JP2000237985A - Articulate mechanism and robot - Google Patents
Articulate mechanism and robotInfo
- Publication number
- JP2000237985A JP2000237985A JP11040967A JP4096799A JP2000237985A JP 2000237985 A JP2000237985 A JP 2000237985A JP 11040967 A JP11040967 A JP 11040967A JP 4096799 A JP4096799 A JP 4096799A JP 2000237985 A JP2000237985 A JP 2000237985A
- Authority
- JP
- Japan
- Prior art keywords
- joint
- downstream
- upstream
- intermediate member
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ロボット等に適用
するのに最適な関節機構と、それを用いた歩行用ロボッ
トの技術分野に属するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a joint mechanism most suitable for application to a robot or the like and a walking robot using the same.
【０００２】[0002]
【従来の技術】従来から、人間や動物の形に似せて、２
脚や４脚等の歩行用の脚部によって歩行できるようにし
た小型の歩行用ロボットであって、特に、おどけたしぐ
さ等のパフォーマンスを表現できるようにしたエンター
ティメントロボット（ペットロボットとも称される）と
称されるものが開発されている。そして、この種、小型
の歩行用ロボットの脚部に組み込まれている関節機構の
一般的な構造は、大きさやデザイン等の制約を受けるこ
とから、単一の支点軸を中心にモータ等のアクチュエー
タによって回転駆動するようにしただけの極く簡単な構
造になっている。2. Description of the Related Art Conventionally, the shape of a human or an animal has been resembled.
A small walking robot that can be walked by a walking leg such as a leg or a quadruple, and is particularly an entertainment robot (also referred to as a pet robot) capable of expressing performances such as joking gestures. ) Are being developed. The general structure of this type of joint mechanism built into the leg of a small walking robot is limited by size and design, so that actuators such as motors around a single fulcrum shaft It has an extremely simple structure that is simply driven to rotate.
【０００３】[0003]
【発明が解決しようとする課題】しかし、小型の歩行用
ロボットであって、特に、エンターティメントロボット
において、おどけたしぐさ等のパフォーマンスを誇張し
て表現するための脚部の関節機構としては、一般的な人
間の関節では考えられないような柔軟さや可動範囲（関
節の回転角度）の拡大等が要求されることになる。しか
しながら、従来の関節機構の一般的で、簡単な構造で
は、その関節機構の柔軟さや可動範囲の拡大に不適当で
あり、上記したパフォーマンスの誇張した表現が困難で
あった。However, in the case of a small-sized walking robot, particularly in an entertainment robot, as a joint mechanism of a leg for exaggerating the performance such as a playful gesture, The flexibility, the movable range (rotation angle of the joint), and the like, which cannot be considered in general human joints, are required. However, the general and simple structure of the conventional joint mechanism is unsuitable for the flexibility and expansion of the movable range of the joint mechanism, and it is difficult to exaggerate the above-mentioned performance.
【０００４】本発明は、上記の問題を解決するためにな
されたものであって、コンパクトで、しかも、可動範囲
を大幅に拡大することができる関節機構と、それを用い
た歩行用ロボットを得ることを目的としている。SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and provides a joint mechanism which is compact and can greatly expand a movable range, and a walking robot using the same. It is intended to be.
【０００５】[0005]
【課題を解決するための手段】上記の目的を達成するた
めの本発明の関節機構は、関節上流側部材と関節下流側
部材との間を関節中間部材の両端に設けた平行な第１、
第２の支点軸によって相互に回転自在に結合し、関節上
流側部材又は関節下流側部材の少なくとも一方にも設け
られた少なくとも１つのアクチュエータ及び伝動機構に
よって、例えば、関節中間部材を関節上流側部材に対し
て第１の支点軸を中心に回転駆動すると同時に、関節下
流側部材を関節中間部材に対して第２の支点軸を中心に
関節中間部材と同方向に回転駆動するように構成したも
のである。In order to achieve the above object, the joint mechanism of the present invention comprises a first parallel member provided at both ends of a joint intermediate member between a joint upstream member and a joint downstream member.
For example, the joint intermediate member is connected to the joint upstream member or at least one of the joint downstream member by a second fulcrum shaft such that the joint intermediate member is connected to the joint upstream member or the joint downstream member. And at the same time, the joint downstream member is rotated relative to the joint intermediate member in the same direction as the joint intermediate member around the second fulcrum shaft. It is.
【０００６】上記のように構成された本発明の関節機構
は、少なくとも１つのアクチュエータ及び伝動機構によ
って、例えば、関節中間部材を関節上流側部材に対して
第１の支点軸を中心に回転駆動する際に、関節下流側部
材を関節中間部材に対して第２の支点軸を中心にその関
節部材と同方向に回転するようにして、関節上流側部材
に対する関節下流側部材の可動範囲を関節中間部材で拡
大することができる。In the joint mechanism of the present invention configured as described above, for example, the joint intermediate member is rotationally driven about the first fulcrum shaft with respect to the joint upstream member by at least one actuator and the transmission mechanism. At this time, the joint downstream member is rotated about the second fulcrum axis in the same direction as the joint member with respect to the joint intermediate member so that the movable range of the joint downstream member with respect to the joint upstream member is changed to the joint intermediate member. It can be enlarged by a member.
【０００７】[0007]
【発明の実施の形態】以下、本発明を小型の歩行用ロボ
ットに適用した関節機構の実施の形態を図を参照して説
明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a joint mechanism in which the present invention is applied to a small walking robot will be described below with reference to the drawings.
【０００８】「歩行用ロボットの説明」まず、図１０
は、例えば犬や猫等の４つ脚動物に似せた小型の歩行用
ロボット１を示したものであって、胴体部２の前端に頭
部３が首関節４を介して上下、左右の２方向に回転自在
に搭載され、胴体部２の後部に尻尾５が尻尾関節６を介
して上下、左右の２方向に回転自在に取り付けられ、胴
体部２の左右両側の前後２箇所に２本の前脚７と２本の
後脚８がそれぞれ肩関節９及び膝関節１０を介して上
下、左右の２方向に回転自在に取り付けられている。そ
して、胴体部２の内部にはメインコントロール部（マイ
クロコンピュータ）１２が内蔵されていて、胴体部２の
上面には必要な各種の情報をマニアル操作で入力するこ
とができるキー入力部１３が取り付けられている。ま
た、頭部３にはタッチセンサー１４、画像表示部１５、
画像認識部１６、スピーカー１７、赤外線コントロール
部１８等が取り付けられていて、胴体部２や頭部３には
電話ユニット１９やマイク（図示せず）等が内蔵されて
いる。[Description of Walking Robot] First, FIG.
1 shows a small walking robot 1 that resembles a four-legged animal such as a dog or a cat, for example. The tail 5 is attached to the rear part of the body 2 via a tail joint 6 so as to be freely rotatable in two directions, up, down, left and right. A front leg 7 and two rear legs 8 are attached via a shoulder joint 9 and a knee joint 10 so as to be rotatable in two directions, up and down, left and right. A main control unit (microcomputer) 12 is built in the body 2, and a key input unit 13 for inputting various kinds of necessary information by manual operation is mounted on the upper surface of the body 2. Have been. In addition, a touch sensor 14, an image display unit 15,
An image recognition unit 16, a speaker 17, an infrared control unit 18 and the like are attached, and a body unit 2 and a head 3 incorporate a telephone unit 19, a microphone (not shown), and the like.
【０００９】そして、図１１に示すように、メインコン
トロール部１２が合計４本の前脚７及び後脚８を駆動し
て、これら前脚７及び後脚８を折り畳んだり、伸展させ
ることによって、この歩行用ロボット１は自力で、寝そ
べったり、立ち上がることができる。そして、これら前
脚７及び後脚８を歩行運動させることにより、この歩行
用ロボット１は自力で歩行することができる。更に、メ
インコントロール部１２が頭部３及び尻尾５を駆動する
ことにより、頭部３、尻尾５、前脚７及び後脚８を上
下、左右等に自由に振ることができて、犬や猫等の４つ
脚動物に似た動きやおどけたしぐさ等のパフォーマンス
を表現することができるように構成されている。なお、
同様に、使用者が頭部３のタッチセンサー１４に手を触
れると、頭部３や尻尾５を振って喜びの動作を表現した
り、前脚７の１本を持ち上げてお手を表現したりするこ
とができる。そして、画像表示部１５は例えば電話通信
時に電話相手の顔を表示することができ、画像認識部１
６は歩行中の障害物を認識して、障害物を避けるように
して目的の場所まで安全な歩行を行ったり、電話ユニッ
ト１９を使用する電話通信時に使用者の顔を取り込んで
電話相手に伝送することができる。スピーカー１７は
「ワンワン」や「ニャンニャン」等の犬や猫等の動物の
鳴き声を発生することができ、赤外線コントロール部１
８はテレビジョンやビデオテープレコーダ等の各種赤外
線コントロール機器を制御することができる。As shown in FIG. 11, the main control section 12 drives a total of four front legs 7 and rear legs 8 to fold or extend the front legs 7 and rear legs 8, thereby causing this walking. Robot 1 can lie down or stand up on its own. By causing the front leg 7 and the rear leg 8 to perform a walking motion, the walking robot 1 can walk on its own. Further, by driving the head 3 and the tail 5 by the main control unit 12, the head 3, the tail 5, the front leg 7 and the rear leg 8 can be freely swung up and down, left and right, etc. It is configured to be able to express performances such as movements and joke gestures similar to the four-legged animals. In addition,
Similarly, when the user touches the touch sensor 14 of the head 3 with his hand, the head 3 and the tail 5 are shaken to express a joyful movement, or one of the front legs 7 is lifted to express the hand. can do. The image display unit 15 can display the face of the other party during telephone communication, for example.
6 recognizes an obstacle while walking and walks safely to a target place so as to avoid the obstacle, or captures the face of the user during telephone communication using the telephone unit 19 and transmits it to the other party. can do. The speaker 17 can generate the sound of animals such as dogs and cats such as “Wan Wan” and “Nyan Nyan”.
Reference numeral 8 can control various infrared control devices such as a television and a video tape recorder.
【００１０】「関節機構の説明」次に、図１〜図９によ
って、歩行用ロボット１の前脚７及び後脚８の膝関節１
０に組み込まれた関節機構２１について説明する。ま
ず、図１〜図８はこの関節機構２１の第１の実施形態を
示したものであって、この関節機構２１は前脚７及び後
脚８の関節上流側部材（上脚部に相当するもの）２２
と、関節下流側部材（下脚部に相当するもの）２３と、
これらを相互に回転自在に結合した関節中間部材２４と
を備えている。そして、関節中間部材２４の長さ方向の
両端に設けられた平行な一対の支点軸である第１、第２
の支点軸２６、２７によってその関節中間部材２４の両
端が関節上流側部材２２と関節下流側部材２３とに相互
に回転自在に結合されている。[Description of Joint Mechanism] Next, referring to FIGS. 1 to 9, the knee joint 1 of the front leg 7 and the rear leg 8 of the walking robot 1 will be described.
The joint mechanism 21 incorporated in the “0” will be described. First, FIGS. 1 to 8 show a first embodiment of this joint mechanism 21. This joint mechanism 21 is a joint upstream member (corresponding to an upper leg portion) of the front leg 7 and the rear leg 8. ) 22
And a joint downstream member (corresponding to the lower leg) 23;
And an intermediate joint member 24 in which these are rotatably connected to each other. Then, a first and a second pair of parallel fulcrum shafts provided at both ends in the length direction of the joint intermediate member 24 are provided.
The two ends of the joint intermediate member 24 are rotatably connected to the joint upstream member 22 and the joint downstream member 23 by the fulcrum shafts 26 and 27.
【００１１】そして、関節上流側部材２２はアーム本体
２２ａとそのアーム本体２２ａの側面に平行状にビス止
めされて一体化されたアームカバー２２ｂとの２部品に
よって構成されていて、アーム本体２２ａ内に単一のア
クチュエータである小型のモータ２７が一側方から組み
込まれている。そして、そのモータ２７の出力歯車２８
によって回転駆動される減速歯車機構２９がアーム本体
２２ａとアームカバー２２ｂとの間に、これらの一方又
は両方に取り付けられた平行状の２本の支軸３１で組み
込まれている。また、関節下流側部材２３は単一部品で
構成され、関節中間部材２４はアーム本体２４ａとその
アーム本体２４ａの側面に間隔を隔てて平行状にビス止
めされて一体化されたアームカバー２４ａとの２部品に
よって構成されている。そして、関節上流側部材２２の
アーム本体２２ａとアームカバー２２ｂの一方の端部間
に関節中間部材２４のアーム本体２４ａの一方の端部を
平行状に組み込まれ、関節中間部材２４のアームカバー
２４ｂを関節上流側部材２２のアームカバー２２ｂの外
側から平行状に組み込んで、そのアーム本体２４ａとア
ームカバー２４ｂの一方の端部の内側間に形成した第１
の支点軸２５を中心にして関節上流側部材２２の一方の
端部と関節中間部材２４の一方の端部を相互に回転自在
に結合している。また、関節下流側部材２３の一方の端
部を関節中間部材２４のアーム本体２４ａとアームカバ
ー２４ｂの他方の端部間に平行状に組み込み、これらア
ーム本体２４ａ及びアームカバー２４ｂの他方の端部の
内側間に形成された２分割構造の第２の支点軸２６を中
心にして関節下流側部材２３の一方の端部と関節中間部
材２４の他方の端部を相互に回転自在に結合している。The joint upstream member 22 is composed of two parts, an arm body 22a and an arm cover 22b which is screwed in parallel to the side surface of the arm body 22a and is integrated therewith. A small motor 27 as a single actuator is incorporated from one side. The output gear 28 of the motor 27
A reduction gear mechanism 29 that is rotationally driven is incorporated between the arm body 22a and the arm cover 22b by two parallel support shafts 31 attached to one or both of them. Further, the joint downstream member 23 is formed of a single component, and the joint intermediate member 24 includes an arm body 24a and an arm cover 24a which is integrally screwed in parallel to a side surface of the arm body 24a with a space therebetween. And two components. Then, one end of the arm main body 24a of the joint intermediate member 24 is incorporated in parallel between one end of the arm body 22a of the joint upstream side member 22 and one end of the arm cover 22b. Is installed in parallel from the outside of the arm cover 22b of the joint upstream side member 22, and a first portion formed between the arm body 24a and one end of the arm cover 24b.
One end of the joint upstream member 22 and one end of the joint intermediate member 24 are rotatably connected to each other about a fulcrum shaft 25. Also, one end of the joint downstream member 23 is assembled in parallel between the arm body 24a of the joint intermediate member 24 and the other end of the arm cover 24b, and the other end of the arm body 24a and the arm cover 24b. One end of the joint downstream member 23 and the other end of the joint intermediate member 24 are rotatably connected to each other about a second fulcrum shaft 26 having a two-part structure formed between the insides of the joints. I have.
【００１２】そして、関節上流側部材２２内に組み込ま
れている減速歯車機構２９の出力歯車である駆動歯車３
０を関節中間部材２４のアーム本体２４ａの一方の端部
の外周に一体に形成した従動歯車３２に噛合している。
そして、関節上流側部材２２のアームカバー２２ｂの一
方の端部の内側に固着した歯車３３に関節下流側部材２
３の一方の端部の外周に一体に形成した歯車３４を噛合
させて、これらの一組の歯車３３、３４によって関節上
流側部材２２と関節下流側部材２３との間の伝動機構で
ある歯車伝動機構３５が構成されている。The driving gear 3 which is the output gear of the reduction gear mechanism 29 incorporated in the joint upstream side member 22
0 meshes with a driven gear 32 integrally formed on the outer periphery of one end of the arm body 24a of the joint intermediate member 24.
The gear 33 fixed to the inside of one end of the arm cover 22b of the joint upstream member 22 is attached to the joint downstream member 2.
A gear 34 integrally formed on the outer periphery of one end of the third gear 3 is engaged with the gear 34, and a gear as a transmission mechanism between the joint upstream member 22 and the joint downstream member 23 by the pair of gears 33, 34. A transmission mechanism 35 is configured.
【００１３】この関節機構２１は以上のように構成され
ていて、図１〜図４に示すように、単一のモータ２７の
正逆回転駆動によって、その出力歯車２８により減速歯
車機構２９を介して駆動歯車３０で従動歯車３２を矢印
ａ１、ｂ１方向に交互に回転駆動することにより、関節
中間部材２４を関節上流側部材２２に対して第１の支点
軸２５を中心にして矢印ａ１、ｂ１方向に交互に回転駆
動することができる。そして、この際、第２の支点軸２
６が第１の支点軸２５の周りに矢印ａ１、ｂ１方向に遊
星運動することになって、関節上流側部材２２と関節下
流側部材２３との間の歯車伝動機構３５の一方の歯車３
３上を他方の歯車３４が矢印ａ１、ｂ１方向に転動する
ことになって、歯車３３で歯車３４が回転駆動され、関
節下流側部材２３が関節中間部材２４に対して第２の支
点軸２６を中心にして矢印ａ２、ｂ２方向に同時に回転
駆動される。The joint mechanism 21 is constructed as described above. As shown in FIGS. 1 to 4, the output gear 28 of the joint mechanism 21 is driven by a single motor 27 in forward and reverse rotations via a reduction gear mechanism 29. By driving the driven gear 32 alternately in the directions of the arrows a1 and b1 with the driving gear 30, the joint intermediate member 24 is moved relative to the joint upstream side member 22 around the first fulcrum shaft 25 with the arrows a1 and b1. It can be driven to rotate alternately in the direction. At this time, the second fulcrum shaft 2
6 moves around the first fulcrum shaft 25 in the directions of the arrows a1 and b1 so that one of the gears 3 of the gear transmission mechanism 35 between the joint upstream member 22 and the joint downstream member 23.
3, the other gear 34 rolls in the directions of the arrows a1 and b1. The gear 34 is driven to rotate by the gear 33, and the joint downstream member 23 is moved to the joint intermediate member 24 by the second fulcrum shaft. It is simultaneously driven to rotate in the directions of arrows a2 and b2 around the center 26.
【００１４】即ち、モータ２７の正逆回転駆動によっ
て、関節中間部材２４を関節上流側部材２２に対して第
１の支点軸２５を中心に矢印ａ１、ｂ１方向に交互に回
転駆動する際に、関節下流側部材２３を関節中間部材２
４に対してその関節中間部材２４と同方向である矢印ａ
２、ｂ２方向に第２の支点軸２６を中心にして同時に回
転駆動することができて、関節上流側部材２２に対する
関節下流側部材２３の矢印ａ２、ｂ２方向の可動範囲
（回転量）を関節中間部材２４の矢印ａ１、ｂ１方向の
回転によって拡大している。そして、この時の関節中間
部材２４と関節下流側部材２３の回転量は歯車伝動機構
３５を構成している歯車３３対３４の歯数比で決定し、
その歯数比が１：１であれば、関節中間部材２４が関節
上流側部材２２に対して例えば４５°回転した時に、関
節下流側部材２３が関節中間部材２４に対して同じく４
５°回転することになって、関節下流側部材２３は関節
上流側部材２２に対しては９０°の回転量に拡大されて
回転する（図２のＢ、図３のＢ、図４のＣ参照）ことに
なる。That is, when the joint intermediate member 24 is driven to rotate alternately about the first fulcrum shaft 25 in the directions of the arrows a1 and b1 with respect to the joint upstream member 22 by forward and reverse rotation of the motor 27, The joint downstream member 23 is connected to the joint intermediate member 2.
Arrow 4 in the same direction as the joint intermediate member 24
The joint can be simultaneously driven to rotate about the second fulcrum shaft 26 in the directions 2 and b2, and the movable range (rotation amount) of the joint downstream member 23 with respect to the joint upstream member 22 in the directions of the arrows a2 and b2 is determined by the joint. It is enlarged by the rotation of the intermediate member 24 in the directions of the arrows a1 and b1. Then, the rotation amount of the joint intermediate member 24 and the joint downstream member 23 at this time is determined by the gear ratio of the gears 33 to 34 constituting the gear transmission mechanism 35,
If the ratio of the number of teeth is 1: 1 when the joint intermediate member 24 rotates, for example, 45 ° with respect to the joint upstream member 22, the joint downstream member 23 becomes 4
As a result, the joint downstream member 23 is rotated by being enlarged by 90 ° with respect to the joint upstream member 22 (B in FIG. 2, B in FIG. 3, and C in FIG. 4). See).
【００１５】従って、関節中間部材２４が関節上流側部
材２２に対して矢印ａ１、ｂ１方向に±９０°に回転す
れば、関節下流側部材２３はその関節上流側部材２２に
対して矢印ａ２、ｂ２に±１８０°に回転する（図２の
Ｃ、図３のＣ参照）ことになるので、関節下流側部材２
３はモータ２７によって矢印ａ１、ｂ１方向に回転駆動
される関節中間部材２４の動作範囲以上の大きな可動範
囲で矢印ａ２、ｂ２方向に可動することが可能になっ
て、図１に１点鎖線と２点鎖線で示すように、関節上流
側部材２２に対する関節下流側部材２３の矢印ａ２、ｂ
２方向の回転量である可動範囲を３６０°に拡大するこ
とができる。なお、歯車３３対３４の歯数比を３３＞３
４や３３＜３４に調整することによって、関節上流側部
材２２に対する関節下流側部材２３の回転量を３６０°
以下や３６０°以上に調整することも可能である。Accordingly, if the joint intermediate member 24 is rotated by ± 90 ° in the directions of the arrows a1 and b1 with respect to the joint upstream member 22, the joint downstream member 23 is moved relative to the joint upstream member 22 by arrows a2, b2 to ± 180 ° (see FIG. 2C and FIG. 3C).
3 can move in the directions of the arrows a2 and b2 in a large movable range larger than the operation range of the joint intermediate member 24 that is rotationally driven in the directions of the arrows a1 and b1 by the motor 27. As indicated by a two-dot chain line, arrows a2, b of the joint downstream member 23 with respect to the joint upstream member 22.
The movable range, which is the amount of rotation in two directions, can be expanded to 360 °. Note that the gear ratio of the gears 33 to 34 is 33> 3.
4 or 33 <34, the rotation amount of the joint downstream member 23 with respect to the joint upstream member 22 is set to 360 °.
It is also possible to adjust to less than or equal to 360 °.
【００１６】しかも、図５〜図８に示すように、この関
節機構２１は、関節上流側部材２２及び関節中間部材２
４をそれぞれ平行状に結合されるアーム本体２２ａ、２
３ａ及びアームカバー２２ｂ、２３ｂの２部品で構成し
て、これらのアーム本体２２ａ、２３ａ及びアームカバ
ー２２ｂ、２３ｂ間にモータ２７、減速歯車機構２９及
び伝動機構３５等をコンパクトに組み込んでいるので、
１モータ２７である単一のアクチュエータによる部品点
数及び組立工数の削減による低コスト化と合せて、この
関節機構２１全体をコンパクト（小型、軽量に）に構成
することができ、デザイン上の制約を最小限に抑えつ
つ、関節下流側部材２３の可動範囲を３６０°等に拡大
することができる。Further, as shown in FIGS. 5 to 8, the joint mechanism 21 comprises a joint upstream member 22 and a joint intermediate member 2.
Arm bodies 22a, 2
3a and the arm covers 22b and 23b, and the motor 27, the reduction gear mechanism 29 and the transmission mechanism 35 are compactly incorporated between the arm bodies 22a and 23a and the arm covers 22b and 23b.
The joint mechanism 21 as a whole can be made compact (small and lightweight) in addition to the cost reduction by reducing the number of parts and the number of assembling steps by a single actuator as one motor 27. The movable range of the joint downstream member 23 can be expanded to 360 ° or the like while minimizing it.
【００１７】次に、図９はこの関節機構２１の第２の実
施形態を示したものであって、第１の実施形態で示した
一組の歯車３３、３４で構成された歯車伝動機構３５を
一組のタイミングプーリ３６、３７の外周間にタイミン
グベルト３８を巻き掛けた巻掛け伝動機構３９に置換し
たものである。そして、この場合は、例えば、第１の支
点軸２５の外周に挿入した一方のタイミングプーリ３６
を図８に示した従動歯車３２に固着して、このタイミン
グプーリ３６を従動歯車３２と一体に回転させるように
構成し、第２の支点軸２６の外周に挿入したタイミング
プーリ３７を関節下流側部材２３を固着して、これら一
組のタイミングプーリ３６、３７の外周にタイミングベ
ルト３８を巻き掛けて構成することができる。FIG. 9 shows a second embodiment of the joint mechanism 21, which is a gear transmission mechanism 35 composed of a pair of gears 33 and 34 shown in the first embodiment. Is replaced by a wrapping transmission mechanism 39 in which a timing belt 38 is wrapped around the outer circumference of a pair of timing pulleys 36 and 37. In this case, for example, one of the timing pulleys 36 inserted around the outer periphery of the first fulcrum shaft 25
Is fixed to the driven gear 32 shown in FIG. 8, and the timing pulley 36 is configured to rotate integrally with the driven gear 32, and the timing pulley 37 inserted around the outer periphery of the second fulcrum shaft 26 is connected to the downstream side of the joint. The timing belt 38 can be wound around the pair of timing pulleys 36 and 37 with the member 23 fixed thereto.
【００１８】そして、この関節機構２１の第２の実施形
態では、第１の実施形態で説明したように、モータ２７
によって減速歯車機構２９を介して従動歯車３２を矢印
ａ１、ｂ１方向に交互に回転駆動して、関節中間部材２
４を関節上流側部材２２に対して第１の支点軸２５を中
心に矢印ａ１、ｂ１方向に交互に回転駆動すると、従動
歯車３２と一体に回転駆動される一方のタイミングプー
リ３６がタイミングベルト３８を介して他方のタイミン
グプーリ３７を矢印ａ２、ｂ２方向に交互に回転駆動
し、そのタイミングプーリ３７と一体に関節下流側部材
２３が第２の支点軸２６を中心にして関節中間部材２４
に対して矢印ａ２、ｂ２方向に交互に回転駆動されるこ
とになる。そして、この場合も、第１の実施形態と同様
に、タイミングプーリ３６、３７の歯数比を１：１等に
設定することによって、関節上流側部材２２に対する関
節下流側部材２３の可動範囲を３６０°等に拡大するこ
とができる。なお、巻掛け伝動機構３９は一組のスプロ
ケット間の外周にチェーンを巻き掛けたチェーン方式の
ものに変更することも可能である。In the second embodiment of the joint mechanism 21, as described in the first embodiment, the motor 27
As a result, the driven gear 32 is alternately driven to rotate in the directions of arrows a1 and b1 via the reduction gear mechanism 29, and the joint intermediate member 2 is driven.
4 is alternately driven in the directions of arrows a1 and b1 about the first fulcrum shaft 25 with respect to the joint upstream-side member 22, one of the timing pulleys 36 driven to rotate integrally with the driven gear 32 causes the timing belt 38 to rotate. The other timing pulley 37 is alternately driven to rotate in the directions of arrows a2 and b2 through the joint, and the joint downstream member 23 is integrally formed with the timing pulley 37 about the second fulcrum shaft 26 as a joint.
Is alternately rotated in the directions of arrows a2 and b2. Also in this case, similarly to the first embodiment, the movable range of the joint downstream member 23 with respect to the joint upstream member 22 is set by setting the ratio of the number of teeth of the timing pulleys 36 and 37 to 1: 1 or the like. It can be enlarged to 360 ° or the like. Note that the wrapping transmission mechanism 39 can be changed to a chain type in which a chain is wrapped around the outer periphery between a pair of sprockets.
【００１９】そして、以上述べた関節機構２１の第１及
び第２の実施形態を図１０に示した歩行用ロボット１の
２本の前脚７及び２本の後脚８の膝関節１０に組み込む
ことによって、図１１に示すように、これらの前脚７及
び後脚８の関節上流側部材２２に対する関節下流側部材
２３の可動範囲を現実の犬や猫等の動物の関節では考え
られないような３６０°等の大きな可動範囲に拡大する
ことができる。従って、関節部分の柔軟さを拡大表現す
ることができて、犬や猫等のおどけたしぐさ等のパフォ
ーマンスを誇張して表現することができるユニークなエ
ンターティメントロボット（ペットロボット）を実現で
きる。なお、この関節機構２１を歩行用ロボット１の前
脚７や後脚８の肩関節９部分に適用することも可能であ
る。Then, the first and second embodiments of the joint mechanism 21 described above are incorporated into the knee joint 10 of the two front legs 7 and the two rear legs 8 of the walking robot 1 shown in FIG. As a result, as shown in FIG. 11, the movable range of the joint downstream member 23 with respect to the joint upstream member 22 of the front leg 7 and the rear leg 8 is 360 degrees which cannot be considered in the joint of a real animal such as a dog or a cat. ° can be expanded to a large movable range. Therefore, it is possible to realize a unique entertainment robot (pet robot) that can express the flexibility of the joint portion in an enlarged manner, and can exaggerate and express the performance such as joking gestures of dogs and cats. Note that the joint mechanism 21 can be applied to the shoulder joint 9 of the front leg 7 and the rear leg 8 of the walking robot 1.
【００２０】以上、本発明の実施の形態について説明し
たが、本発明は上記した実施の形態に限定されることな
く、本発明の技術的思想に基づいて各種の変更が可能で
ある。例えば、上記した実施の形態では、関節上流側部
材２２組み込んだ単一のアクチュエータであるモータ２
７及び減速歯車機構２９によって関節中間部材２４及び
関節下流側部材２３を同期して回転駆動するように構成
したが、関節上流側部材２２に対する関節中間部材２４
のアクチュエータ及び関節中間部材２４に対する関節下
流側部材２３のアクチュエータを独立して設ける２つの
アクチュエータ構成を採用することもできる。また、上
記した実施の形態では４脚の歩行用ロボット１の４本の
脚部７、８に関節機構２１を適用したが、例えば、人間
の形に似せた２脚で歩行する歩行用ロボットの２本の腕
部等の関節機構に適用可能である。Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made based on the technical concept of the present invention. For example, in the above-described embodiment, the motor 2 is a single actuator incorporating the joint upstream member 22.
7 and the reduction gear mechanism 29, the joint intermediate member 24 and the joint downstream member 23 are configured to be synchronously driven to rotate.
It is also possible to adopt a two-actuator configuration in which the actuator of the joint downstream member 23 and the actuator of the joint intermediate member 24 are provided independently of each other. Further, in the above-described embodiment, the joint mechanism 21 is applied to the four legs 7, 8 of the four-legged walking robot 1. For example, a walking robot that walks on two legs that resembles a human shape is used. The present invention is applicable to a joint mechanism such as two arms.
【００２１】[0021]
【発明の効果】以上のように構成された本発明の関節機
構とロボットは、次のような効果を奏することができ
る。The joint mechanism and the robot according to the present invention having the above-described structures can provide the following effects.
【００２２】請求項１は、少なくとも１つのアクチュエ
ータ及び伝動機構によって、例えば、関節中間部材を関
節上流側部材に対して第１の支点軸を中心に回転駆動す
る際に、関節下流側部材を関節中間部材に対して第２の
支点軸を中心にその関節部材と同方向に回転することに
より、関節上流側部材に対する関節下流側部材の可動範
囲を関節中間部材で拡大することができるようにしたの
で、関節上流側部材と関節下流側部材との間に関節中間
部材を配置しただけの簡単な構成でありながら、関節上
流側部材に対する関節下流側部材の可動範囲を３６０°
等に大幅に拡大することができる。According to a first aspect of the present invention, when the joint intermediate member is driven to rotate about the first fulcrum shaft with respect to the joint upstream member by the at least one actuator and the transmission mechanism, the joint downstream member is jointed. By rotating the intermediate member about the second fulcrum axis in the same direction as the joint member, the movable range of the joint downstream member relative to the joint upstream member can be expanded by the joint intermediate member. Therefore, the movable range of the joint downstream member with respect to the joint upstream member is 360 ° while having a simple configuration in which the joint intermediate member is disposed between the joint upstream member and the joint downstream member.
Etc. can be greatly expanded.
【００２３】請求項２は、例えば、関節上流側部材に設
けた単一のアクチュエータによって関節中間部材を関節
上流側部材に対して第１の支点軸を中心に回転駆動する
際に、関節中間部材と関節下流側部材との間に設けた一
組の歯車を用いた歯車伝動機構によって関節下流側部材
を関節中間部材に対して同方向に回転駆動するように構
成したので、関節上流側部材に対する関節下流側部材及
び関節中間部材の２つの部材の駆動を単一のアクチュエ
ータで行うことができて、部品点数及び組立工数の削減
による低コスト化と合せて、コンパクトであり、デザイ
ン上の制約を最小限に抑えつつ可動範囲の大きな関節機
構を実現できる。[0023] For example, when the joint intermediate member is driven to rotate about the first fulcrum axis with respect to the joint upstream member by a single actuator provided on the joint upstream member, for example. The joint downstream member is configured to be driven to rotate in the same direction with respect to the joint intermediate member by a gear transmission mechanism using a set of gears provided between the joint downstream member and the joint upstream member. The two members, the joint downstream member and the joint intermediate member, can be driven by a single actuator, and together with the cost reduction by reducing the number of parts and assembly man-hours, it is compact and reduces design constraints. A joint mechanism with a large movable range can be realized while minimizing it.
【００２４】請求項３は、例えば、関節上流側部材に設
けた単一のアクチュエータによって関節中間部材を関節
上流側部材に対して第１の支点軸を中心に回転駆動する
際に、関節中間部材と関節下流側部材との間に設けたタ
イミングベルト方式等の巻掛け伝動機構によって関節下
流側部材を関節中間部材に対して同方向に回転駆動する
ように構成したので、関節上流側部材に対する関節下流
側部材及び関節中間部材の２つの部材の駆動を単一のア
クチュエータで行うことができて、部品点数及び組立工
数の削減による低コスト化と合せて、コンパクトであ
り、デザイン上の制約を最小限に抑えつつ可動範囲の大
きな関節機構を実現できる。In a third aspect of the present invention, when the joint intermediate member is driven to rotate about the first fulcrum axis with respect to the joint upstream member by a single actuator provided on the joint upstream member, for example. A timing transmission system such as a timing belt system is provided between the joint downstream member and the joint downstream member to rotate the joint downstream member in the same direction with respect to the joint intermediate member. The drive of the two members, the downstream member and the joint intermediate member, can be performed by a single actuator, and the cost is reduced by the reduction in the number of parts and the number of assembly steps. It is possible to realize a joint mechanism having a large movable range while keeping the minimum.
【００２５】請求項４は、例えば関節上流側部材及び関
節中間部材の２つの部材をそれぞれアーム本体とアーム
ベースの２つの部品で構成して、これらアーム本体とア
ームカバーとの間にアクチュエータ及び伝動機構を組み
込んだので、関節機構全体のコンパクト化及びデザイン
の自由度の向上を図ることができる。According to a fourth aspect of the present invention, two members, for example, a joint upstream member and a joint intermediate member are respectively constituted by two parts of an arm body and an arm base, and an actuator and a transmission are provided between the arm body and the arm cover. Since the mechanism is incorporated, the entire joint mechanism can be made more compact and the degree of freedom in design can be improved.
【００２６】請求項５は、上記した関節機構を歩行用ロ
ボットの脚部及び／又は腕部に組み込んだので、関節機
構の可動範囲を３６０°等に拡大して、その関節部分の
柔軟さを拡大表現することを可能にし、ロボットのおど
けたしぐさ等のパフォーマンスを誇張して表現すること
ができるユニークなエンターティメントロボットを実現
できる。According to a fifth aspect of the present invention, since the above-described joint mechanism is incorporated in the leg and / or the arm of the walking robot, the movable range of the joint mechanism is expanded to 360 ° or the like, and the flexibility of the joint is increased. It is possible to realize a unique entertainment robot capable of expressing in a magnified manner and exaggerating the performance of the robot, such as the jerky gesture.
【図１】本発明を適用した関節機構の第１の実施形態に
おける可動範囲を説明する側面図である。FIG. 1 is a side view illustrating a movable range in a first embodiment of a joint mechanism to which the present invention is applied.
【図２】同上の関節機構の一方向への可動を説明する斜
視図である。FIG. 2 is a perspective view illustrating movement of the joint mechanism in one direction in the same.
【図３】同上の関節機構の他方向への可動を説明する斜
視図である。FIG. 3 is a perspective view illustrating the movement of the joint mechanism in the other direction in the same.
【図４】同上の関節機構の一方向への可動を説明する側
面図である。FIG. 4 is a side view illustrating the movement of the joint mechanism in one direction.
【図５】同上の関節機構の斜視図である。FIG. 5 is a perspective view of the above joint mechanism.
【図６】図５の関節機構の側面図である。FIG. 6 is a side view of the joint mechanism of FIG. 5;
【図７】図５の関節機構の平面図である。FIG. 7 is a plan view of the joint mechanism of FIG. 5;
【図８】図５の関節機構の分解斜視図である。FIG. 8 is an exploded perspective view of the joint mechanism of FIG.
【図９】同上の関節機構の第２の実施形態を説明する側
面図である。FIG. 9 is a side view illustrating a joint mechanism according to a second embodiment.
【図１０】同上の関節機構を適用した本発明の歩行用ロ
ボットを説明する斜視図である。FIG. 10 is a perspective view illustrating a walking robot of the present invention to which the above joint mechanism is applied.
【図１１】同上の歩行用ロボットの動作を説明する斜視
図である。FIG. 11 is a perspective view for explaining the operation of the walking robot.
１は歩行用ロボット、２は胴体部、７は前脚、８は後
脚、９は肩関節、１０は膝関節、２１は関節機構、２２
は関節上流側部材、２３は関節下流側部材、２４は関節
中間部材、２５は第１の支点軸、２６は第２の支点軸、
２７はアクチュエータであるモータ、２８は減速歯車機
構、３０は駆動歯車、３２は従動歯車、３３、３４は歯
車、３５は伝動機構である歯車伝動機構、３６、３７は
タイミングプーリ、３８はタイミングベルト、３９は伝
動機構である巻掛け伝動機構である。1 is a walking robot, 2 is a torso, 7 is a front leg, 8 is a rear leg, 9 is a shoulder joint, 10 is a knee joint, 21 is a joint mechanism, 22
Is a joint upstream member, 23 is a joint downstream member, 24 is a joint intermediate member, 25 is a first fulcrum axis, 26 is a second fulcrum axis,
27 is an actuator motor, 28 is a reduction gear mechanism, 30 is a drive gear, 32 is a driven gear, 33 and 34 are gears, 35 is a gear transmission mechanism as a transmission mechanism, 36 and 37 are timing pulleys, 38 is a timing belt. And 39, a wrapping transmission mechanism which is a transmission mechanism.
Claims (5)
記関節上流側部材及び関節下流側部材の両方に回転自在
に結合された関節中間部材と、 上記関節上流側部材又は関節下流側部材の少なくとも一
方に設けられて、上記関節中間部材を上記関節上流側部
材又は上記関節下流側部材に対して上記第１、第２の支
点軸の一方を中心に回転駆動すると同時に、上記関節下
流側部材又は上記関節上流側部材を上記関節中間部材に
対して上記第１、第２の支点軸の他方を中心にその関節
中間部材と同方向に回転駆動する少なくとも１つのアク
チュエータ及び伝動機構を備えたことを特徴とする関節
機構。1. A joint upstream member, a joint downstream member, and first and second parallel fulcrum shafts provided at both ends are rotatably coupled to both the joint upstream member and the joint downstream member. The joint intermediate member, and the joint upstream member or the joint downstream member provided on at least one of the joint upstream member or the joint downstream member. At the same time as rotating about one of the fulcrum shafts, and moving the joint downstream member or the joint upstream member relative to the joint intermediate member about the other of the first and second fulcrum shafts with respect to the joint intermediate member. A joint mechanism comprising at least one actuator rotatably driven in the same direction as the above and a transmission mechanism.
記関節上流側部材及び関節下流側部材の両方に回転自在
に結合された関節中間部材と、 上記関節上流側部材又は関節下流側部材又は関節中間部
材の何れかに設けられて、上記関節中間部材を上記関節
上流側部材又は上記関節下流側部材に対して上記第１の
支点軸を中心に回転駆動する単一のアクチュエータと、 上記関節中間部材と上記関節下流側部材又は上記関節上
流側部材の間に設けられて、上記関節中間部材が上記第
１の支点軸を中心に回転駆動される際に同期して上記関
節下流側部材又は関節上流側部材を上記関節中間部材に
対して上記第２の支点軸を中心にその関節中間部材と同
方向に同時に回転駆動する歯車伝動機構を備えたことを
特徴とする関節機構。2. A joint upstream member, a joint downstream member, and first and second parallel fulcrum shafts provided at both ends are rotatably coupled to both the joint upstream member and the joint downstream member. The joint intermediate member, and the joint upstream member, the joint downstream member, or the joint intermediate member, the joint intermediate member is disposed on the joint upstream member or the joint downstream member. A single actuator that is driven to rotate about one fulcrum shaft, and is provided between the joint intermediate member and the joint downstream member or the joint upstream member, wherein the joint intermediate member is the first fulcrum shaft The joint downstream member or the joint upstream member is simultaneously rotated and driven around the second fulcrum shaft in the same direction as the joint intermediate member with respect to the joint intermediate member in synchronization with the rotation of the joint intermediate member. Gear transmission mechanism A joint mechanism comprising:
記関節上流側部材及び関節下流側部材の両方に回転自在
に結合された関節中間部材と、 上記関節上流側部材又は関節下流側部材又は関節中間部
材の何れかに設けられて、上記関節中間部材を上記関節
上流側部材又は上記関節下流側部材に対して上記第１の
支点軸を中心に回転駆動する単一のアクチュエータと、 上記関節中間部材と上記関節下流側部材又は上記関節上
流側部材の間に設けられて、上記関節中間部材が上記第
１の支点軸を中心に回転駆動される際に同期して上記関
節下流側部材又は関節上流側部材を上記関節中間部材に
対して上記第２の支点軸を中心にその関節中間部材と同
方向に同時に回転駆動する巻掛け伝動機構を備えたこと
を特徴とする関節機構。3. A joint upstream member, a joint downstream member, and first and second parallel fulcrum shafts provided at both ends are rotatably connected to both the joint upstream member and the joint downstream member. The joint intermediate member, and the joint upstream member, the joint downstream member, or the joint intermediate member, the joint intermediate member is disposed on the joint upstream member or the joint downstream member. A single actuator that is driven to rotate about one fulcrum shaft, and is provided between the joint intermediate member and the joint downstream member or the joint upstream member, wherein the joint intermediate member is the first fulcrum shaft The joint downstream member or the joint upstream member is simultaneously rotated and driven around the second fulcrum shaft in the same direction as the joint intermediate member with respect to the joint intermediate member in synchronization with the rotation of the joint intermediate member. Winding transmission mechanism A joint mechanism comprising:
の関節機構において、 上記関節上流側部材又は関節下流側部材又は関節中間部
材の少なくとも２つの部材をアーム本体とアームカバー
との２部品に構成し、 これらアーム本体とアームカバーとの間に上記アクチュ
エータ及び伝動機構を組み込んだことを特徴とする関節
機構。4. The joint mechanism according to claim 1, wherein at least two members of the joint upstream member, the joint downstream member, and the joint intermediate member are connected to an arm body and an arm cover. A joint mechanism comprising two parts, wherein the actuator and the transmission mechanism are incorporated between the arm body and the arm cover.
求項４に記載の関節機構を歩行用の脚部及び／又は腕部
に組み込んだことを特徴とする歩行用ロボット。5. A walking robot, wherein the joint mechanism according to claim 1, 2 or 3, or 4 is incorporated in a leg and / or arm for walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11040967A JP2000237985A (en) | 1999-02-19 | 1999-02-19 | Articulate mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11040967A JP2000237985A (en) | 1999-02-19 | 1999-02-19 | Articulate mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000237985A true JP2000237985A (en) | 2000-09-05 |
Family
ID=12595250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11040967A Withdrawn JP2000237985A (en) | 1999-02-19 | 1999-02-19 | Articulate mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000237985A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002166379A (en) * | 2000-09-19 | 2002-06-11 | Toyota Motor Corp | Robot to be mounted on movable body and movable body with the robot |
| WO2003000471A1 (en) * | 2001-06-22 | 2003-01-03 | Sony Corporation | Articulated bending mechanism for legged mobile robot, and legged mobile robot |
| JP2006341336A (en) * | 2005-06-08 | 2006-12-21 | Toin Gakuen | Robot arm |
| JP2008200813A (en) * | 2007-02-21 | 2008-09-04 | Kyoto Univ | Bipedal walking robot |
| JP2008260089A (en) * | 2007-04-12 | 2008-10-30 | Toyota Motor Corp | Joint mechanism |
| US20110005093A1 (en) * | 2008-03-19 | 2011-01-13 | Marc Lev Shapiro | Gear actuated angle measurement tool |
| EP2923804A1 (en) * | 2014-03-28 | 2015-09-30 | Samsung Electronics Co., Ltd | Joint assembly and walking assistance robot |
| US9486919B1 (en) * | 2014-08-13 | 2016-11-08 | Google Inc. | Dual-axis robotic joint |
| WO2017133971A1 (en) * | 2016-02-02 | 2017-08-10 | Dieter Mankau | Deflection element |
| JP2020066094A (en) * | 2018-10-24 | 2020-04-30 | トヨタ自動車株式会社 | Communication robot and communication robot control program |
| CN112809735A (en) * | 2021-03-23 | 2021-05-18 | 沈阳航空航天大学 | Compound joint mechanism that deflects of robot |
| US11059189B2 (en) | 2016-07-05 | 2021-07-13 | Sony Interactive Entertainment Inc. | Arm driving apparatus |
| JP2022153046A (en) * | 2021-03-29 | 2022-10-12 | 株式会社ソニー・インタラクティブエンタテインメント | joint unit |
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1999
- 1999-02-19 JP JP11040967A patent/JP2000237985A/en not_active Withdrawn
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002166379A (en) * | 2000-09-19 | 2002-06-11 | Toyota Motor Corp | Robot to be mounted on movable body and movable body with the robot |
| JP4506016B2 (en) * | 2000-09-19 | 2010-07-21 | トヨタ自動車株式会社 | Mobile body mounting robot and mobile body equipped with the same |
| WO2003000471A1 (en) * | 2001-06-22 | 2003-01-03 | Sony Corporation | Articulated bending mechanism for legged mobile robot, and legged mobile robot |
| US7047835B2 (en) * | 2001-06-22 | 2006-05-23 | Sony Corporation | Articulated bending mechanism for legged mobile robot and the legged mobile robot |
| JP2006341336A (en) * | 2005-06-08 | 2006-12-21 | Toin Gakuen | Robot arm |
| JP2008200813A (en) * | 2007-02-21 | 2008-09-04 | Kyoto Univ | Bipedal walking robot |
| JP2008260089A (en) * | 2007-04-12 | 2008-10-30 | Toyota Motor Corp | Joint mechanism |
| US20110005093A1 (en) * | 2008-03-19 | 2011-01-13 | Marc Lev Shapiro | Gear actuated angle measurement tool |
| US8413344B2 (en) * | 2008-03-19 | 2013-04-09 | Marc Lev Shapiro | Gear actuated angle measurement tool |
| US10342724B2 (en) | 2014-03-28 | 2019-07-09 | Samsung Electronics Co., Ltd. | Joint assembly and walking assistance robot |
| EP2923804A1 (en) * | 2014-03-28 | 2015-09-30 | Samsung Electronics Co., Ltd | Joint assembly and walking assistance robot |
| CN104940004A (en) * | 2014-03-28 | 2015-09-30 | 三星电子株式会社 | Joint assembly and walking assistance robot |
| CN104940004B (en) * | 2014-03-28 | 2019-10-29 | 三星电子株式会社 | Joint assembly and walking auxiliary robot |
| US9486919B1 (en) * | 2014-08-13 | 2016-11-08 | Google Inc. | Dual-axis robotic joint |
| US11000958B2 (en) | 2016-02-02 | 2021-05-11 | Festo Ag & Co. Kg | Deflection element |
| CN109562521B (en) * | 2016-02-02 | 2022-04-26 | 菲斯托股份及两合公司 | Deflection element |
| CN109562521A (en) * | 2016-02-02 | 2019-04-02 | 菲斯托股份及两合公司 | Deflecting element |
| WO2017133971A1 (en) * | 2016-02-02 | 2017-08-10 | Dieter Mankau | Deflection element |
| US11059189B2 (en) | 2016-07-05 | 2021-07-13 | Sony Interactive Entertainment Inc. | Arm driving apparatus |
| CN111086010A (en) * | 2018-10-24 | 2020-05-01 | 丰田自动车株式会社 | Communication robot and computer-readable storage medium |
| JP2020066094A (en) * | 2018-10-24 | 2020-04-30 | トヨタ自動車株式会社 | Communication robot and communication robot control program |
| JP7067414B2 (en) | 2018-10-24 | 2022-05-16 | トヨタ自動車株式会社 | Communication robots and control programs for communication robots |
| US11474499B2 (en) | 2018-10-24 | 2022-10-18 | Toyota Jidosha Kabushiki Kaisha | Communication robot and control program of communication robot |
| CN111086010B (en) * | 2018-10-24 | 2022-11-08 | 丰田自动车株式会社 | Communication robot and computer-readable storage medium |
| US11491661B2 (en) | 2018-10-24 | 2022-11-08 | Toyota Jidosha Kabushiki Kaisha | Communication robot and control program of communication robot |
| CN112809735A (en) * | 2021-03-23 | 2021-05-18 | 沈阳航空航天大学 | Compound joint mechanism that deflects of robot |
| JP2022153046A (en) * | 2021-03-29 | 2022-10-12 | 株式会社ソニー・インタラクティブエンタテインメント | joint unit |
| JP7170083B2 (en) | 2021-03-29 | 2022-11-11 | 株式会社ソニー・インタラクティブエンタテインメント | joint unit |
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Legal Events
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