JP2003291086A - Straight moving link device and bipedal walking robot equipped therewith - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a straight moving link device and a bipedal walking robot equipped therewith capable of being held fast by a holding brake when an actuator is stopped so that the link device does not expand or contract, and thereby reducing the load acting on the actuator and also suppressing the power consumption. <P>SOLUTION: The straight moving link device 1 includes the actuator 28 which expands and contracts the link device in the longitudinal direction, and also has a holding brake 30 to hold fast the moving part of the actuator 28. The bipedal walking robot according to the invention is equipped with this straight moving link device 1 having the holding brake 30 to hold fast the moving part of the actuator 28. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motion link device having a holding brake for holding and fixing the linear motion link device so as not to expand and contract when the actuator is stopped, and a bipedal walking robot including the linear motion link device.

[0002]

2. Description of the Related Art Conventionally, various robots having a parallel link mechanism have been proposed. Generally, a parallel link mechanism includes six linear motion links that are driven to expand and contract. One end of each linear motion link is connected to a base via a universal joint, and the other end is connected to an end effector via another universal joint. It has a combined configuration.

A robot using such a parallel link mechanism is disclosed in Japanese Unexamined Patent Publication No. 7-60678 (hereinafter
B)), "six linear motion links having a base plate, an end effector, and an actuator that connects them are provided, and the linear motion links are connected in series to the universal joint at one end and the universal joint at the other end. A parallel link manipulator having a rotary joint around an axis and arranging the linear motion link in line symmetry with respect to the direction in which a large output is desired and close to the axis is disclosed.

[0004]

However, the above-mentioned conventional techniques have the following problems. (1) In the parallel link manipulator disclosed in the publication No. A, the end effector is supported by the linear motion link. However, the self-weight of the end effector and the weight applied thereto are not affected by the linear motion link not only during operation but also at rest. There is a problem in that it is necessary to drive the actuator to support it, and a large load is applied to the actuator. (2) When a robot equipped with a parallel link mechanism is equipped with a battery as a power source, the actuator is driven not only during operation but also during standstill, so that the operation time required for one-time battery replacement or charging is sufficient. There was a problem that the operating rate of the robot was reduced due to shortening.

The present invention solves the above-mentioned problems of the prior art. Since the linear motion link device can be held and fixed by a holding brake so as not to expand and contract when the actuator is stopped, the load on the actuator is reduced and the power consumption is reduced. An object of the present invention is to provide a linear motion link device capable of suppressing consumption and a bipedal walking robot including the linear motion link device.

[0006]

In order to solve the above problems, a linear motion link device of the present invention and a bipedal walking robot including the same have the following configurations.

A linear motion link device according to a first aspect of the present invention is a linear motion link device that includes an actuator and is capable of expanding and contracting in a longitudinal direction by driving the actuator.
A holding brake for holding and fixing the movable portion of the actuator is provided.

With this configuration, the following operation is achieved. (1) Even when the actuator is stopped while the heavy load is supported by the linear motion link device, the movable part can be held and fixed by the holding brake, so that the movable part is driven by the weight of the heavy load. Without it, the supporting state can be maintained. (2) Since the actuator can be stopped while the heavy object is supported by the direct-acting link device, the load on the actuator can be reduced and the operating energy consumption of the actuator can be suppressed.

Here, as the actuator, a motor driven by electric power, hydraulic pressure, hydraulic pressure, pneumatic cylinder,
A linear actuator or the like is used. As the holding brake, when the actuator is a motor or the like, braking is performed by frictional force due to pressing of the pressing plate, and when the actuator is a cylinder, an on-off valve or a servo valve that stops the supply of oil or water is used. Used. Further, when braking is performed by the frictional force due to the pressing of the pressing plate, permanent magnets may be arranged or magnetized to both in order to press the pressing plate to the pressing plate braking portion. Alternatively, the pressing plate may be pressed against the pressing plate braking portion by the elastic force of an elastic body such as a spring.

According to a second aspect of the present invention, in the linear motion link device according to the first aspect, the holding brake has a structure for holding and fixing the movable portion of the actuator when the actuator is stopped. There is.

With this configuration, in addition to the function of claim 1,
It has the following actions. (1) With a heavy load supported by the linear motion link device,
Even if the motor suddenly stops due to a device failure or the like, the supporting state can be maintained by holding and fixing the movable portion by the holding brake, which is excellent in stability and safety.

According to a third aspect of the present invention, there is provided the linear motion link device according to the second aspect of the invention, in which the motor as the actuator and a rotary shaft of the motor are fixed and arranged in the longitudinal direction of the linear motion link device. A long rod-shaped male screw shaft portion provided, a female screw nut portion screwed to the male screw shaft portion, and fixed to the female screw nut portion in the longitudinal direction of the linear motion link device by driving the motor. It has a configuration including an inner rod portion that slides and a holding brake that holds and fixes the rotating shaft of the motor.

With this configuration, in addition to the function of claim 2,
It has the following actions. (1) Since the rotation of the rotary shaft can be braked by the holding brake and the inner rod portion can be fixed, the motor can be stopped while the heavy object is supported by the direct-acting link device, and the supported state is maintained. can do. (2) When the linear motion link device is stationary while supporting a heavy object, the holding brake can stop the motor while maintaining the stationary state, so that the load torque applied to the motor can be reduced, and The power consumption of the motor can be suppressed.

A bipedal walking robot according to a fourth aspect of the present invention comprises a base portion, a right foot portion and a left foot portion, and a plurality of passive joints arranged on the base portion, the right foot portion and the left foot portion, respectively. Between the passive joint disposed on the base portion and the passive joint disposed on the right foot portion, and between the passive joint disposed on the base portion and the left foot portion. A parallel link mechanism section disposed between the passive joint and the direct link apparatus according to any one of claims 1 to 3 as a link of the parallel link mechanism section. is doing.

With this configuration, the following operations are provided. (1) Since the movable part of the actuator can be held and fixed by the holding brake in the stationary state of the bipedal walking robot, that is, in the posture fixed state, the movable part of the actuator is not driven by the weight of the robot or the like and is in a stationary state. The posture can be maintained, and the load on the actuator can be reduced. (2) Since the supply of operating energy to the actuator can be stopped when the bipedal walking robot is in a stationary state, that is, the posture is fixed, the energy consumption of the actuator can be reduced. When electric power is supplied to the actuator, the operating time for which the battery can be replaced or charged once can be extended, and the operating rate of the biped robot can be improved. (3) Even if the actuator suddenly stops during operation due to equipment failure, etc., the biped walking robot can maintain its posture. Therefore, a fall of the biped walking robot itself or an accident due to the fall Excellent stability and safety. (4) Since the posture can be maintained without driving the actuator during transportation or standby of the bipedal robot, load torque applied to the actuator can be reduced, and operating energy consumption of the actuator can be reduced. Can be suppressed.

According to a fifth aspect of the present invention, in the bipedal walking robot according to the fourth aspect, the two-legged walking robot is disposed between the base portion and the right foot portion and between the base portion and the left foot portion. Each has three sets of the parallel link mechanism parts.

With this configuration, in addition to the function of claim 4,
It has the following actions. (1) Each parallel link mechanism used for the left and right legs is arranged in a V shape with two links as one set, and is composed of the Stewart platform in which three sets are arranged. In addition to being excellent in stability and rigidity, the operation control can be simplified.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 is a perspective view of a main part of a linear motion link device according to the first embodiment, and FIG. 2A is a side view of a main part of the linear motion link device according to the first embodiment. , Fig. 2
2B is a cross-sectional view taken along the line AA of FIG. 2A, and FIG. 3A is a configuration diagram showing a state of the holding brake when the motor is driven, and FIG. FIG. 4 is a configuration diagram showing a state of the holding brake when the motor is stopped.

In FIG. 1 or 2, 1 is a linear motion link device, 21 is a holding casing for holding a motor, a gear unit, a holding brake, a rotary encoder, etc., which will be described later,
Reference numeral 22 is a hollow outer tube portion extending from the holding casing 21, and 23 is an inner rod portion that is inserted into the outer tube portion 22 and slides in the longitudinal direction of the linear motion link device 1. Expansion and contraction of the linear motion link device 1 is performed by sliding the inner rod portion 23. Reference numeral 24 denotes a male screw shaft insertion hole formed in the inner rod portion 23 in the longitudinal direction thereof, 25 denotes a rod rail portion vertically opposed to the outer periphery of the inner rod portion 23 and formed in the longitudinal direction thereof, and 26 denotes a rod rail. A rail guide part on which the part 25 fits and slides, 27 is an initial position sensor for detecting the initial position of the inner rod part 23, 28 is a motor as an actuator for expanding and contracting the linear motion link device 1, 29 is a motor 28. A gear unit that reduces the rotation of the rotation shaft to a predetermined rotation speed,
30 is a holding brake provided on the rear side of the motor 28,
Reference numeral 31 is a rotary encoder that detects the rotation of the rotation shaft of the motor 28, 32 is a coupling that connects the rotation shaft and a male screw shaft portion described later via a gear unit 29, and 33 is a male screw shaft portion described later. A bearing for supporting 34 is a male screw shaft portion which is disposed inside the outer tube portion 22 by being inserted into the male screw shaft insertion hole 24 of the inner rod portion 23 and whose outer circumference is threaded, and 35 is an outer portion of the inner rod portion 23. A female screw nut portion fixed in the male screw shaft insertion hole 24 at the inner end of the tube portion 22 and screwed into the male screw shaft portion 34, 36.
a and 36b are stoppers.

In FIG. 3, 28 is a motor, 30 is a holding brake, 41 is a rotating shaft of the motor 28 extending to the rear side of the motor 28, 42 is a coil portion provided around the rotating shaft 41, and 43a. , 43b are terminals of the coil portion 42. The terminals 43a and 43b of the coil unit 42 are connected to a logic circuit (not shown), and this logic circuit applies or stops applying voltage to the coil unit 42 via a relay according to a command from a control device such as an external computer. Thereby, the coil portion 42
Is energized and released as the motor 28 is driven and stopped. Instead of the logic circuit, the terminals 43a and 43b are connected in parallel to the wiring of the drive power source connected to the motor 28, and the voltage is controlled to be applied in synchronization with the driving and stopping of the motor 28. Good. As the timing of applying the voltage to the coil portion 42, for example, assuming that the motor 28 is stopped and the voltage is not applied to the coil portion 42, the motor 28 is rotated from an external control device to a motor driver that controls the motor 28. When the speed command is given to cause the logic circuit to apply the voltage to the coil unit 42,
The holding brake 30 is opened as the motor 28 is driven. The timing at which the voltage application to the coil portion 42 is stopped is, for example, assuming that the motor 28 is driven and the voltage is applied to the coil portion 42, the speed of the motor 28 from an external control device to the motor driver controlling the motor 28. When a speed command to set 0 is given, the logic circuit stops the application of the voltage to the coil portion 42, and operates the holding brake 30 with the stop of the motor 28.

Reference numeral 44 denotes a disc-shaped pressing plate disposed on the rotating shaft 41 so as to be slidable in the longitudinal direction of the rotating shaft 41, and 44a is formed on the pressing plate braking portion side of the pressing plate 44, which will be described later. Pressing surface, 4
Reference numeral 5 is a rotary shaft insertion hole formed in the center of the pressing plate 44 and through which the rotary shaft 41 is inserted, 46 is a key protruding from the tip of the rotary shaft 41, and 47 is the rotation of the pressing plate 44. A key sliding groove formed on the inner peripheral surface of the shaft insertion hole 45, into which the key 46 fits and slides;
Reference numeral 48 denotes a pressing plate braking portion arranged on the motor 28 side of the pressing plate 44 so as to face the pressing surface 44a.

Here, the pressing plate 44 and the pressing plate braking portion 48
Are magnetically attached to each other. The pressing plate 44 is magnetized to the S pole or the N pole at least on the pressing surface 44a, and the pressing plate braking portion 48 arranged facing the pressing surface 44a is magnetized to the N pole or the S pole. Further, the pressing plate 44 and the pressing plate braking portion 48 may be made of permanent magnets each having a predetermined magnetic pole magnetized, or a coil or the like may be wound to generate a predetermined magnetic force by energization. . For example, when the pressing plate 44 is magnetized to the S pole and the pressing plate braking portion 48 is magnetized to the N pole, the magnetic force generated by the coil portion 42 is applied to the S pole so as to repel the S pole of the pressing plate 44. Is set. Further, the magnetic force of the pressing plate braking portion 48 is
It is set to be smaller than the magnetic force generated by the energization of 2. When the coil portion 42 is energized, the magnetic force of the S pole generated on the pressing plate 44 side of the coil portion 42 is larger than the magnetic force of the N pole of the pressing plate braking portion 48.
Is repulsed to the rear side of the motor 28 and separated from the pressing plate braking portion 48. Further, the braking force by the holding brake 30 is proportional to the pressing force with which the pressing plate 44 is pressed by the pressing plate braking portion 48. The pressing force of the pressing plate 44 on the pressing plate braking portion 48 is adjusted by appropriately setting the magnetic force of the S pole or the N pole of the pressing plate 44 or the pressing plate braking portion 48 and the magnetic force generated by the coil portion 42. . In particular, by increasing the voltage applied to the coil portion 42, the magnetic force generated in the coil portion 42 can be increased. The holding brake 3
The braking force by 0 is preferably set in consideration of the reduction ratio of the gear unit 29, the lead angle of the male screw shaft portion 34 and the female screw nut portion 35 screwed thereto, and the like. Also,
The voltage applied to the coil portion 42 is preferably set so that the holding brake 30 can obtain the set braking force.

The pressing plate 44 has a key slide groove 47 formed in the rotating shaft insertion hole 45 of the pressing plate 44 in which a key 46 protruding from the peripheral surface of the rotating shaft 41 is slidably fitted. Since they are aligned, they rotate together with the rotation of the rotation shaft 41 and freely slide in the longitudinal direction of the rotation shaft 41. Although not shown, at least the motor 2 of the key sliding groove 47
It is preferable to dispose a stopper at the end on the 8 side to prevent the key 41 from coming off.

The operation of the linear motion link device of the first embodiment configured as described above will be described below with reference to the drawings.

As shown in FIG. 1 or FIG. 2, when the motor 28 is driven, the rotation shaft of the motor 28 rotates and the gear unit 29 reduces the speed at a predetermined reduction ratio.
4 rotates. The male screw shaft portion 34 has an inner rod portion 2
The female screw nut portion 35 fixed to 3 is screwed. Here, the inner rod portion 23 slides in the longitudinal direction but does not rotate in the axial circumferential direction because the rod rail portion 25 provided on the outer peripheral surface is fitted in the rail guide 26.
As a result, when the male screw shaft portion 34 rotates, the inner rod portion 23 slides in the longitudinal direction by the feed screw mechanism via the female screw nut portion 35. In this way, the linear motion link device 1 expands and contracts.

When the motor 28 is driven, as shown in FIG. 3 (a), a voltage is applied to the coil portion 42 of the holding brake 30 to energize it. In the first embodiment, the voltage of 24 V is applied to the coil portion 42 as the motor 28 is driven. When the coil portion 42 is energized, the magnetic force of the S pole is generated on the pressing plate 44 side by the coil portion 42, so the magnetic force of the S pole applied to the pressing plate 44 is generated on the pressing plate 44 side of the coil portion 42. The pressing plate 44 is urged toward the rear side of the motor 28 by repelling the magnetic force of the S pole.
As described above, when the motor 28 is driven, the pressing plate 44 is separated from the pressing plate braking portion 48, so that the pressing plate 44 rotates without resistance in conjunction with the rotating shaft 41.

When the motor 28 is stopped, the application of voltage to the coil portion 42 of the holding brake 30 is stopped, as shown in FIG. 3 (b). When the voltage applied to the coil portion 42 is stopped, the N pole of the pressing plate braking portion 48 and the S pole of the pressing plate 44 attract each other, and the pressing plate 44 is urged toward the pressing plate braking portion 48,
The pressing surface 44a is pressed against the pressing plate braking portion 48. Thus, when the motor 28 is stopped, the pressing surface 44a of the pressing plate 42 comes into contact with the pressing plate braking portion 48 and is pressed,
The rotating shaft 41 is braked by the frictional force on the pressing surface 44a.

When the rotating shaft 41 is braked, as shown in FIG. 2, the male screw shaft portion 34 of the linear motion link device 1 is fixed, so that the inner rod portion 23 is fixed, and the linear motion link device 1 of the linear motion link device 1 is fixed. It does not slide even if a force is applied in the longitudinal direction. Thus, the linear motion link device 1 does not expand or contract when the motor 28 is stopped.

Although the holding brake 30 is arranged on the rear side of the motor 28 in the first embodiment, the invention is not limited to this, and the holding brake 30 is arranged on the front side of the motor 28. You may set it up. In addition, the first embodiment
In the above, the holding brake 30 presses the pressing plate 44 by the magnetic force to generate the braking force, but the invention is not limited to this, and the pressing plate is pressed by the elastic force of an elastic body such as a coil spring or a leaf spring. It may be braked. Further, in the first embodiment, the linear motion link device 1 is formed to be extendable and contractible in the longitudinal direction by the feed screw mechanism using a motor as an actuator, but the present invention is not limited to this, and a motor is used. Instead of the feed screw mechanism, a direct-acting actuator such as a type that converts rotational movement into linear movement through a cylinder or rack / pinion using hydraulic pressure, water pressure, air pressure, or the like may be used. When a hydraulic cylinder is used, an on-off valve, a servo valve, or the like that stops the supply of oil into the cylinder or stops the outflow of oil from the cylinder can be used as a holding brake. In this case, the opening and closing timings of the on-off valve and the servo valve are the same as the operation timing of the holding brake described in the first embodiment, and the same effect can be obtained.

As described above, since the linear motion link device according to the first embodiment is configured, it has the following actions. (1) Since the rotation of the motor 28 rotation shaft 41 can be braked by the holding brake 30, the motor 28 can be stopped while the heavy load is supported by the linear motion link device 1, and the supported state is maintained. can do. (2) When the linear motion link device 1 is stationary while supporting a heavy object, the holding brake 30 can stop the motor 28 while maintaining the stationary state. Therefore, the load torque applied to the motor 28 can be reduced. In addition, the power consumption of the motor 28 can be suppressed. (3) Supporting by holding and fixing the rotating shaft 41 by the holding brake 30 even when the motor 28 is suddenly stopped due to equipment failure or the like while the heavy object is supported by the linear motion link device 1. Since the state can be maintained, it is excellent in stability and safety.

Next, a bipedal robot using the linear motion link device described in the first embodiment will be described. (Second Embodiment) FIG. 4 is a perspective view of a bipedal walking robot according to the second embodiment.

In FIG. 4, 1 is the linear motion link device described in the first embodiment, 101 is the biped walking robot in the second embodiment, and 101a is the biped walking robot 1.
01 is a right leg parallel link mechanism section, 101b is a left leg parallel link mechanism section of the bipedal walking robot 101, 10
Reference numeral 2 is a base portion, 103 is a right foot portion that is spaced apart from the lower portion of the base portion 102, 103a is a flat plate-shaped fixing plate fixed to the upper portion of the right foot portion 103, and 104 is a lower portion of the base portion 102. The right foot 103 and the left foot 10 arranged side by side
Reference numeral 4a denotes a flat plate-shaped fixing plate fixed to the upper part of the left foot portion 104, 106 denotes a base portion side passive joint fixed to a predetermined position on the lower surface side of the base portion 102, and 107 denotes fixing the right foot portion 103 and the left foot portion 104. A foot side universal passive joint fixed to a predetermined position on the upper surface side of the plates 103a and 104a, 108 is a control device unit arranged on the upper surface of the base unit 102, and 109 is arranged on the rear portion of the control device unit 108. A control computer, 110 is a gyro, 111 is a battery, and 112 is a motor drive circuit unit.

Here, the linear motion link device 1 has two sets as one set, and the upper end portions thereof are respectively the base portion side universal passive joints 10.
6 and the lower end thereof is connected to one foot side free passive joint 107 and is arranged in a V shape. One set of the linear motion link device 1 is provided in the right leg and the left leg in three sets each in a triangular shape in a plan view, and six sets are provided in one leg, for a total of twelve. That is, the left and right legs of the bipedal robot 101 according to the first embodiment are each configured by a Stewart platform. This allows
Excellent in operation stability and strength. Further, one base portion side universal passive joint 106 is connected to the upper end portion of one linear motion link device 1, and one foot portion side universal passive joint 107 is connected to the lower end portions of two linear motion link device 1. Has been done. The gyro 110, the battery 111, and the motor drive circuit unit 112 are arranged in the control device unit 108. In the second embodiment, a nickel hydrogen battery is used as the battery 111. Also, the right foot 103
Also, a 6-axis force sensor that detects a floor reaction force may be provided on the bottom surface side of the left foot portion 104. The 6-axis force sensor can detect three force components in each axis direction and three moment components around each axis simultaneously and successively with high accuracy. In addition, based on the value detected by the 6-axis force sensor, ZMP (Ze
ro MomentPoint) control can also be performed.

The operation of the bipedal robot according to the second embodiment having the above structure will be described below with reference to the drawings. In the second embodiment, 2
The operation of the right leg of the foot walking robot 101 will be described.
Since the operation of the left leg is the same as that of the right leg, description thereof will be omitted.

When the right leg is operated, the inverse kinematics of the right foot 103 is calculated based on a preset walking pattern, and each motor 28 of the linear motion link device 1 is driven based on the calculated value. By sliding the inner rod portion 23, the linear motion link device 1 is expanded and contracted. Linear motion link device 1
The base-side universal passive joint 106 and the foot-side universal passive joint 107, which are arranged at the connecting portion between the base portion 102 and the right foot portion 103, follow the expansion and contraction of the linear motion link device 1 and prevent it. Follow smoothly without. The rotation of the motor 28 of the linear motion link device 1 is detected by the rotary encoders 31 respectively arranged, and the acquired detection values are fed back as angle data, and the linear motion link device 1 is feedback-controlled. As a result, the right foot portion 103 can perform a stepping action, a stepping action on the spot, and the like. Further, a walking motion can be performed by alternately and continuously performing such an operation on the right foot portion 103 and the left foot portion 104.

When the bipedal walking robot 101 is in operation, electric power is supplied to the motor 28 and the coil portion 42
Is also energized. As a result, the holding brake 30 is released. When the bipedal robot 101 is in a stationary state, that is, the posture is fixed, when the power supply to the motor 28 is stopped, the energization of the coil portion 42 is stopped accordingly, and the holding brake 30 rotates the motor 28. The moving shaft 41 is held and fixed, and the inner rod portion 23 is fixed. As a result, the linear motion link device 1 can be maintained in a stationary state without being stretched by being driven by its own weight.

In the second embodiment, an external switch capable of operating the holding brake 30 and stopping the motor 28 may be provided. Thereby, the operator of the bipedal walking robot 101 can quickly stop the operation of the bipedalized walking robot 101 when the danger is detected during the operation, and the bipedal walking robot 101 can maintain its posture. As a result, the bipedal walking robot 101 itself is not damaged due to a fall when a sudden stop occurs, and an accident due to a fall does not occur, which is excellent in stability and safety.

As described above, 2 in the second embodiment
Since the foot walking robot is configured, it has the following actions. (1) When the biped robot 101 is in a stationary state, that is, in a fixed posture, the holding brake 30 causes the motor 28 to move.
Since the rotating shaft 41 can be held and fixed, the inner rod portion 23 can be maintained in a stationary state without being driven by its own weight, and the load on the motor 28 can be reduced. (2) Since the power supply to the motor 28 can be stopped when the bipedal walking robot 101 is in a stationary state, that is, the posture is fixed, the energy consumption of the motor 28 can be reduced and the battery 111 installed therein can be reduced. It is possible to increase the operation time of the bipedal walking robot 101 by increasing the operation time that can be operated by one replacement or charging. (3) The biped walking robot 101 can maintain its posture even when the motor 28 suddenly stops during operation due to a device failure or the like. It has excellent stability and safety because it does not cause accidents due to falls. (4) Since the posture can be maintained without driving the motor 28 during transportation or standby of the bipedal walking robot 101, the load torque applied to the motor 28 can be reduced and the power of the motor 28 can be reduced. It can reduce consumption. (5) Since the legs are formed by the parallel link mechanism in which the plurality of linear motion link devices 1 are arranged in parallel between the base 102, the right foot 103, and the left foot 104, respectively, the right foot 103 and the left foot are formed. The output of the section 104 is large, and it is possible to withstand a large load, and it is possible to carry heavy objects, which is excellent in practicality. (6) The left and right legs of the bipedal walking robot 101 are formed by a parallel link mechanism in which a plurality of linear motion link devices 1 are arranged in parallel between the base part 102 and the right foot part 103 and the left foot part 104, respectively. Since it has a large load, it can carry heavy objects and is highly practical,
Since the movement of the legs of the bipedal walking robot 101 does not require the compensating operation of the upper body, the heavy upper body can be mounted or incorporated, and the degree of freedom in design is excellent. (7) Since the positional error of the right foot portion 103 or the left foot portion 104 due to the error of the movable displacement of the linear motion link device 1 during the walking motion is averaged, it is possible to perform a highly accurate motion and also the linear motion link device. Since the rotary encoder 31 for detecting the displacement of 1 does not require high resolution, the productivity is excellent. (8) Since only the pulling force and the compressing force are applied to each of the linear motion link devices 1 and no bending moment is applied, the strength and rigidity are excellent, and the selection range of the material and the shape is wide, and the degree of freedom in design is excellent. . Further, by sliding the inner rod portion 23 by the feed screw mechanism using the male screw shaft portion 34 and the female screw nut portion 35, the control is easy and the strength and rigidity are excellent. (9) Since a plurality of linear motion link devices 1 having the same structure can be used, cost savings and labor savings during manufacturing can be excellent, and maintainability can be improved. (10) The linear motion link device 1 is arranged in a V shape with two as one set, and at least three sets are arranged in each of the right foot portion and the left foot portion, and are arranged in a triangular shape in a plan view. The left and right legs of the walking robot are composed of Stewart platforms, and have excellent stability and strength.

[0039]

As described above, according to the linear motion link device of the present invention and the bipedal robot equipped with the same, the following advantageous effects can be obtained.

According to the first aspect of the invention, (1) the movable brake is held and fixed by the holding brake even when the actuator is stopped while the heavy load is supported by the linear motion link device. Therefore, it is possible to provide the linear motion link device capable of maintaining the supporting state without the movable portion being driven by the weight of the heavy object. (2) Since the actuator can be stopped while the heavy object is supported by the direct-acting link device, the load applied to the actuator can be reduced and consumption of operating energy of the actuator can be suppressed. A device can be provided.

According to the invention of claim 2, claim 1
In addition to the effect of (1) with a direct-acting link device supporting a heavy object,
Even if the motor suddenly stops due to equipment failure, etc., the supporting state can be maintained by holding and fixing the moving part with the holding brake, so a linear motion link device with excellent stability and safety can be provided. Can be provided.

According to the invention of claim 3, claim 2
In addition to the effect of (1), since the inner rod portion can be fixed by braking the rotation of the rotating shaft by the holding brake, the motor can be stopped while the heavy object is supported by the linear motion link device. Thus, it is possible to provide a direct-acting link device that can maintain a supported state. (2) When the linear motion link device is stationary while supporting a heavy object, the holding brake can stop the motor while maintaining the stationary state, so that the load torque applied to the motor can be reduced, and It is possible to provide a direct drive link device capable of suppressing the power consumption of the motor.

According to the invention described in claim 4, (1) the movable part of the actuator can be held and fixed by the holding brake when the bipedal robot is in a stationary state, that is, the posture is fixed. It is possible to provide a bipedal walking robot capable of maintaining a stationary posture without being driven by the robot's own weight or the like and reducing the load applied to the actuator. (2) Since the supply of operating energy to the actuator can be stopped when the bipedal walking robot is in a stationary state, that is, the posture is fixed, the energy consumption of the actuator can be reduced. When electric power is supplied to the actuator, it is possible to provide a bipedal walking robot that can operate for a long time by changing or charging the battery once, and can improve the operating rate of the bipedal walking robot. (3) Even if the actuator suddenly stops during operation due to equipment failure, etc., the biped walking robot can maintain its posture. Therefore, a fall of the biped walking robot itself or an accident due to the fall It is possible to provide a bipedal walking robot that is stable and safe without causing a problem. (4) Since the posture can be maintained without driving the actuator during transportation or standby of the bipedal robot, load torque applied to the actuator can be reduced, and operating energy consumption of the actuator can be reduced. It is possible to provide a bipedal walking robot that can be suppressed.

According to the invention of claim 5, claim 4
In addition to the effects of (1), each parallel link mechanism used for the left and right legs is arranged in a V shape with two links as one set, and by the Stewart platform where three sets are arranged. Since it is configured, it is possible to provide a bipedal walking robot that is excellent in stability and rigidity and that can simplify motion control.

[Brief description of drawings]

FIG. 1 is a perspective view of essential parts of a linear motion link device according to a first embodiment.

FIG. 2A is a side view of a main part of the linear motion link device according to the first embodiment, and FIG. 2B is a cross-sectional view of the main part taken along the line AA of FIG.

FIG. 3A is a configuration diagram showing a state of the holding brake when the motor is driven. FIG. 3B is a configuration diagram showing a state of the holding brake when the motor is stopped.

FIG. 4 is a perspective view of a bipedal walking robot according to a second embodiment.

[Explanation of symbols]

1 Linear motion link device 21 Holding casing 22 Outer tube part 23 Inner rod part 24 Male screw shaft insertion hole 25 Rod rail part 26 Rail guide 27 Initial position sensor 28 motors 29 gear units 30 holding brake 31 rotary encoder 32 coupling 33 bearings 34 Male screw shaft 35 Female thread nut part 36a, 36b stopper 41 rotation axis 42 coil 43a, 43b terminals 44 Press plate 44a Pressing surface 45 Rotating shaft insertion hole 46 keys 47 key sliding groove 48 Pressing plate braking unit 101 Biped robot 102 base 103 right foot 103a fixed plate 104 Left foot 104a fixed plate 106 Base section side passive joint 107 Foot side universal passive joint 108 control unit 109 control computer 110 gyro 111 battery 112 Motor drive circuit

Continued front page    (72) Inventor Yoichi Takamoto             3-8-1, Asano, Kokurakita-ku, Kitakyushu City, Fukuoka Prefecture             Issue TEMSAC Co., Ltd. (72) Inventor Katsuyuki Baba             3-8-1, Asano, Kokurakita-ku, Kitakyushu City, Fukuoka Prefecture             Issue TEMSAC Co., Ltd. (72) Inventor Shigeaki Ino             3-8-1, Asano, Kokurakita-ku, Kitakyushu City, Fukuoka Prefecture             Issue TEMSAC Co., Ltd. F term (reference) 3C007 AS36 CS08 HS27 HT11 HT20                       HT40 WA03 WA13 WC22                 3J058 CC13 CC77 FA34

Claims (5)

[Claims] 1. A direct-acting link device including an actuator, which is capable of expanding and contracting in a longitudinal direction when the actuator is driven, and comprising a holding brake for holding and fixing a movable portion of the actuator. Link device. 2. The linear motion link device according to claim 1, wherein the holding brake holds and fixes the movable portion of the actuator when the actuator is stopped. 3. A motor as the actuator,
A long rod-shaped male screw shaft portion fixed to the rotation shaft of the motor and arranged in the longitudinal direction of the linear motion link device, a female screw nut portion screwed to the male screw shaft portion, and the female screw. An inner rod part fixed to a nut part and sliding in the longitudinal direction of the linear motion link device by driving the motor; and a holding brake holding and fixing the rotating shaft of the motor. The linear motion link device according to claim 1 or 2. 4. A base part, a right foot part and a left foot part, a plurality of passive joints respectively arranged on the base part, the right foot part and the left foot part, and the passive part arranged on the base part. A joint and the passive joint disposed on the right foot portion, and a passive joint disposed on the base portion and the passive joint disposed on the left foot portion, respectively. A parallel link mechanism section and a link between the parallel link mechanism section.
A bipedal walking robot, comprising: the linear motion link device according to any one of items 1 to 3; 5. The parallel link mechanism portion is provided in three sets each provided between the base portion and the right foot portion and between the base portion and the left foot portion. The bipedal walking robot according to Item 4.