JP2002120187A - Biped robot loaded with storage battery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure the relationship between a storage battery and a rotating shaft, the capacity of the storage battery and make the outline in a compact size in the case of rotating the upper part of a robot trunk to the lower part although the storage battery is heavy and the outline becomes large in some degree in loading a biped robot with the storage battery. SOLUTION: In this biped robot, two legs are extended from the lower end part of a trunk, two arms are extended from shoulder parts of both side parts, the back of the trunk is loaded with the storage battery 30, the trunk is formed of an upper trunk 6 and a lower trunk, and the upper trunk and the lower trunk are relatively rotatable round the rotating shaft 12 provided in the vertical direction. The storage battery is stored as plural storage battery modules 40A, 40B different in capacity integrally in a case 31, the storage battery module 40B with a small capacity among the storage modules is disposed in the central area, and the storage battery modules 40A, 40A with a large capacity are disposed on both sides of the above.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bipedal walking robot equipped with a storage battery as an operating power source, and more particularly to an arrangement of a storage battery mounted on a bipedal walking robot.

[0002]

2. Description of the Related Art A bipedal walking robot is disclosed in
JP-A-97005 and JP-A-63-150176 are known. A bipedal walking robot is basically a humanoid robot, with two legs extending from the waist at the lower end of the torso, and two arms extending from the shoulders on the left and right sides of the torso. The robot is equipped with a head provided with an imaging device for visual recognition of the robot at the upper end of the body.

As a posture stabilization control device for a bipedal walking robot, a technique for performing a posture stabilization control of a robot based on an inverted pendulum type dynamic model has been disclosed by the present applicant in Japanese Patent Application Laid-Open No. Hei 5 (1993) -207.
No. 3,378,849. The posture stabilization control of a robot based on the inverted pendulum type dynamic model disclosed in this publication controls the torque around the ankle of the robot by simulating the behavior characteristics of the vibration of the body position of the robot. In a robot that performs this kind of posture stability control, it is easier to secure the posture of the robot when the center of gravity is higher than when the center of gravity of the entire robot is lower.

[0004]

By the way, the power supply for operating the legs, arms and the like in the above-mentioned robot may be supplied from outside to the robot via a cable. In such a case, the movable range of the robot is limited by the cable, and the handling of the cable becomes complicated. Therefore, it is preferable to mount a storage battery as a power supply for operating the robot. In addition, when mounting the storage battery, the storage battery is heavy, the outer shape is also somewhat large, and when the upper part of the robot body mounting the storage battery is rotatable with respect to the lower part, the relationship between the storage battery and the rotating shaft, the capacity of the storage battery There are issues to be solved, such as securing and reducing the size of the outer shape.

The present invention has been made in view of the above problems, and an object thereof is to provide a robot equipped with a storage battery as a power source for operation, wherein the storage battery is mounted on the back of an upper part of a rotatable body. An object of the present invention is to provide a bipedal walking robot equipped with a storage battery capable of securing the capacity of the storage battery while avoiding interference between a rotating shaft for rotating the body and the storage battery. Another object of the present invention is to provide a storage battery capable of preventing the influence of the moment of inertia around the rotation axis due to the mass of the storage battery during rotation of the body while mounting the storage battery on the rotatable body. An object of the present invention is to provide an onboard bipedal walking robot. Still another object of the present invention is to provide a bipedal walking robot equipped with a storage battery, which is compact in external shape when mounting the storage battery on a rotatable body.

[0006]

According to a first aspect of the present invention, two legs are extended from the lower end of the body.
Two arms are extended from shoulders on both sides, a storage battery is mounted on the back of the body, the body is composed of an upper body and a lower body, and an upper body and a lower body are provided in a vertical direction. Biped walking robot that can rotate relatively around the rotation axis
The storage battery is integrally housed in a case as a plurality of storage battery modules having different capacities, and among the storage battery modules, a storage battery module having a small capacity is disposed at a central portion, and a storage battery module having a large capacity is disposed on both sides thereof.

According to the first aspect, the storage battery module having a small capacity is disposed at the center and the storage battery module having a large capacity is disposed on both sides thereof. Therefore, the rotating shaft can be disposed near the storage battery module at the center having the small capacity. Thereby, interference between the rotating shaft and the storage battery can be avoided. In addition, by arranging the storage battery modules having a large capacity on the left and right and arranging the storage battery modules in the front-rear direction, the width of the entire storage battery in the left-right direction is suppressed, and the capacity of the storage battery is ensured while reducing the external size. be able to.

According to a second aspect of the present invention, in the first aspect, the storage battery module having a large capacity is housed in a case protruding toward the front of the body so as to surround the rotating shaft.

In the second aspect, the left and right storage battery modules having a large capacity are housed in a case protruding toward the front of the body to constitute the storage battery module. Therefore, the rotating shaft has a central portion in which the amount of forward projection of the storage battery is small. In the vicinity of the storage battery module, and the left and right storage battery modules having a large forward protrusion amount, the front protruding portions are disposed on the left and right sides of the rotation axis, so as to surround the rotation axis, the storage battery module as a whole around the rotation axis. This arrangement prevents an increase in the moment of inertia around the rotation axis due to the mass of the storage battery when the body on which the storage battery is mounted is rotating, thereby preventing the influence of the moment of inertia.

A third aspect of the present invention is characterized in that, in the second aspect, the front side of the protruding case is tapered.

According to the third aspect, since the left and right storage battery modules are tapered, they are made to protrude forward, and are less protruded to the side of the rotating shaft, so that interference with the rotating shaft is effectively avoided. With the protrusion, the external dimensions of the storage battery, particularly the width dimension on the left and right sides, can be suppressed and the size can be reduced while securing the capacity.

[0012]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. In the drawings, the arrow Fr is defined as the front, and the arrow Rr is defined as the rear. Note that the front-back direction of the robot is a direction perpendicular to the direction in which the two legs of the robot are arranged side by side (the left-right direction of the robot) and the up-down direction (vertical direction) in the upright state of the robot. FIG. 1 is a side view showing an upright state of a bipedal walking robot according to one embodiment of the present invention.
The outline of the bipedal walking robot 1 will be described with reference to FIG.
The bipedal walking robot 1 includes a torso 2, a leg 3, an arm 4, and a head 5 provided at an upper end of the torso 2. In the figure, leg 3,
The upper body 4 is shown one by one, but the leg 3 and the arm 4 are provided as a pair on the left and right, and the leg 3 and the arm 4 shown in the figure are on the right side toward the front of the robot. Of the leg and arm.

The body 2 of the robot 1 is divided vertically into an upper body 6 above the imaginary line X and a lower body 7 below, and left and right arms 4 are provided on both sides of the upper body 6. The head 5 is supported at the upper end. On the head 5,
A visual imaging device or the like for a robot (not shown) is provided. On the back of the upper body 6, a storage battery 3, which will be described in detail later, is provided.
0 is mounted. A sub-body 8 that covers the storage battery 30 is provided on the back surface of the upper body 2. The left and right legs 3 are connected to the lower end of the lower body 7, and a control unit 10 (electronic circuit unit "ECU" having a microcomputer or the like) for controlling the operation of the robot is installed and mounted on the back of the lower body 7. Sub-body 9 is provided.

The sub-body 8 of the upper body 6 is
It is a box-shaped thing detachably attached to the back of
The sub-body 9 of the lower torso 7 has a box-like shape similar to a back sac that is detachably attached to the back of the lower torso 7. A storage battery 30 housed and mounted in the sub-body 8 of the upper body 6 is removably supported by the support member 14 on the upper body 6 side, and is also housed in the sub-body 9 of the lower body 7 and mounted. 10 is detachably supported by a support member 15 on the lower body 7 side.

Inside the upper body 6 and the lower body 7, a rotating mechanism 11 for rotating the upper body 6 and the lower body 7 relative to one another with respect to one of the upper body 6 and the lower body 7 with the rotating shaft 12 directed up and down. ,is set up. The upper part 11 a of the rotating mechanism 11 is attached to and supported by the upper body 6, and the lower part 11 b is attached to and supported by the lower body 7. Thus, the upper body 6 and the lower body 7 are connected to each other around the rotation axis 12 by the rotation mechanism 11 so as to be relatively rotatable.

FIG. 1 shows a basic posture state in which the front and rear directions of the upper body 6 and the lower body 7 are aligned, and shoulder portions 13 are provided on the left and right sides of the upper body 6. The shoulder 13 has a built-in shoulder joint mechanism (not shown), from which each of the arms 4 is extended, and each of the arms 4 is connected to the hand portion 4 a and the shoulder 1.
3 are provided with joints 4b and 4c. Also, each leg 3
A knee joint 3c and an ankle joint 3d are provided between the foot 3a and the hip joint 3b.

The outline of one embodiment of the bipedal walking robot has been described above. Although not shown, in addition to the above-described configuration, an electric motor for driving the imaging device incorporated in the head 5 on the lower side, an electric motor for driving the joints of the legs 3 and the arms 4, and the like. For detecting the rotational position of the electric motor (rotational position of each joint), the sensor for detecting the load and moment acting on the foot 3a of the leg 3 and the tip 4a of the arm 4, A sensor or the like for detecting an inclination angle and an inclination angular velocity is also provided.

The center of gravity of the bipedal walking robot 1 in the present embodiment is, for example, the position of the point a when the storage battery 30 is removed in the upright state as shown in FIG. When the center of gravity is supported by the support member 14 in the sub-body 8 and mounted on the robot, the center of gravity is set to a point b above the center of gravity a by P, and the center of gravity b is located behind the center of gravity a by Q behind. To position. The center c of the shoulder portion 13 is provided on the upper body 6 so as to be located forward of the center of gravity point a.

In the arrangement of the center of gravity described above, the center of gravity b of the storage battery 30, which is a heavy object, is located above the reference center of gravity a, so that the center of gravity of the entire robot with the storage battery 30 mounted on the robot is: The robot is located at a position higher than the upper end of the entire robot (a position higher than the reference gravity center point a). For this reason, the behavior characteristics of the posture of the robot more closely match the behavior characteristics of the inverted pendulum, and as a result,
By performing the posture stabilization control based on the inverted pendulum type model, the posture stabilization control of the robot can be appropriately performed, and the stability of the posture of the robot can be sufficiently ensured. Also, since the center c of the shoulder 13 is located forward of the reference center of gravity point a and closer to the front of the robot, extending the arm 4 forward causes the tip 4a of the arm 4 to It reaches a relatively distant place in front, and it is possible to grip an object at a distant place.

FIG. 2 is a front view of the body 2 of the robot 1 shown in FIG. As shown, the shoulder 13 is the upper body 6 of the body 2.
The left and right arms 4, 4 extend from the shoulders 13, 13, respectively. The storage battery 30 mounted and supported on the back of the upper body 6 by the support member 14 has a width in the left-right direction that is sufficiently smaller than the shoulder width W, and is located inside the shoulder width W. The width W1 of the sub-body 8 containing the storage battery 30 shown by the broken line
Is sufficiently narrower than the shoulder width W and is positioned inside the shoulder width W. The upper end of the storage battery 30 is located below the upper end of the head 5.

FIG. 3 is an explanatory plan view of the upper body 6 of the robot, including other embodiments. Although the width in the left-right direction of the storage battery 30 is the width inside the shoulder width W, it is wider than that in FIG. 2 as W2. The sub-body 8A that covers the outside of the storage battery 30 is wider than the above-described sub-body 8, but has a width inside the shoulder width W and does not protrude outside the shoulder width W, but is inside the shoulder width W. In FIG. 2, the wide sub-body 8A is indicated by a chain line.

The storage battery 30 shown in FIG. 3 has left and right storage battery modules 40A, 40A each having a large capacity in which seven storage cells 43...
And a central storage battery module 40B having a small capacity in which the storage battery cells 43 are accommodated in the inner case. Each of the storage battery modules 40A, 40A, 40B is described later.
Are stacked one above the other. Storage battery module 40
In A, 40A, and 40B, the left and right portions 30a, 30a are long forward and the front-back length is large (dimension L1) with respect to the rear surface 30d. The central portion 30b has a rectangular shape in a plan view, and dives backward with respect to the front of the left and right ones (40A, 40A).
The length is short (dimension L2) relative to the left and right with respect to the rear surface 30d, and is concave in plan view.

The left and right storage battery modules 40A, 40A
Is that the tip portions 30c, 30c have a tapered shape in a plan view,
One storage battery cell 43 is provided at the tapered tip, two storage batteries 43 at the left and right, three locations at the front and back, and six storage batteries 43.
A total of seven storage battery cells 43 are stored. The storage battery module 40B at the center accommodates a total of six storage battery cells 43, two on the left and right and three on the front and back.

The storage battery 30 is mounted on the back of the upper body 6 via a sub-body 8 (8A), and the rotating shaft 12 of the upper body 6 is located at the center of the storage battery module having a small capacity that dives behind the storage battery 30. It is arranged in front of 40B. The left and right storage battery modules 40A, 40A having a large capacity of the storage battery 30 have the left and right front portions 30a, 30a tapered at the rear left and right portions near the rotating shaft 12. The upper body 6 rotates left and right about the rotation axis 12 with respect to the lower body 7 as shown by arrows.

The storage battery 30 is integrally housed in the outer case 31 as storage battery modules 40A, 40B, 40A having different large and small capacities, and the storage battery module 40B having a small capacity among the storage battery modules is disposed at the center.
This means that the storage battery modules 40A, 40A having a large capacity are arranged on both sides thereof. Thereby, the rotating shaft 12
In the vicinity of the storage battery module 40B in the central portion having a small capacity,
In the embodiment, it can be arranged close to the front.
Thereby, interference between the rotating shaft 12 and the storage battery 30 can be avoided.

The storage battery module 40A having a large capacity
The storage battery modules 40A, 4
Since 0A is disposed in the front-rear direction of the upper body 6 including the sub-body 8 (8A), the width dimension of the entire storage battery 30 in the left-right direction can be suppressed. As a result, the capacity of the storage battery can be ensured while reducing the size of the storage battery 30 in size.

The left and right storage battery modules 4 having a large capacity
0A and 40A were housed in a case protruding toward the front of the body so as to surround the rotating shaft 12. When the upper body 6 rotates as indicated by the arrow, the left and right storage battery modules 40 </ b> A, 40 </ b> A having a large capacity turn around the rotation axis 12 so as to surround the rotation axis 12. Therefore, when the upper body 6 on which the storage battery 30 is mounted rotates, an increase in the moment of inertia around the rotating shaft 12 due to the mass of the storage battery 30 can be prevented, and the influence of the moment of inertia can be prevented.

The left and right storage battery modules 40 having a large capacity
A and 40A are housed in left and right portions 30a and 30a (portions having left and right tapered tips 30c and 30c) of a case 31 protruding toward the front side of the upper body 6, thereby forming a storage battery module. The shaft 12 is near the storage battery module 40B in the center where the amount of protrusion of the storage battery 30 forward is small. In the left and right storage battery modules 40A, 40A having a large forward protrusion amount, the front protrusions are arranged on the left and right of the rotating shaft 12, so as to surround the rotation axis, and the entire storage battery module is rotated around the rotation axis. It will be arranged. Therefore, during rotation of the upper body 6 on which the storage battery 30 is mounted as described above, an increase in the inertia moment around the rotation axis due to the mass of the storage battery 30 can be suppressed, and the influence of the inertia moment can be reduced.

Also, since the front side of the case of the storage battery 30 is tapered and is projected forward, the left and right portions of the storage battery are tapered so that the rotation shaft 12 projects little to both sides while projecting forward. By interfering with the rotating shaft 12 and projecting forward with the taper, the external dimensions of the storage battery, particularly the left and right widths can be suppressed and the storage battery can be made compact while securing the capacity of the storage battery.

As described above, in the robot 1, the storage battery is mounted on the back of the upper torso of the torso, below the head provided at the upper end of the torso, and within the shoulder width of the torso. Accordingly, the center of gravity of the entire robot in a state where the above-described storage battery 30 is mounted on the robot can be located at a height higher than the upper end of the entire robot, and the posture stabilization control of the robot performed based on the inverted pendulum type model can be performed. This can be performed properly, and the stability of the posture of the robot can be reliably ensured.

FIG. 4 is a partially cutaway perspective view showing an embodiment of a storage battery and a structure for supporting the storage battery on the upper body of the robot. The storage battery 30 includes an outer case 31 including a main body 32 having a bottom and a cover 33 serving as a lid;
Are stored and held therein, and the storage battery modules 40 store and hold a plurality of storage cells described later in an inner case. In the figure, a housing 16 of a rotating mechanism 11 installed in an upper body 6 is provided with a through hole 16 a for a rotating shaft 12, and a substantially L-shaped support member 14 extends rearward on the rear surface of the housing 16.

A C-shaped lock claw 19 is rotatably provided on the rear surface of the housing 16, and the lock claw 19 is an L-shaped link 18.
The L-shaped link 18 is connected to a support table 17 disposed on the support member 14. On the front surface of the main body 32 of the outer case 31, a lock bar 34 is horizontally mounted and fixed, and an upper holding plate 20 is provided above a cover 33 constituting a lid. The figure shows a state immediately before the storage battery 30 is mounted and supported. When the storage battery 30 is moved in the front Fr direction, the lock bar 34 engages with the valley portion 19a opened to the rear of the lock claw 19 and rotates it. As a result, the L-shaped link 18 swings, the supporting table 17 on the supporting member 14 connected to the link 18 moves up, supports and lifts the bottom of the storage battery 30 (the bottom of the outer case), and the cover 33 holds the upper holding plate. Storage battery 3 on the lower surface of 20
0 and hold it.

FIG. 5 is an exploded perspective view of the storage battery 30, and FIG.
FIG. 3 is a cross-sectional plan view of the storage battery module. The storage battery 30 will be described with reference to these figures. The storage battery 30 has the bottom as described above, and a plurality of, in the embodiment, six storage battery modules in the outer case 31 including the case main body 32 opened upward and the inverted concave dish-shaped cover 33 constituting the lid. 40 ... are stored. The storage battery modules 40 ...
Specifically, it is composed of four side modules 40A arranged on both sides and stacked vertically, and two central modules 40B, 40B arranged above and below the center.

The four storage battery modules 40A, which are vertically stacked on the left and right, and the upper and lower storage battery modules 40B, 40B at the center are collectively made up as one unit. Insert and store inside the main unit. After storage, the cover 33 is attached to the cover body 3
2 to form a storage battery 30.

The storage battery modules 40A on both sides have the same shape, and the storage battery module 40B at the center has the same shape at the top and bottom. As shown in FIGS. 5 and 6, the storage battery modules 40A on both sides are provided with an inner cover 41 having a bottom and a cover plate 42. The inner cover 41 is long in the front-back direction in plan view, and the front portion 41a has a tapered shape. In the embodiment, seven storage battery cells 43, one in the tapered front portion 41a, three in the left and right two in the wide body portion 41b, six for convenience, and a total of seven.
... is stored.

The storage battery module 40B at the center has an inner case 44 and a cover plate 45 which are long in the front and rear and are rectangular in a plan view. To store. The seven storage battery cells 43 are stored and held by the inner case 41 and the cover plate 42, and the storage battery modules 40A on both sides are vertically stacked, and the six storage battery cells 43 are stored by the inner case 44 and the cover plate 45. The held central storage battery modules 40A are vertically stacked,
The storage battery 30 was collectively housed in the outer case 31 shown in FIG. A storage battery module 40A that stores and holds seven storage cells 43, and a storage battery module 40B that stores and holds six storage cells 43.
B are connected in series in each module, and the storage battery modules 40A, 40B are connected in series.

FIG. 7 is an exploded perspective view of the storage battery modules 40A on both sides. The inner case 41 is formed of an insulating synthetic resin, and in the embodiment, includes a concave portion 41c having an arc shape in a plan view that follows the outer half portion of the storage battery cell 43.
Three pieces are provided before and after inside the left and right portions of the tip portion 41a and the trunk portion 41b. The bottom is closed by a bottom plate 41c.
Each of the seven cylindrical storage battery cells 43 has one tip 41a.
6 are stored in the body 41b, and the battery cells 43 are positioned by fitting a part of the outer periphery into the recesses 41c, and are provided on the inner bottom of the inner case 41 and the lower surface of the top of the cover plate 42. , And is positioned in the case 41 to prevent backlash in the inner case 41 and the cover plate 42.

The storage cells 43 are inserted into the inner case 41 for positioning and storage.
Cover plate 42 is fixed to the upper end of the inner case 41 via screws 46. FIG. 8 shows a state in which the cover plate 42 is put on the inner case 41 and fixed with screws 46 to form the storage battery modules 40A on both sides.

FIG. 9 shows the storage battery module 40B at the center.
FIG. The module 40 </ b> B includes an inner case 44 having a bottom and having a rectangular shape in a plan view, which is long in the front-rear direction, and a cover plate 45 which closes a rear portion of an upper end of the case 44. The front and rear inner walls and the left and right inner walls of the inner case 44 are provided with arc-shaped concave portions similar to the above, and the six storage battery cells 43 are formed by protrusions provided on the inner top surface of the cover plate 43 and the inner bottom of the inner case 44. Storing while positioning and preventing backlash,
Hold.

FIG. 10 shows a case body 32 of an outer case 31 constituting the outer shape of the storage battery 30 and a cover 33 serving as a cover plate.
FIG. On the bottom upper surface 32b of the case body 32 and the lower surface 33b of the top of the cover 33, positioning projections 32a,..., 33a, which are engaged with the bottom and top of the battery modules 40A, 40B stacked vertically.
The positioning projections 32a and 33a are
0A and 40B are formed so as to surround the bottom and top of the storage battery module 40A.
In the case of 0B, the front and rear sides of the rectangle are longer than the left and right sides by one storage battery cell.

As shown in FIG. 10, two upper and lower left and right storage battery modules 40A and an intermediate storage battery module 40B are inserted from the upper open portion 32b of the outer case main body case 32 into the case main body 32. Bottom upper surface 32b
Of the battery modules 44A, 44B, which are mounted so as to fit into the projections 32a of the storage battery modules 44A, 44B.
... is fitted to the top. Thereafter, screws 46a are screwed from appropriate places around the periphery of the cover 33, and the cover 33 is connected to the case body 32, thereby forming the storage battery 30. This state is shown in FIG.
Indicated by 1.

FIG. 12 is a schematic explanatory view showing the connection state of the storage battery modules 40. In the embodiment, the storage battery 30 is composed of four storage battery modules 40A... Storing seven storage battery cells on both sides, and two storage battery modules 40B and 40B storing six storage battery cells at the center. These storage battery modules are denoted by symbols A to F. The storage battery modules 40A, ..., 40B, 40B
They are connected in series via a wiring 47 and a terminal 48. In the embodiment, a fuse 49 is provided on the positive electrode side and connected to a general terminal 50 together with the negative electrode.

FIG. 14 is an explanatory perspective view showing an example of quality check using connection terminals provided outside the storage battery module. Connection terminals 50 and 51 are provided outside the back surface of the inner case main body 41 of the storage battery module 40A. With the external connection terminals 50 and 51, the adjacent storage battery module 40
A or 40B and the wiring 47 are connected in series. The appearance is shown in FIG. 5 and schematically in FIG.

External connection terminal 5 of storage battery module 40A
Numerals 0 and 51 are exposed to the outside of the back surface of the inner case main body 41. For example, a voltmeter 52 can be connected to this to measure the voltage of the storage battery module 40A. Or, it is displayed as analog information. Thereby, the voltages of the storage battery modules 40 of the storage battery 30, that is, the individual storage battery modules of 40A, 40B, 40B can be measured. Thereby, the quality of charge / discharge of each storage battery module can be confirmed.

Incidentally, the storage battery cell is preferred in the embodiment because it has a large energy density, is lightweight, can be driven for a long time, and allows the biped robot to perform operations such as walking and working. A lithium ion secondary battery was used.

[0046]

According to the present invention, the following effects are exhibited by the above configuration. Claim 1 has two legs extending from the lower end of the body, two arms extending from the shoulders on both sides, a storage battery is mounted on the back of the body, and the body is mounted on the upper part. In a bipedal walking robot that consists of a torso and a lower torso, and the upper torso and the lower torso can be relatively rotated around a rotation axis provided in a vertical direction, storage batteries are integrated into a case as a plurality of storage battery modules having different capacities. The storage battery module having a small capacity among the storage battery modules was disposed at the center, and the storage battery modules having a large capacity were disposed on both sides thereof.

According to the first aspect, the storage battery module having a small capacity is disposed at the center and the storage battery module having a large capacity is disposed at both sides thereof. Therefore, the rotating shaft can be disposed near the storage battery module at the center having the small capacity. Thereby, interference between the rotating shaft and the storage battery can be avoided. In addition, by arranging the storage battery modules having a large capacity on the left and right and arranging the storage battery modules in the front-rear direction, the width of the entire storage battery in the left-right direction is suppressed, and the capacity of the storage battery is ensured while achieving a compact external shape. be able to.

According to a second aspect of the present invention, in the first aspect, the storage battery module having a large capacity is housed in a case protruding toward the front of the body so as to surround the rotating shaft.

In the second aspect, the left and right storage battery modules having a large capacity are housed in a case protruding toward the front of the body to constitute the storage battery module. Therefore, the rotating shaft has a central portion in which the amount of forward projection of the storage battery is small. In the vicinity of the storage battery module. In the left and right storage battery modules having a large forward protrusion amount, the front protrusion portions are arranged on the left and right sides of the rotation axis, so as to surround the rotation axis. Therefore, since the entire storage battery module is disposed around the rotation axis, it is possible to prevent an increase in the moment of inertia around the rotation axis due to the mass of the storage battery during rotation of the body on which the storage battery is mounted, and to reduce the influence of the moment of inertia. Can be prevented.

According to a third aspect, in the second aspect, the front side of the projecting case is tapered.

According to the third aspect of the present invention, the left and right storage battery modules are tapered, so that the left and right storage battery modules are made to protrude forward and have little protrusion to the side of the rotary shaft, so that interference with the rotary shaft can be avoided. With the protrusion, the external dimensions of the storage battery, particularly the widths on the left and right sides, can be suppressed and the size can be reduced while securing the capacity.

[Brief description of the drawings]

FIG. 1 is a side view showing an upright state of a bipedal walking robot according to an embodiment of the present invention.

FIG. 2 is a front view of the body of the robot 1 of FIG. 1;

FIG. 3 is an explanatory plan view of an upper torso of a robot, including another embodiment.

FIG. 4 is a partially broken perspective view showing an embodiment of a storage battery and a support structure of the storage battery to the robot upper body.

FIG. 5 is an exploded perspective view of a storage battery.

FIG. 6 is a cross-sectional plan view of the storage battery module.

FIG. 7 is an exploded perspective view of the storage battery modules on both sides.

8 is an external perspective view of the storage battery module of FIG.

FIG. 9 is a perspective view showing a storage battery module in the center.

FIG. 10 is an exploded vertical cross-sectional view of a case body of an outer case and a cover serving as a cover plate, which constitute the outer shape of the storage battery.

FIG. 11 is a longitudinal sectional view showing a state where the case body and the cover of FIG. 10 are screwed together.

FIG. 12 is a schematic explanatory view showing a connection state of a storage battery module.

FIG. 13 is an explanatory perspective view showing an example of quality confirmation using a connection terminal provided outside a storage battery module.

[Explanation of symbols]

1 ... biped robot, 2 ... torso, 3 ... legs, 4
... arms, 5 ... head, 6 ... upper torso, 7 ... lower torso,
12: rotating shaft, 30: storage battery, 31: case,
40, 40A, 40B ... storage battery modules.

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Toritsu Kuwahara 1-10-1 Shinsayama, Sayama-shi, Saitama Honda Engineering Co., Ltd. (72) Inventor Atsushi Demachi 1-10-1 Shin-Sayama, Sayama-shi, Saitama Honda Engineering Co., Ltd. (72) Inventor Toshiyuki Higashi 1-10-10, Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Kenichi Ogawa 1-4-1, Chuo, Wako City, Saitama Stock Company Inside Honda R & D Co., Ltd. (72) Inventor Takuro Koyanagi 1-4-1, Chuo, Wako-shi, Saitama, Japan Stock Company Inside Honda R & D Co., Ltd. (72) Susumu Miyazaki 1-4-1, Chuo Wako City, Saitama, Co. 3F060 BA07 CA14 CA26 GD12 HA02 HA06 HA13 HA35 HA40 5H040 AS00 AY04

Claims (3)

[Claims] 1. Two legs are extended from a lower end of a body,
Two arms are extended from shoulders on both sides, a storage battery is mounted on the back of the body, the body is composed of an upper body and a lower body, and an upper body and a lower body are provided in a vertical direction. In a bipedal walking robot capable of relative rotation around a rotation axis, the storage batteries are integrally housed in a case as a plurality of storage battery modules having different capacities, and a storage battery module having a small capacity among the storage battery modules is provided at a central portion. A bipedal walking robot equipped with a storage battery, wherein a storage battery module having a large capacity is arranged on both sides thereof. 2. The storage battery module having a large capacity,
The bipedal walking robot equipped with a storage battery according to claim 1, wherein the robot is housed in a case protruding toward the front side of the body so as to surround the rotating shaft. 3. The bipedal walking robot equipped with a storage battery according to claim 2, wherein a front side of the protruding case is tapered.