JP2004337309A - Tail and fin swinging device for robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tail and fin swinging device for a robot for moving a tail and fin so as to curve the root of the tail and fin. <P>SOLUTION: In the tail and fin swinging device for the robot, a hip 10 and the root part of the tail and fin 9 are connected with each other through a root extension body 19; an immobile gear 15 whose teeth face the side of the tail and fin is provided at the hip; a revolution gear 18 for engaging with the immobile gear is provided at the root part of the tail and fin, the root extension body is swingably provided with the immobile center axis 13 of the immobile gear as a fulcrum, and the swinging tip of the root extension body has a motor for revolving the revolution gear on its axis. With the revolution of the motor, while the root extension body is revolved with the immobile center axis as the fulcrum, the tail and fin is revolved with a motor revolution shaft 20. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a device for shaking a tail fin of a biological robot, and specific examples of an organism having a tail fin include an animal represented by a seal and a fish.
[0002]
[Prior art]
It is desired that various biological robots can perform the same movement as the real robot. For example, in order to move the tail fin in the case of a seal robot, a mechanism that normally swings the tail fin with a motor can be considered. In this case, the tail fin flaps in a pendulum shape around the motor rotation axis.
[0003]
However, real seals move the tail fin by bending the base of the tail fin from the buttocks of the torso, and it is far from actual movement if the tail fin simply moves like a pendulum. However, moving the buttocks of the torso requires a complicated mechanism.
[0004]
[Problems to be solved by the invention]
Therefore, the present invention was created to solve the problem of moving the tail fin by curving the base of the tail fin in order to make it as close as possible to the real movement.
[0005]
[Means for Solving the Problems]
The tail fin swinging device of the biological robot according to the present invention includes a revolving gear in which the buttocks and the tail fins are connected to each other with a base extension body, the fixed gears having teeth facing the tail fin side, and the revolving gears meshing with the fixed gears are attached to the base of the tail fins. The base extension body is provided so as to be able to swing around the immovable center axis of the fixed gear as a fulcrum, and a motor that rotates the revolving gear is provided at the swinging tip of the base extension body, and the rotation of the motor is accompanied by the rotation of the motor. The tail fin rotates together with the motor rotation axis while the base extension rotates about the immobile center axis.
[0006]
When the motor rotates, the revolving gear rotates, and accordingly, the tail fin rotates about the motor rotation axis. In addition, since the revolving gear meshes with the fixed gear and the meshing is maintained by the base extension, when the revolving gear rotates, the revolving gear revolves around the fixed gear. Accordingly, the rotation of the motor causes the tail fin to rotate as a whole while revolving around its base.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
As shown in FIG. 3 viewed from the bottom surface, the biological robot resembles a seal, in which a hollow body 1 serving as a skeleton is covered with a fur-like cover 2. Assuming that the face is in the front direction, the body 1 is as shown in FIGS. 1 to 3 viewed from the bottom, FIGS. 4 to 6 viewed from the side, FIGS. 7 and 8 viewed from the plane, and FIGS. The body 5 is formed by abutting the upper and lower shells 3 and 4 and connecting them with screws or the like. In addition, the left and right plate-shaped fin bodies 6 and 7 face each other in a C-shape when viewed from the rear, and the bases of both fin bodies 6 and 7 are fixed to the left and right sides of the flared mounting block 8, so that the tail fin 9 is formed. Is formed. The base of the tail fin 9 is connected to the inside of the tip of the buttocks 10 of the trunk 5 by a tail fin swinging device 11. In addition, by using a soft material for the fin bodies 6, 7, the fin bodies 6, 7 are deformed when subjected to an external force, and the load applied to the tail fin swing device 11 from the fin bodies 6, 7 is reduced. The tail fin swinging device 11 is prevented from being damaged.
[0008]
As shown in FIG. 1, FIG. 4, FIG. 5 or FIG. 6, the tail fin swinging device 11 uses a plurality of pins 12, 13, 14 to fix the fixed gear 15 inside the tip of the lower shell 4 and the teeth. It is horizontally fixed in a state facing the tail fin 9 side, and one of the pins (the middle one in FIG. 1) 13 is used as a fixed central axis of the fixed gear 15. The pipe P1 is for press-fitting one end of the immobile center shaft 13 to support the fixed gear 15. The arms 16 and 17 extend from the top and bottom of the mounting block 8 toward the buttocks 10, and a revolving gear 18 is provided at the tip of the lower arm 17, and the revolving gear 18 meshes with the fixed gear 15. On the other hand, the other end of the fixed center shaft 13 is inserted into the round hole H1 below the base of the block-shaped base extension 19, and the support shaft S1 is mounted on the base upper side of the base extension 19 with the fixed center shaft 13. By inserting the support shaft S1 into a pipe P2 which projects symmetrically and projects from the inside of the upper shell 3, a root extension 19 is swingably provided about the immobile center shaft 13 as a fulcrum. A motor is built in the rocking tip of the base extension 19, and a motor rotating shaft 20 protruding downward is connected through a non-round hole H2 at the center of the revolving gear 18. A support shaft S2 protrudes symmetrically with respect to the motor rotation shaft 20 above the rocking tip of the base extension 19, and the support shaft S2 is inserted into the round hole H3 at the tip of the upper arm 16 so that the tail fin is formed. 9 is provided so as to be rotatable together with the motor rotation shaft 20.
[0009]
The movement of the tail fin swinging device 11 will be described. When the revolving gear 18 rotates along with the rotation of the motor rotation shaft 20, the tail fin swinging device 11 revolves around the immovable central shaft 13 as a fulcrum together with the base extension 19 while meshing with the fixed gear 15. become. Accordingly, with the rotation of the motor, the tail fin 9 rotates at an angle corresponding to the rotation of the revolving gear 18 and the revolution. Also, as shown in FIG. 1, the motor rotation shaft 20 appears to swing about the immobile center shaft 13 as the motor rotates, so that both the immobile center shaft 13 and the motor rotation shaft 20 have tail fins 9. And the tail fin 9 moves so as to form an arc with the immobile center axis 13 as a fulcrum.
[0010]
Hereinafter, a part to which the tail fin swinging device 11 is attached and parts to be used will be described. As shown in FIG. 8 with the tail fin 9 removed or FIG. 9 with the tail fin 9, the hollow butt 10 has an opening 21 at its tip, and as shown in FIG. 2 and FIG. The tail fin swinging device 11 housed in the inside 10 protrudes a part (arms 16 and 17) to the outside using the opening 21 so that the tail fin 9 can be shaken while securing the connection with the tail fin 9. is there.
[0011]
The motor uses a stepping motor, and rotates (forward / reverse) by an angle corresponding to the input pulse. As shown in FIG. Symmetrically provided, the stoppers 22 limit the swing range of the tail fin 9 due to the collision with the upper arm 16 so that the tail fin 9 is not swung at an angle that cannot be realized by a real seal. The sensor detects that the biological robot is touched, and the CPU reads an operation procedure corresponding to the detection signal from the memory, and outputs a pulse to the motor according to the operation procedure, so that the motor is driven.
[0012]
As shown in FIG. 1, FIG. 6, FIG. 7, or FIG. 9, the mounting block 8 includes a subordinate body 23 that is continuous with the upper arm 16 and a main body 24 that is continuous with the lower arm 17. 25, a protrusion 26 of the main body 24 is inserted, and the slave 23 and the main body 24 are connected by screws or the like. The attachment block 8, the upper arm 16, and the lower arm 17 form a U-shape in a side view, so that the connection between the support shaft S2 and the motor rotation shaft 20 is ensured.
[0013]
【The invention's effect】
According to the present invention, since the base fin rotates while the base extension body rotates about the immobile center axis as the motor rotation axis rotates, the base part is curved when the base extension is considered as a part of the tail fin. The movement looks as if it were to be done, and as a result, it looks like a real movement with a tail fin.
[Brief description of the drawings]
FIG. 1 is a bottom view of a tail fin swinging device of a biological robot according to the present invention.
FIG. 2 is a bottom view of a tail fin portion of the biological robot.
FIG. 3 is a bottom view showing an overall image of the biological robot.
FIG. 4 is a side view of the tail fin swinging device.
FIG. 5 is a side view of a tail fin portion of the biological robot.
FIG. 6 is an exploded side view of the tail fin swinging device.
FIG. 7 is a plan view of the tail fin swinging device.
FIG. 8 is a rear view in a state where a tail fin is removed.
FIG. 9 is a rear view of the tail fin swinging device.
[Explanation of symbols]
9 Tail fin 10 Butt 13 Fixed center shaft 15 Fixed gear 18 Revolving gear 19 Root extension 20 Motor rotation shaft

Claims (1)

The base of the tail (10) and the base of the tail fin (9) are connected by a base extension (19), and the base (10) has a fixed gear (15) with teeth facing the tail fin side, and meshes with the fixed gear. A revolving gear (18) is provided at the base of the tail fin (9), and a base extension (19) is provided so as to be swingable about the immobile center shaft (13) of the fixed gear as a fulcrum. The swing tip has a motor for rotating the revolving gear (18),
A biological robot characterized in that the tail fin (9) rotates together with the motor rotation shaft (20) while the base extension (19) rotates about the immobile center axis (13) as the motor rotates. Tail fin swing device.

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