JP2003136463A - Movable part structure of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent bad effect of oil and fat including grease necessary for mechanical structure parts on electric structure parts and lead wires, in a movable part structure of a robot that is electrically controlled. SOLUTION: A gear array 71 and a wiring board 61 are stored in a casing body 30 as a movable part attached to a torso module 10 via a shaft body 20 in a cylinder shape. The shaft body is formed as a hollow cylinder and the internal space of the casing body 30 connected to the shaft body 20 is separated into a machine room 33 and electricity room 34 in an in-and-out direction by a partition wall 32. The gear array 71 is stored in the machine room 33 and the wiring board 61 is stored in the electricity room 34. A lead wire inserted through the shaft body 20 is connected to the wiring board 61. The shaft body 20 is reciprocatingly swung by a driving mechanism provided to the torso.

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 movable part of a robot, for example, a structure of a movable part including a mechanical or electrical structure necessary for moving a leg of an animal robot.

[0002]

2. Description of the Related Art In a robot such as a cat robot,
For example, in order to move the front and rear legs, it is necessary to equip the legs with a mechanical structure part for transmitting the rotation of the motor and an electric structure part for finely controlling changes in the movement of the legs. Then, how to incorporate these mechanical or electrical structural parts into the legs or torso of the robot affects the quality of the operation performance.

[0003]

The present invention has been made under the above circumstances.

That is, an object of the present invention is to provide a movable part structure of a robot capable of preventing grease required for a mechanical structure part from adversely affecting the electrical structure part.

Moreover, the present invention aims to prevent dust in the mechanical or electrical structure part on the basis that grease required for the mechanical structure part does not adversely affect the electrical structure part. An object of the present invention is to provide a movable part structure of a robot capable of performing.

The present invention also provides a movable part structure of a robot capable of increasing the coupling strength between a shaft and a movable part operated via the shaft to enable reliable operation of the movable part. The purpose is to do.

Further, the present invention provides a movable part structure of a robot which can simplify the assembly by unitizing a module forming a part of the body and legs corresponding to the movable part. The purpose is to

[0008]

According to a movable part structure of a robot according to the present invention, an internal gear train and an in-case wiring board are provided inside a case as a movable part attached to a body via a shaft. It is housed.

The shaft body is formed into a hollow cylindrical shape,
The internal space of the housing coupled to the shaft is partitioned inward and outward into a housing-side machine room that houses the housing internal gear train and a housing-side electric chamber that houses the housing wiring board, with a partition wall in between. The shaft is arranged to traverse the casing-side machine room inward and outward, and the electrical control lead wire connected to the wiring board in the casing is inserted into the internal space of the shaft, and The shaft body is configured to swing forward and backward by a drive mechanism installed on the body.

According to the present invention, the inside of the housing is the housing-side machine room that houses the gear train in the housing that is the mechanical structure portion and the housing-side electric chamber that houses the wiring board in the housing that is the electrical structure portion. Since it is partitioned by the partition wall in the space,
It is possible to prevent oil and grease such as grease applied to the gear train in the housing from entering the electric machine room on the housing side from the machine room on the housing side and adhering to the wiring board in the housing. Therefore, the situation where the oil and fat applied to the gear train in the housing has a bad influence on the wiring board in the housing does not occur. In addition, since the shaft body is a hollow cylinder and the electric control lead wire is inserted through the shaft body, and the shaft body is arranged so as to traverse the housing side machine room inward and outward, the housing is attached to the lead wire. The situation in which the oil and fat applied to the internal gear train adheres to cause a bad electrical effect does not occur.

In the present invention, the housing of the motor in the housing, which is provided with the output gear meshed with the gear train in the housing inside the machine room on the housing side, is inserted into the opening formed in the partition wall, and the electric chamber on the housing side is inserted. It is desirable that the power supply lead wire drawn from the exposed portion of the housing with respect to the housing side electric chamber is connected to the housing wiring board. According to this, since the entire length of the power supply lead wire is routed in the housing-side electric chamber, there is a situation in which the oil and fat applied to the gear train in the housing is attached to the lead wire, which adversely affects electrical conditions. It won't happen.

In the present invention, the housing is attached to the hollow module forming the body via the shaft, and the lead wire for electrical control inserted into the internal space of the shaft is It is desirable that the module is connected to an in-module wiring board that is drawn inside the module and is provided inside the module. According to this, since the module forming the body and the housing are integrated via the shaft body, the module and the housing are unitized. Therefore, handling of the module and the case becomes easy. In addition, since the electrical control lead wire inserted into the internal space of the shaft is drawn inside the module and connected to the wiring board inside the module, even if the shaft swings together with the housing, the electrical control The situation in which the lead wire is twisted and easily broken is suppressed.

In the present invention, it is desirable that the shaft body is rotatably supported by a bearing portion provided in the module. According to this, the mounting structure of the shaft body can be simplified.

According to the present invention, the drive mechanism is provided in the module internal gear train, the output gear of the module internal motor attached to the module, the module internal gear train meshing with the output gear, and the module internal gear. It is desirable to have a gear portion meshed with the row. According to this, since the drive mechanism is integrated with the module, the unitization described above is further promoted.

According to the present invention, the module-side machine room accommodating the output gear of the in-module motor, the in-module gear train, and the gear section and the in-module wiring board in which the internal space of the module sandwiches the partition wall. It is desirable that the shaft body is partitioned inward and outward from the accommodated module-side electric chamber, and the shaft body is arranged so as to traverse the module-side mechanical chamber and the module-side electric chamber inward and outward.

[0016] According to this, the module side machine room accommodating the internal gear train of the module, which is a mechanical structure part,
Since the module-side electrical chamber that accommodates the wiring board inside the module, which is the electrical structure part, is partitioned by the partition wall in the internal space of the module, the grease such as grease applied to the gear train inside the module is not included in the module. The situation that the module side electric room enters the module side electric room and adheres to the module wiring board does not occur. for that reason,
The situation in which the oil and fat applied to the gear train in the module adversely affects the wiring board in the module does not occur. In addition, since the shaft body is a hollow cylinder and the electric control lead wire is inserted through the shaft body, and moreover, the shaft body is arranged so as to traverse the module side machine room inward and outward, the module is attached to the lead wire. The situation in which the oil and fat applied to the internal gear train, etc., adheres and has an adverse electrical effect does not occur.

In the present invention, the housing of the motor in the module is projected to the outside of the module from the opening provided in the outer wall of the module, and the power supply lead wire drawn from the housing is provided in the partition wall. It is desirable to be drawn into the module side electric chamber through the opening and connected to the module wiring board. This also prevents the situation where oil and fat adhere to the power supply lead wire and have an adverse electrical effect.

In the present invention, at the joint between the shaft body and the casing, the recessed portion provided on the casing side is press-fitted into the end portion of the shaft body, and at a plurality of circumferential positions of the end portion of the shaft body. It is preferable that the convex portion provided in the concave portion is meshed with the convex portion provided in, and the casing is screwed to the convex portion of the shaft body. According to this, the rotation of the shaft is reliably transmitted to the housing.

[0019]

1 is a schematic partial side view of a cat robot which is an example of a robot to which the present invention is applied, FIG. 2 is a schematic side view showing a module 10 and legs 120 of the cat robot, and FIG. FIG. 3 is a view on arrow III in FIG. 2.

As shown in FIG. 1, the cat robot has a structure 100.
And is formed by wrapping the structure 100 with a covering material (not shown) produced in the appearance of an actual living cat. The structure 100 is attached to a body 110 such that not only a neck and a head (not shown) but also front and rear legs 120 and 130 can swing back and forth. Further, the joints 121, 1 are attached to the legs 120, 130.
There are 22, 131 and 132, and these joint parts 121,
By the action of 122, 131, 132, the movement similar to the leg of an actual living cat is performed. In addition, this cat robot operates by using the built-in battery as a power source.

The fuselage 110 is formed by combining a plurality of modules, one of which is designated by the numeral 10 in FIG. Then, the housing 30 forming the base side portion of the leg portion 120 is attached to the module 10 via the shaft body 20.
Further, the leg portion 120 is attached to the housing 30 via the joint portion 121.
The arm member 123 forming the other part is connected, and the tip member 124 forming the leg part is connected to the arm member 123 via the joint 122.

FIG. 4 is a side view of the housing 30, and FIG. 5 is a longitudinal sectional view illustratively showing a leg unit U in which the module 10, the shaft 20, and the housing 30 are integrated.

As shown in FIG. 5, the module 10 includes a base 1
It is formed hollow by disposing an inner cover 10B and an outer cover 10C on the inside and the outside of the module 0A, and the inner space of the module 10 is formed by a partition wall 12 formed by a base body 10A. A module side machine room (hereinafter referred to as “machine room”) 13 and an outer module side electric room (hereinafter referred to as “electric room”) 14 are partitioned in the inward and outward directions. Similarly, the housing 30 is also formed in a hollow shape by disposing an inner cover 30B and an outer cover 30C inside and outside the base body 30A with the base body 30A interposed therebetween, and the inner space of the housing 30 is a base body. A partition wall 32 formed by 30A divides an inner casing side machine room (hereinafter referred to as "machine room") 33 and an outer casing side electric room (hereinafter referred to as "electric room") 34 in the inward and outward directions. As shown in FIG. 4, the outer cover 30C has a plurality of locations a ... 1
Reference numeral 8 indicates a joint shaft forming the joint portion 121 (see FIG. 1).

The base end portion of the shaft body 20 formed in the hollow cylindrical shape is the inner cover 10 of the module 10.
B is fitted into bearings 15 and 16 formed on the base 10A and is slidably rotatably supported by the bearings 15 and 16, and the shaft body 20 is a machine room on the module side. 13 and the electric chamber 14 are crossed in the inner and outer directions, and are projected outward through a hole 17 formed in the outer cover 10C. The end of the shaft body 20 protruding from the module 10 is press-fitted into the recessed portion 35 formed by the inner cover 30B of the housing 30 and the base body 30A (the shaft body 20 and the housing 30). The structure of the binding point with will be described later).

FIG. 6 is a side view showing the inside of the machine room 13 of the module 10, and FIG. 7 is a side view showing the inside of the electric room 14 of the module 10.

As shown in FIG. 6, inside the machine chamber 13, an output gear 41 of a module internal motor (hereinafter referred to as “motor”) M1 attached to the inner cover 10B and a module meshed with the output gear 41. An internal gear train (hereinafter referred to as “gear train”) 42 and a gear part 43 provided on the shaft body 20 and meshed with the gear train 42 are accommodated, and the output gear 41, the gear train 42, and the gear part And form a drive mechanism 40 for swinging the shaft body 20 forward and backward (forward and backward rotation) (see FIG. 5). In contrast,
Inside the electric chamber 14, as shown in FIG. 7, an in-module wiring board (hereinafter referred to as “wiring board”) 51 screwed to the outer surface of the base body 10A is housed. This wiring board 5
1 has a multi-pole connector electrode 52 mounted thereon, and by assembling the module 10 into the body 110 as shown in FIG. 1, the multi-pole connector electrode 52 is elastically contacted with an electrode (not shown) installed on the body 110. It is designed to be connected with. An encoder 53 is mounted on the wiring board 51, and a rotation angle signal of the shaft body 20 is taken out by the encoder 53. Further, on the wiring board 51, an electric control for exchanging electric signals with a power supply connector 54 for supplying electric power to the motor M1 and a control unit (not shown) via the multipolar connector electrode 52. And a connector 55 for use.

FIG. 8 is a side view showing the inside of the electric chamber 34 of the housing 30, FIG. 9 is a side view showing the inside of the machine chamber 33 of the housing 30 as seen through from the outside, and FIG. 10 is the housing 30. Machine room 3
It is the side view which showed the inside of 3 as seen from the inside.

As shown in FIG. 8, a wiring board (hereinafter referred to as "wiring board") 61 in the housing, which is screwed to the outer surface of the base body 30A, is housed inside the electric chamber 34. An encoder 62 is mounted on the wiring board 61, and a rotation angle signal of the joint shaft 18 is taken out by the encoder 62. Furthermore, this wiring board 61
A power supply connector 64 for supplying power to a motor (hereinafter referred to as "motor") M2 in a housing attached to the base body 30A and an electrical control connector 65 are mounted on the. On the other hand, as shown in FIGS. 9 and 10, the machine room 33
Inside the, the output gear 71 of the motor M2 and the gear train in the housing meshed with the output gear 71 (hereinafter referred to as "gear train").
72) and a gear portion 19 provided on the joint shaft 18 and meshed with the gear train 72.

FIG. 11 shows the shaft 20 and the electrical control lead wire 8.
0 is shown. The shaft body 20 is a hollow cylindrical synthetic resin molded body, and the gear portion 43 is integrally molded in an axially intermediate portion thereof. The tip of the shaft body 20 is provided with a cross-shaped convex portion 21 formed by recessing four portions at equal angular intervals in the circumferential direction. The electrical control lead wire 80 is inserted into the internal space of the shaft body 20. Connectors 81, 8 are provided at both ends of the lead wire 80.
2 is equipped.

As shown in FIG. 10, at the joint between the shaft body 20 and the housing 30, the circular recess 35 provided in the base body 30A of the housing 30 is pressed into the end portion of the shaft body 20, In addition, the convex portions 36 provided in the concave portion 35 are meshed with the convex portions 21 provided at a plurality of circumferential positions of the end portion of the shaft body 20. Further, the screw hole 22 provided in the convex portion 21 of the shaft body 20 is provided with the outer plate portion 37 provided in the concave portion 35.
(See FIG. 8) The screw 38 is screwed in through the housing 30.
Is screwed to the shaft body 20. It should be noted that the outer plate portion 37 has an opening 39 communicating with the opening 23 at the end of the shaft body 20.

As shown in FIG. 8, the connector 82 on one side of the lead wire 80 is connected to the electrical control connector 65 mounted on the wiring board 61 housed in the electrical chamber 34 of the housing 10 (FIG. 5). reference). In addition, the lead wire 80 is the shaft body 20.
As shown in FIG. 5, it is inserted into the inner space of the module and is pulled out from the shaft body 20, and as shown in FIG. 5, the portion forming the outer wall of the module 10, that is, the recess 11a formed in the upper portion of the inner cover 10B. A wiring board which is drawn into the electric chamber 14 of the module 10 through an opening 11b formed in the upper portion of the partition wall 12 formed by the base 10A and the connector 81 on the other side is housed in the electric chamber 14. Electrical control connector 5 mounted on 51
Connected to 5.

Next, as can be inferred from FIG. 6, in the motor M1 attached to the inner cover 10B of the module 10, the housing H1 of the motor M1 projects to the outside of the inner cover 10b. Then, the power supply lead wire 91 pulled out from the housing H1 is drawn into the electric chamber 14 through the recess 11a and the opening 11b shown in FIGS. 6 and 7, and the wiring board housed in the electric chamber 14 It is connected to the power supply connector 54 mounted on the device 51. Further, as shown in FIG. 8, the housing H2 of the motor M2 attached to the base body 30A of the housing 30.
Is inserted into the opening 31 formed in the partition wall 32 formed by the base body 30A to face the electric chamber 34, and the power supply lead wire 92 drawn from the exposed portion of the housing H2 with respect to the electric chamber 34 is wired. It is connected to a power feeding connector 64 mounted on the substrate 61.

In this embodiment, the motor M1 provided in the module 10 has a housing 3 with a shaft 20 interposed therebetween.
The motor M2 used as a drive source for swinging 0 back and forth and provided in the housing 30 moves the arm member 123 (see FIG. 2) up and down with respect to the housing 30 via the joint shaft 18. It is used as a drive source for rocking back and forth. The electric power for operating the motor M1 is supplied to the connector electrode 52 provided in the module 10.
Then, it is sent to the motor M1 via the circuit provided on the wiring board 51 on the module 10 side, the connector 54, and the power supply lead wire 91. On the other hand, electric power for operating the motor M2 is supplied to the connector electrode 52, the circuit provided on the wiring board 51 on the module 10 side, the connector 55, the electrical control lead wire 80, the connector 65, and the casing. It is sent to the motor M2 via the wiring board 61 on the body 30 side, the connector 64, and the power supply lead wire 92.

According to the embodiment described above, the shaft 20
Is rotated in the forward and reverse directions and the housing 30 swings back and forth together with the shaft body 20, the electrical control lead wire 80 is inserted into the internal space of the shaft body 20, and thus is integrated with the shaft body 20. It doesn't happen that it gets twisted. Therefore, a situation in which the electrical control lead wire 80 is twisted and broken due to the swing of the shaft body 20 and the housing 30 does not occur.

In the module 10, the internal space is partitioned by the partition wall 12 into the machine room 13 and the electrical room 14, and in the case 30, the internal space is partitioned by the partition wall 32 into the mechanical room 33 and the electrical room 34. Has been done. Since the mechanical structure portions including the gear trains 42 and 72 are housed in the machine chambers 13 and 33, and the electrical components such as the wiring boards 51 and 61 are housed in the electric chambers 14 and 34, There is no possibility that the oil or fat such as grease applied to the rows 42 and 72 and the like enters the electric chambers 14 and 34 from the machine chambers 13 and 33 and adheres to the wiring boards 51 and 61. Therefore, the situation where the circuits of the wiring boards 51 and 61 are inadvertently short-circuited due to the adhesion of the oil and fat does not occur. Further, the electrical control lead wire 80 is not exposed in the machine rooms 13 and 33, and the power supply lead wire 9
Since the electric wires 1 and 92 are provided in the electric chambers 14 and 34, respectively, there is no possibility that the lead wires 80, 91 and 92 get wet with oil and fat and the electric characteristics are deteriorated.

Since the module 10 and the housing 30 are connected via the shaft body 20, it is convenient that the module 10, the housing 30 and the shaft body 20 can be handled as one unit. .

At the joint between the shaft body 20 and the housing 30, the recess 35 provided on the housing 30 side is press-fitted into the end portion of the shaft body 20 and the circumference of the end portion of the shaft body 20. Convex portion 3 provided in concave portion 35 in convex portion 21 provided in a plurality of directions
6 meshes with each other, and the housing 30 is screwed to the convex portion 21 of the shaft 20. Therefore, the rotation of the shaft 20 is reliably transmitted to the housing 30, and the shaft 20 has a cylindrical shape. Therefore, there is an advantage that the shaft body 20 is provided with a large torsional rigidity and the rotational torque resistance of the shaft body 20 can be remarkably increased.

In this embodiment, the case where the present invention is applied to a cat robot, which is an example of an animal robot, is described. However, the present invention is not limited to animal robots, but is, for example, a robot imitating a human being or a robot imitating a plant. It is also possible to apply to the movable part structure.

[0039]

According to the present invention, grease and other oils and fats required for the mechanical structure portion do not adversely affect the electric structure portion, the electric control lead wire, and the power supply lead wire, so that durability is improved. The advantage of being able to provide a superior robot is that the machine room and the electric room are arranged in the internal space of the module and the case, so dust does not easily enter the machine room and the electric room. Has the effect of further improving the durability, and various effects of increasing the coupling strength between the shaft body and the casing that is the movable portion to enable the movable portion to operate reliably.

[Brief description of drawings]

FIG. 1 is a schematic partial side view of a cat robot that is an example of a robot to which the present invention is applied.

FIG. 2 is a schematic side view showing a module and legs of the robot.

FIG. 3 is a view on arrow III in FIG.

FIG. 4 is a side view of a housing.

FIG. 5 is a vertical sectional view illustrating a leg unit.

FIG. 6 is a side view showing the inside of a module side machine room.

FIG. 7 is a side view showing the inside of the module side electric chamber.

FIG. 8 is a side view showing the inside of the housing-side electric chamber.

FIG. 9 is a side view showing the inside of the housing-side machine room as seen through from the outside.

FIG. 10 is a side view showing the inside of the housing-side machine room as viewed from the inside.

FIG. 11 is a partially omitted perspective view showing a shaft body and a lead wire for electrical control.

[Explanation of symbols]

10 modules 12 partition walls 13 Machine room (machine room on the module side) 14 Electric room (module side electric room) 15, 16 Bearing part 20 axis 21 convex 30 housing (movable part) 31 opening 32 partition walls 33 Gear train (Gear train in the housing) 34 Electrical room (electrical room on the housing side) 35 Recessed part 36 convex 40 drive mechanism 41 output gear 42 gear train (in-module gear train) 43 Gear 51 Wiring board (wiring board in module) 61 Wiring board (wiring board in case) 71 output gear 72 gear train (gear train in the housing) 80 Lead wire for electrical control 91,92 Power supply lead wire 110 torso M1 motor (motor in module) H1 motor housing M2 motor (in-case motor) H2 motor housing

Continued front page    (72) Inventor Kenji Hirai             1-43, Kitakuhoji Temple, Yao City, Osaka Prefecture             Inside Ciden Co., Ltd. (72) Inventor Atsuo Ikeguchi             1-43, Kitakuhoji Temple, Yao City, Osaka Prefecture             Inside Ciden Co., Ltd. F term (reference) 2C150 CA04 DA05 EB01 EC03 EC24                       ED02 ED08 ED37 ED41 EH07                       EH08 FA04 FA35 FA53                 3C007 AS36 CS08 CY02 CY05 JS06                       WA04 WA14 WC24

Claims (8)

[Claims] 1. A movable part structure of a robot, in which a gear train in a housing and a wiring board in a housing are housed inside a housing as a movable part attached to a body via a shaft body, The body is formed into a hollow cylinder, and the inner space of the housing coupled to the shaft body is a housing-side machine room that houses the gear train in the housing and a housing-side electrical space that houses the wiring board in the housing with a partition wall in between. The chamber is partitioned in the inner and outer directions, and the shaft body is arranged across the housing-side machine room in the inner and outer directions,
An electric control lead wire connected to the wiring board in the housing is inserted into the internal space of the shaft body, and the shaft body is swingable forward and backward by a drive mechanism installed in the body. The structure of the movable part of the robot, which is characterized in that 2. A housing of an in-casing motor having an output gear meshed with the in-housing gear train in the housing-side machine chamber is inserted into an opening provided in the partition wall to face the housing-side electrical chamber. And a power supply lead wire pulled out from an exposed portion of the housing with respect to the housing side electric chamber is connected to the wiring board in the housing.
The moving part structure of the robot described in. 3. The housing is attached to the hollow module forming the body via the shaft body,
The lead wire for electrical control inserted through the internal space of the shaft body is drawn into the inside of the module and is connected to an in-module wiring board provided inside the module. The moving part structure of the robot described in. 4. The movable part structure of the robot according to claim 3, wherein the shaft body is rotatably supported by a bearing part provided in the module. 5. The drive mechanism is provided in an output gear of an in-module motor attached to the module, an in-module gear train meshing with the output gear, and the shaft body in the in-module gear train. The movable part structure of the robot according to any one of claims 1 to 4, further comprising: a meshed gear part. 6. The module-side machine room accommodating the output gear of the in-module motor, the in-module gear train, and the gear section and the in-module wiring board are accommodated in an inner space of the module with a partition wall interposed therebetween. The movable part structure of the robot according to claim 5, which is partitioned inward and outward from a module-side electric chamber, and the shaft body is provided so as to traverse the module-side mechanical chamber and the module-side electric chamber inward and outward directions. . 7. A housing for the motor in the module is projected to the outside of the module through an opening formed in the outer wall of the module, and a power supply lead wire drawn from the housing is formed in the partition wall. The movable part structure of the robot according to claim 6, wherein the movable part structure is drawn into the electric chamber on the module side and is connected to the wiring board in the module. 8. At the joint between the shaft body and the housing, recesses provided on the housing side are press-fitted into the end portion of the shaft body, and provided at a plurality of circumferential positions of the end portion of the shaft body. The movable part structure of the robot according to claim 4, wherein the convex part provided in the concave part meshes with the convex part formed, and the casing is screwed to the convex part of the shaft body.