective view (B) of the left front diagonally upward direction, a rear view (C), and a top view ( D) and a side view (E). Here, the back and back are considered based on the back and back of the humanoid robot.

  The detachable collar 901 shown in FIG. 9 includes a seating posture support 902 having a substantially J-shaped cross-section that extends downward from the attachment surface 905 (see FIG. 10) to the robot body and curves in the front direction of the robot. I have. The back side of the seating posture support portion 902 is curved and includes an inclined curved inclined portion 902a. When the lower body 104 is lowered to the floor or the ground so that a person sits down, this portion is placed on the floor or the ground. Contact and support.

  Since the curved inclined portion 902a is curved and inclined, for example, when the lower body 104 is lowered to the floor or the ground as shown in FIG. 11, a contact state without rattling to the floor or the ground can be obtained. It is extremely easy to maintain the balance of posture. In addition to the function of stabilizing the sitting posture on the ground or the floor, the seating posture support portion 902 has a function of making it easy to get up at the time of falling, and a function of alleviating an impact at the time of falling.

  A recess 903 and an opening 906 for attaching the fixing member 904 are formed on the back surface of the detachable collar 901. To attach the detachable collar 901 to the lower body 104, the mounting surface 905 is pressed against the back surface of the lower body 104, and the fixing member 904 is inserted into the fixing hole of the lower body 104 (not shown) through the recess 903 through the opening 906. It is done by doing. The details of the mounting structure are the same as the example shown in FIG.

  Hereinafter, the seating function of the removable collar 901 will be described. Here, an example of a state of sitting on the ground will be described. FIG. 11 is a side view showing an example in which the humanoid robot 101 is seated on a rough 911 with a buttock.

  In this example, in a state where the lower body 104 is lowered to the rough 911 so that a person sits down on the ground, the curved inclined portion 902a on the back of the seating posture supporting portion 902 contacts the rough 911, and the balance of the posture is increased. It is secured.

  This is often the case for light work outdoors or indoors. Therefore, attaching the detachable collar 901 to the humanoid robot 101 so that the posture as shown in FIG. 11 can be easily and stably performed is to perform various operations on behalf of a human. This is extremely significant in enhancing the practicality of the target humanoid robot.

  Moreover, according to this aspect, as shown in FIG. 11, the orientation of the head 102 of the humanoid robot 101 can be maintained in a state substantially equivalent to the standing state. For this reason, in a low posture as shown in FIG. 11, the neck shaft supporting the head 102 can be moved in the same manner as when standing. Thereby, the visibility (visual information acquisition capability) of the humanoid robot 101 at the time of work in the state of taking a low posture as shown in FIG. 11 can be ensured in the same manner as when standing. This is useful when the humanoid robot 101 is in a low posture as shown in FIG.

  In addition, when the removable heel part 901 is attached, if the humanoid robot 101 loses its balance and falls back, the sitting posture support part 902 may become a support and the posture may be more than the state where the buttocks are put on. Can be suppressed. When the upper body 103 falls completely back and the upper body 103 is completely in contact with the floor or the ground (upward-facing state), a slightly complicated operation and some time are required to get up and stand upright. On the other hand, when standing upright from a state with a buttocks, the operation is simpler and requires less time. Therefore, by attaching the detachable collar 901, it is possible to obtain an advantage that the posture can be recovered more quickly when the vehicle falls down.

  In addition, since the seating posture support portion 902 is curved in a substantially J shape, when it falls backward, the momentum is converted into a rolling motion, and the impact is reduced. Thereby, generation | occurrence | production of the undesirable situation which generate | occur | produces at the time of falling backward can be prevented or suppressed.

  Further, the seating posture support portion 902 may be made of an elastic material such as a rubber material so that the impact is absorbed by the seating posture support portion 902 when the vehicle falls over. Since the seating posture support portion 902 is curved, if the seating posture support portion 902 itself has elasticity, an impact can be effectively absorbed when the vehicle falls backward. It is necessary to select a certain degree of elastic material that does not cause deformation that makes the posture unstable when seated as shown in FIG.

  Further, the seating posture support portion 902 may be configured to be elastically deformable. For example, the sitting posture support portion 902 may be configured to be elastically deformable by one or a plurality of joint structures, and the joint portion may be bent when the vehicle falls backward to absorb the impact.

5. Fifth Embodiment This embodiment is an example in the case where the detachable mold collar is provided with a storage function. FIG. 12 is a side view (A) and a rear view (B) showing an outline of the humanoid robot in the present embodiment. FIG. 13 is a perspective view (A) of the detachable collar according to the present embodiment viewed from the diagonally upward right rear direction, a perspective view (B) viewed from the diagonally upward left front direction, a rear view (C), and a top view (FIG. D) and a side view (E). Here, the back and back are considered based on the back and back of the humanoid robot.

  The detachable mold collar 921 has a box-shaped structure with an open space provided therein with a storage space 925 (see FIG. 13). Tools, accessories, and the like can be stored in the storage space 925. Moreover, the removable type collar part 921 is provided with the flat part 922 in the position extended below, and can also be seated using there.

  In the configuration shown in the drawing, the upper portion of the storage space 925 is open, but a lid that can be opened and closed can be disposed here. Since the humanoid robot 101 can take a posture of becoming a middle waist or crouching like a human being, depending on the posture, it may be assumed that stored items spill out from the storage space 925. By arranging a lid that can be opened and closed, this problem can be addressed.

  A recess 923 and an opening 927 for attaching the fixing member 924 are formed on the back surface of the detachable collar portion 921. To attach the detachable collar 921 to the lower body 104, the mounting surface 926 is pressed against the back surface of the lower body 104, and the fixing member 924 is inserted from the recess 923 into the opening 927 and inserted into the fixing hole of the lower body 104 (not shown). It is done by doing. The details of the mounting structure are the same as the example shown in FIG.

  Further, in this configuration, when the detachable collar portion 921 is made of an elastic member such as rubber, the shock absorbing ability can be manifested in combination with the hollow box-shaped structure. That is, when the humanoid robot 101 falls backward, the box-shaped detachable mold collar 921 having the storage space 925 is appropriately deformed, and the deformation can effectively absorb the impact at the time of the fall. .

  It is also possible to combine a plurality of the embodiments exemplified above. For example, a combination in which the removable type collar part 301 is provided with a storage function, or the structure of the sitting posture support part 902 is incorporated in the side surface shape of the extending part 601a of the removable type collar part 601 so The combination which gives the function of 902 etc. can be mentioned.

  The present invention can be used for a humanoid robot. In particular, the present invention can be used for a humanoid robot that places importance on the sitting function.

It is a perspective view which shows the outline | summary of the humanoid robot using this invention. It is a perspective view which shows an example of the attachment structure of a detachable type collar part. It is the side view (A) and back view (B) which show an example of the humanoid robot which attached the detachable type | mold collar part. It is a perspective view (A), a perspective view (B), a rear view (C), a top view (D), and a side view (E) showing an example of a detachable mold collar. It is a side view which shows the state which the humanoid robot which mounted | wore with the removable type | mold collar part sat down. It is the side view (A) and back view (B) which show the humanoid robot which attached the detachable type | mold collar part. It is a perspective view (A), a perspective view (B), a rear view (C), a top view (D), and a side view (E) showing an example of a detachable mold collar. It is a side view which shows the mode of the operation | work of the humanoid robot which mounted | wore with the removable collar part. It is the side view (A) and back view (B) which show the humanoid robot which attached the detachable type | mold collar part. It is a perspective view (A), a perspective view (B), a rear view (C), a top view (D), and a side view (E) showing an example of a detachable mold collar. It is a side view which shows a mode that the humanoid robot equipped with the detachable type | mold collar part sat down. It is the side view (A) and back view (B) which show the humanoid robot which attached the detachable type | mold collar part. It is a perspective view (A), a perspective view (B), a rear view (C), a top view (D), and a side view (E) showing an example of a detachable mold collar.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 ... Humanoid robot, 102 ... Head, 103 ... Upper torso, 104 ... Lower torso, 104a ... Hip joint part, 105 ... Right arm, 105a ... Hand part, 106 ... Left arm, 106a ... Hand part, 107 ... Right leg, 108 DESCRIPTION OF SYMBOLS ... Left leg, 112 ... Movable shaft, 201 ... Detachable mold collar, 202 ... Through hole, 203 ... Fixing member, 204 ... Fixing hole, 205 ... Projection pin, 206 ... Positioning hole, 207 ... Back of removable mold collar Side surface (exposed surface), 208 ... body side flange, 209 ... opening, 210 ... battery receiving side connector, 301 ... removable type collar, 302 ... extension part, 303 ... flat part, 304 ... mounting surface 305: Fixing member, 306 ... Opening, 500 ... Driver's seat, 501 ... Driver's seat, 501a ... Chair seat, 502 ... Handle, 503 ... Pedal, 504 ... Chair, 601 ... Possible type collar part, 601a ... extension part, 602 ... wheel, 603 ... opening, 604 ... mounting surface, 605 ... fixing member, 801 ... passage, 801a ... floor surface, 802 ... cart, 803 ... arm, 804 ... handle, 805 Direction of movement of carriage 802, 901 ... Detachable mold collar, 902 ... Seating posture support, 902a ... Curved inclined part, 903 ... Depression, 904 ... Fixing member, 905 ... Mounting surface, 906 ... Opening, 911 ... Rough ground, 921 ... Detachable mold collar, 922 ... Flat part, 923 ... Recess, 924 ... Fixing member, 925 ... Storage space, 926 ... Mounting surface, 927 ... Opening.

Claims (10)

The lower body of the humanoid robot,
A detachable removable collar attached to the lower body,
The removable robot is provided with at least one of a protection function, a seating function, a moving function in a sitting state, a fall-supporting function, and a storage function. The removable type collar is
(1) an attachment part attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The humanoid robot according to claim 1, further comprising: a portion that contacts the target surface on which the extension portion is seated when seated. The removable type collar is
(1) an attachment part attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The humanoid robot according to claim 1, further comprising a wheel attached to the extending portion. The removable type collar is
(1) an attachment part attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The humanoid robot according to claim 1, further comprising: a curved portion configured in the extending portion.   The humanoid robot according to any one of claims 1 to 4, wherein the detachable collar portion includes a storage space therein.   Removable saddle that can be attached to and detached from the lower body of a humanoid robot, and has at least one of a protective function, a seating function, a moving function in a sitting state, a fall-supporting function, and a storage function Removable saddle type. The removable type collar is
(1) an attachment part detachably attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The detachable type heel part according to claim 6, further comprising: a part that contacts the target surface on which the extension part is seated when the humanoid robot is seated. The removable type collar is
(1) an attachment part detachably attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The detachable mold saddle according to claim 6, further comprising a wheel attached to the extending portion. The removable type collar is
(1) an attachment part detachably attached to the back surface of the lower body;
(2) an extending part extending from the attachment part;
(3) The detachable type collar part according to claim 6, further comprising: a curved part formed in the extending part.   The removable type collar part according to any one of claims 6 to 9, wherein the removable type collar part includes a storage space inside.

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