JP2003135862A - Body structure of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a body structure of a robot for its assembling and maintenance. SOLUTION: The body structure 100 is divided into a base module 10, two of first and second modules 30 and 40, and an intermediate module 50. The first and second modules 30 and 40 are mounted to the base module 10 in such a manner as to be slidable in opposite directions (longitudinal direction) via a slide mechanism. The intermediate module 50 is fitted into the opposing spaces of the two modules 30 and 40. The intermediate module 50 and the two modules 30 and 40 are connected together via a module connecting mechanism. The slide mechanism comprises a guide groove part of the base module 10 and tongues of the first and second modules 30 and 40. The module connecting mechanism comprises projecting portions of the base module 10 and recesses in the first and second modules 30 and 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a robot, such as a structure of an animal.

[0002]

2. Description of the Related Art In a robot, for example, a robot produced by covering a doll with a stuffed animal, which has a limb like a cat, the body has a larger volume than the head and tail. Therefore, it is advantageous to deploy an operation control electric unit for controlling the operation of the structure utilizing the body portion. When the operation control electric unit is arranged in the body part, in order to facilitate the maintenance, the structure forming the body part is divided into a plurality of modules, and It is desirable that the module can be easily attached and detached. On the other hand, conventionally, the structure has been divided into a plurality of modules, and the respective modules have been screwed and connected.

[0003]

However, if a structure in which a plurality of modules forming a structure is screwed and connected is adopted, the troublesome work of screwing when connecting these modules to form a structure is avoided. In addition to being forced to do so, when performing maintenance of the operation control electric unit arranged in the body portion, it is necessary to remove the screws at the connection points between the modules one by one, which is a troublesome work. For this reason, the conventional robot has problems that the assembly line of the structure is complicated and that maintenance workability is poor.

The present invention has been made in view of the above problems, and it is possible to improve the assemblability of the structure to facilitate the maintenance of the assembly line and to facilitate the assembly / disassembly work of the structure. The object of the present invention is to provide a structure structure of a simple robot.

It is another object of the present invention to provide a robot structure structure capable of facilitating the assembling / disassembling work by eliminating the screwing work and the screw removing work from the assembling / disassembling work of the structure.

A further object of the present invention is to provide a robot structure structure capable of improving the assembling property of the body portion of a quadruped animal robot and facilitating the assembling and disassembling work thereof.

A further object of the present invention is to provide a structure structure of a robot which enables maintenance of an electric unit for motion control by simply removing one of a plurality of divided modules.

[0008]

In the structure of a robot according to the present invention, a plurality of the above-mentioned modules provided in the structure of the robot divided into a plurality of modules are attached to a base module and the base module. 1 and 2 disposed opposite to each other at positions spaced apart from each other
One module and an intermediate module arranged in the facing space of the first and second two said modules. The first and second two modules are slidably mounted in a facing direction via a slide mechanism, and the two modules and the intermediate module are mounted in a facing direction via a module connecting mechanism. Are connected in the engaged state.

According to the present invention, the first and second modules slidably attached to the base module are connected to the intermediate module through the module connecting mechanism to integrate the three modules.

In the present invention, the above-mentioned base module is provided with a first
And a second receiving surface provided on each of the two above-mentioned modules to define a minimum facing distance between them.

According to this, the positions of the two modules are regulated with respect to the base module simply by bringing the respective contact surfaces of the first and second modules into contact with the receiving surface of the base module. Therefore, 2 intermediate modules
The work of deploying the two modules in the facing space becomes easy.

In the present invention, the module connecting mechanism is
It is desirable to have a convex portion and a concave portion that can be inserted into and removed from the intermediate space of the intermediate module with respect to the facing space of the first and second two modules.

According to this, the intermediate module and the two modules on both sides of the intermediate module are connected via the module connecting mechanism only by performing the operation of fitting the intermediate module into the facing space of the two modules attached to the base module. Are connected. In addition, install the intermediate module on both sides
It is possible to detach only the intermediate module from the base module by simply extracting it from between the two modules.

In the present invention, one end and the other end of the intermediate module are respectively connected to the first module and the second module via the separate module connecting mechanism, and the module connecting mechanism is It is preferable that the convex portion and the concave portion are provided separately for the intermediate module and the first and second two modules. According to this, since the module coupling mechanism does not form a separate component with respect to the intermediate module or the first and second modules, it is possible to provide the robot structure structure inexpensively without increasing the number of components. Become.

In the present invention, it is desirable that the base module is provided with a space for disposing the electric unit for controlling the operation of the robot, facing the facing space. According to this, only by removing the intermediate module, the space facing the facing space is exposed in the facing space between the first and second modules. Therefore, by arranging the operation control electric unit in the space, the maintenance can be performed only by removing the intermediate module.

According to the present invention, the slide mechanism has a guide groove portion extending in the facing direction and a ridge guided by the guide groove, and one of the guide groove portion and the ridge is provided in the base module. And the other is the first and second two
It is desirable to be equipped in one module. According to this, since the slide mechanism does not form a separate component with respect to the base module and each of the first and second modules,
The robot structure structure can be provided at low cost without increasing the number of parts.

In the present invention, it is preferable that the contact surface is formed by the inward end surfaces of the first and second modules, and the receiving surface is provided at the inner end of the guide groove. According to this, when attaching the first and second two modules to the base module, it is possible to visually confirm whether or not the contact surface is in contact with the receiving surface, not only by the feel of the hand but also by the eyes. Therefore, the two modules can be reliably attached to the base module at proper positions.

In the present invention, the base module, the first and second two modules, and the intermediate module may form a body portion of the body structure imitating a limb animal. . According to this, each action described above can be exhibited in an animal robot such as a cat robot.

In the present invention, the base module forms the lower half of the body, and the first and second two modules and the intermediate module form the upper half of the body. Is desirable. According to this, it becomes possible to easily perform maintenance of the operation control electric unit and the like from above the body by removing the intermediate module.

[0020]

1 is a schematic side view showing a structure 100 of a cat robot which is an example of a robot to which the present invention is applied, FIG. 2 is a schematic perspective view of a base module 10, and FIG. 3 is a first module 30. FIG. 4 is a schematic perspective view showing the second module 40 seen obliquely from below, FIG. 4 is a schematic front view showing the intermediate module 50, FIG. FIG. 7 is a schematic partial plan view showing a state in which the first and second modules 30 and 40 are attached. FIG. 7 shows the intermediate module 50 on the base module 10 to which the first and second modules 30 and 40 are attached.
Fig. 8 is a partially cutaway side view with the attached
FIG. 8 is a schematic enlarged cross-sectional view of a portion taken along line VIII-VIII of FIG.

The cat robot structure 100 shown in FIG.
It is wrapped in a covering material (not shown) made to look like the appearance of an actual living cat, and plays a role in keeping the shape of the cat robot. This structure 100 includes a body 11
In addition to the neck portion 120, the head portion 130, and the tail portion 160, the front and rear leg portions 140 and 150 are attached to the No. 0 via pivot shafts 144 and 154. Further, the joint portion 14 is attached to the leg portions 140 and 150.
1, 143, 151, 152, 153, and the joints 141, 143, 151, 152, 153 perform the same movements as the leg of an actual living cat. In addition, this cat robot operates by using the built-in battery as a power source.

The body 110 is formed by combining a plurality of modules. Specifically, the base module 10 shown in FIG. 2, the first and second modules 30 and 40 shown in FIG. 1, the intermediate module 50 shown in FIG. 1, and the left and right pairs shown in FIG. It is divided into front and rear modules 60 and 70 for mounting legs (the left modules 60 and 70 do not appear in the figure).

As shown in FIG. 2, the base module 10 has a recess 12 having an open upper portion at the center in the front-rear direction of a flat upper surface 11 which extends in the front-rear direction. Has guide groove portions 13 and 14 extending in the front-back direction. In addition, the inner surface of the front guide groove portion 13 and the front end portion of the rear guide groove portion 14 each have a receiving surface 1 that extends to the left and right sides of the guide groove portions 13 and 14, respectively.
5, 16 (see FIGS. 2 and 6) are provided. Further, mounting portions 17 having screw holes 18 are integrally provided on the left and right sides of the recess 12, respectively.

As shown in FIG. 1, the first module 30 defines the shoulder of the body 110 and the portion that follows it. Figure 3
This first module 30 has a flat lower surface 31
Has a pair of left and right ribs 32 that are long in the front-rear direction, and a convex strip 33 protruding inward in the left-right direction is integrally provided at the lower ends of these ribs 32. In the illustrated example, the ribs 32 and the ridges 33 are divided in the front and rear by the recesses 34, but at this point, the ribs 32 and the ridges 33 may be formed in a continuous shape in the front-rear direction. Further, a part of the inward end surface of the first module 30 forms a contact surface 35 with respect to the receiving surface 15 shown in FIG. Further, a horizontally long protrusion 36 protruding rearward from the inward end face is provided on the other portion of the inward end face of the first module 30.
A concave portion 37 is formed on the surface as shown in FIGS.

As shown in FIG. 1, the second module 40 defines a rear portion of the body 110 and a portion subsequent thereto. Figure 4
This second module 40 has a flat lower surface 41
Has a pair of left and right ribs 42 that are long in the front-rear direction, and the ribs 43 that project inward in the left-right direction are integrally provided at the lower ends of these ribs 42. In the illustrated example, the ridge 43 is divided into front and rear by the recess 44, but this point is
3 may be formed in a continuous shape in the front-rear direction. Further, a part of the inward end surface of the second module 40 forms a contact surface 45 with respect to the receiving surface 16 shown in FIG. Then, a laterally long protrusion 46 protruding forward from the inward end face is provided on the other portion of the inward end face of the second module 40, and a recess 47 is formed in the protrusion 46 as shown in FIGS. 6 and 7. Has been done.

In the first module 30 described with reference to FIG. 3, the left and right ridges 33 are fitted into the left and right front guide grooves 13 of the base module 10 shown in FIG. Is attached to the receiving surface 15 to be attached to the base module 10. The left and right ridges 33 and the left and right front guide grooves 13 are press-fitted together. Therefore, the first module 30 attached to the base module 10 is not easily displaced. In this case, as described above, if the ribs 32 and the ridges 33 are divided into front and rear by the recessed portions 34,
Since the ribs 32 and the ridges 33 exhibit appropriate elasticity and elastically clamp the location where the front guide groove 13 is formed, when the first module 30 is attached to the base module 10,
Although the first module 30 can be smoothly pushed in and slid rearward to be mounted, the function of preventing displacement of the first module 30 in the mounted state is exerted.

Similarly, in the second module 40 described with reference to FIG. 4, the left and right ridges 43 are shown in FIG.
It is fitted in the left and right rear guide grooves 14 of 0 and pushed forward and slid, and the contact surface 45 thereof is received surface 16 (see FIG. 6).
It is attached to the base module 10 by abutting against. Further, the left and right ridges 43 and the left and right rear guide grooves 14 are fitted in a press fit manner. Therefore, the first module 30 attached to the base module 10 is not easily displaced. In this case, if the ridge 43 is divided into the front and the rear by the recessed portion 44 as described above, the ribs 42 and the ridge 43 exert appropriate elasticity, and they press the formation portion of the rear guide groove 14. Since it is sandwiched, when the second module 40 is attached to the base module 10, the second module 30 can be smoothly pushed forward and slid to be attached.
The effect that the displacement of the second module 40 in the mounted state is prevented is exhibited.

As shown in FIG. 1, the intermediate module 50 forms the intermediate portion of the body 100. As can be inferred from FIGS. 5 and 7, the intermediate module 50 has a saddle-shaped inner shell 5
The upper side of 1 is covered with a saddle-shaped outer shell 52, and both are screwed 5
Combined with 3. Further, convex portions 56 and 57 formed of downward tongue pieces are provided at the center portions in the left-right direction of arc-shaped ribs 54 and 55 integrally provided at both ends in the front-rear direction of the inner shell 51. The intermediate module 50 is fitted into the facing space S of the first and second modules 30 and 40 attached to the base module 10 as shown in FIG. 6 from above, and the front and rear projections 56 and 57 are provided. Is the recess 3 of each of the first and second modules 30, 40.
It is inserted in 7,47. Therefore, the two modules 30 and 40 and the intermediate module 50 are connected in the front-rear direction, that is, in the state where the two modules 30 and 40 are opposed to each other. The intermediate module 50 is fixed to the mounting portion 17 shown in FIGS. 2, 6 and 7 by the mounting screw 58 shown in FIG.

On the other hand, in the base module 2 shown in FIG. 2, front and rear modules 60 and 70 for mounting legs are paired by screws at a plurality of points as shown in FIG.
1, 61 and 71 are mounting screws, and 6 in FIG.
Reference numerals 2 and 72 denote screw holes into which the mounting screws 61 and 71 are screwed.

In the embodiment described above, the front guide groove portion 13 of the base module 10 and the first module 30.
The front slide mechanism 81 is formed by the convex portion 33 of the base module 10, and the rear slide mechanism 82 is formed by the rear guide groove portion 14 of the base module 10 and the convex portion 43 of the second module 40 (FIGS. (See FIGS. 4 and 8). Further, the front-side convex portion 56 of the intermediate module 50 and the concave portion 37 of the first module 30 form a front-side module coupling mechanism 83, and the rear-side convex portion 5 of the intermediate module 50.
7 and the recess 47 of the second module 40 form a rear module connection mechanism 84 (see FIG. 7).

In the robot described in this embodiment, the first module 3 is mounted on the front receiving surface 15 of the base module 10.
The abutting surface 35 of 0 and the abutting surface 45 of the second module 40 abut on the rear receiving surface 16 of the base module 10, so that these two modules 30,
The minimum facing distance of 40 is determined, and these two modules 30 and 40 are arranged at proper positions. Then, by simply inserting the intermediate module 50 into the facing space S from above the facing space S of the two modules 30, 40, the intermediate module 50
Convex portions 56, 57 of the first and second two modules 3
The two modules 30, 40 and the intermediate module 50 are connected in a state of being engaged with each other in the recesses 37, 47 of 0, 40, respectively, in the facing direction, and the three modules 30, 40, 50 are connected to each other. It is fixed to the base module 10. Therefore, when assembling the body 100, it is not necessary to perform the troublesome work of screwing each of the three modules 30, 40, and 50 to the base module 10.

Further, the recess 12 in the central portion of the base module 10 can be used as a space for disposing a wiring board (not shown) on which various necessary electric and electronic components are mounted, and moreover, this recess 12 Is exposed to the facing space S of the first and second modules 30, 40 by lifting the intermediate module 50 above the facing space S and removing it. Therefore, by accommodating the operation control electric unit (not shown) including the wiring board and the like in the recess 12, it is possible to perform maintenance of the operation control electric unit only by removing the intermediate module 50. become.

In this embodiment, since the intermediate module 50 is configured to be connected to the base module 10 by the mounting screw 58, the intermediate module 50 and the first module connected to the intermediate module 50 are only connected by the mounting screw 58. And the second two modules 30, 40 are the base module 1
It is fixed to 0. It is also possible to remove the three modules 30, 40, 50 from the base module 10 and disassemble them by simply removing the mounting screw 58.

As can be seen in FIG. 1, in this embodiment, the base module 10 (see FIG. 2), the first and second two modules 30 and 40, and the intermediate module 50 represent a cat, which is a quadruped. The body 110 of the structure 100 is formed. The lower half of the body 110 is formed by the base module 10 and the front and rear modules 60 and 70 for mounting legs.

In this embodiment, the slide mechanisms 81, 8
2, the guide groove portions 13 and 14 are attached to the base module 1
Although the ridges 33 and 43 are provided on the side of the first module 30 or the second module 40, the guide groove is provided on the side of the first module or the second module.
The ridges may be provided on the base module. Further, in the module coupling mechanisms 83 and 84, the convex portions 56 and 57 are provided on the intermediate module 50 and the concave portions 37 and 47 are provided on the first module 30 or the second module 40 side. It may be provided on the side of the first module or the second module and the recess may be provided on the intermediate module.

In this embodiment, an example in which the present invention is applied to a cat robot, which is an example of an animal robot, has been described. It is also possible to apply to the structure structure of.

[0037]

According to the present invention, a plurality of modules forming a structure are provided on a base module and first and second modules mounted on the base module and facing each other at spaced positions. Of two modules and an intermediate module arranged in the facing space of the first and second two modules, and the first and second two modules face each other via a slide mechanism. Are mounted slidably in the same direction, and these two modules and the intermediate module are connected in a state of being engaged in the opposite direction via a module connecting mechanism, and many screws are connected to the connecting points of the module. Since there are no stopping points, the assembly of the structure is improved, and the assembly line can be easily maintained. Also, the assembly and disassembly work of the structure is facilitated. Furthermore, since it is possible to make the maintenance of the operation control electric unit possible by simply removing one module (intermediate module) of the plurality of divided modules, such a configuration is adopted. By doing so, it is possible to easily maintain the initial performance of the robot whose limbs, neck, and head move.

[Brief description of drawings]

FIG. 1 is a schematic side view showing a structure of a robot to which the present invention is applied.

FIG. 2 is a schematic perspective view of a base module.

FIG. 3 is a schematic perspective view showing the first module as seen from diagonally below.

FIG. 4 is a schematic perspective view showing a second module as viewed from diagonally below.

FIG. 5 is a schematic front view of an intermediate module.

FIG. 6 is a schematic partial plan view showing a state in which the first and second modules are attached to the base module.

FIG. 7 is a partially cutaway partial side view showing a state in which an intermediate module is attached to a base module to which first and second modules are attached.

FIG. 8 is a schematic enlarged cross-sectional view of a portion taken along the line VIII-VIII in FIG.

[Explanation of symbols]

10 Base module 12 recess (space) 13, 14 Guide groove 15,16 Receiving surface 30 First Module 33,43 convex stripes 35,45 contact surface 37,47 recess 40 Second Module 50 Intermediate module 56,57 convex 81,82 slide mechanism 83, 84 module connection mechanism 100 body 110 body (body part) S facing space

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shinya Sakaguchi             1-43, Kitakuhoji Temple, Yao City, Osaka Prefecture             Inside Ciden Co., Ltd. (72) Inventor Hiroshi Uchida             1-43, Kitakuhoji Temple, Yao City, Osaka Prefecture             Inside Ciden Co., Ltd. F-term (reference) 2C150 CA02 DA05 DA24 DA26 DA27                       DA28 EC03 EC15 EC25 EC29                 3C007 AS36 CS08 CY00 CY37 WA04                       WA14

Claims (9)

[Claims] 1. In a structure of a robot divided into a plurality of modules, a plurality of the above-mentioned modules are provided on a base module and a first module mounted on the base module and facing each other at positions spaced apart from each other. A second two modules and an intermediate module arranged in the facing space of the first and second two modules are distinguished from each other, and the first and second two modules are connected via a slide mechanism. Of the robot, wherein the two modules and the intermediate module are connected to each other so as to be slidable in the opposite direction via a module connecting mechanism while being engaged with each other in the opposite direction. Structure structure. 2. The base module is provided with a receiving surface that abuts against a contact surface provided on each of the first and second two modules to determine a minimum facing distance between the modules. The structure structure of the robot described in 1. 3. The module coupling mechanism comprises a convex portion and a concave portion that can be inserted and removed in the inserting and removing direction of the intermediate module with respect to the facing spaces of the first and second two modules. The structure structure of the robot described in Item 2. 4. One end and the other end of the intermediate module are respectively connected to the first module and the second module via the separate module connecting mechanism, and the convex portion of the module connecting mechanism. The structure structure of the robot according to claim 3, wherein the concave portion and the concave portion are provided separately for the intermediate module and the two first and second modules. 5. The space according to claim 1, wherein the base module is provided with a space for disposing an electric unit for operation control of the robot facing the facing space. Robot structure structure. 6. The slide mechanism has a guide groove portion extending in the facing direction and a ridge guided by the guide groove, and one of the guide groove portion and the ridge is provided in the base module, The robot structure structure according to any one of claims 1 to 5, wherein the other is provided in the first and second modules. 7. The robot according to claim 6, wherein the contact surface is formed by inwardly facing end surfaces of the first and second modules, and the receiving surface is provided at an inner end portion of the guide groove. Structure structure. 8. The base module and the first and second two
2. The one module and the intermediate module form a body portion of the structure that resembles a quadruped.
The structure structure of the robot according to any one of claims 1 to 7. 9. The base module forms a lower half of the body, and the first and second two modules and the intermediate module form an upper half of the body. Structure structure of the robot described in.