JP2005125469A - Cover for head oscillation mechanism of humanoid robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the appearance while securing dustproof performance and to unify the shape among a plurality of robots, and moreover, to make the movement of a head natural similarly to that of a human without narrowing a range of the movement. <P>SOLUTION: The cover 7 is for covering the head oscillation mechanism 5 which at least makes a neck frame 6 supporting the head 4 of the humanoid robot to execute the forward and rearward tilting around a pitch axial line P and the lateral turning around a yawing axial line Y to a body 1. The cover for the head oscillation mechanism of the humanoid robot is characterized by having a first cover member 7a, which has a long hole 7d for the insertion of the neck frame 6 and for allowing the tilting around the pitch axial line P of the neck frame and is turned around the yawing axial line Y together with the neck frame 6, and a second cover member 7b, which is arranged to the inside of the first cover member 7a so as to be movable to the first cover member, covers the long hole 7d from the inside, has a hole 7e for the insertion of the neck frame 6, and is fixed to the neck frame 6. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention provides a cover for covering at least the base of a swing mechanism that causes a neck frame of a humanoid robot to tilt forward and backward about the pitch axis and rotate left and right about the yaw axis with respect to the body of the neck frame that supports the head. It is about.

In a humanoid robot, the swing mechanism that causes the neck frame that supports the head to tilt forward and backward around the pitch axis and to rotate left and right around the yaw axis has a wide range of movement, so the configuration of the covering member is difficult Therefore, conventionally, a cover is not provided, or a stretchable cloth or the like is used as a cover. For example, as described in Patent Document 1, left and right rotation around the yaw axis is made around the axis of the neck frame. The movable range was narrowed to cover.
JP 2003-200366 A

  However, if no cover is provided, it is difficult to ensure dust resistance, and using a stretchable cloth is not aesthetically pleasing, and the shape cannot be unified among multiple robots. there were.

  When the range of motion was narrowed, there was a problem that the movement of the head was different from that of humans and it seemed unnatural.

  SUMMARY OF THE INVENTION An object of the present invention is to advantageously solve the above-mentioned problems, and a swing mechanism cover of a humanoid robot according to the present invention is at least a pitch of a neck frame supporting a head of a humanoid robot with respect to a trunk. A cover that covers a swing mechanism that tilts back and forth around the axis and rotates left and right around the yaw axis, and has a slot that is inserted through the neck frame and allows the neck frame to tilt around the pitch axis. A first cover member that is rotated about the yaw axis together with the neck frame; and is disposed inside the first cover member so as to be movable with respect to the first cover member and covers the elongated hole from the inside. And a second cover member having a hole inserted through the neck frame and fixed to the neck frame.

  In the swing mechanism cover of the humanoid robot according to the present invention, the first cover member is inserted through the neck frame that supports the head of the swing mechanism and tilts forward and backward around the pitch axis of the neck frame. A perforating slot, pivoted about the yaw axis along with its neck frame, and a second cover member disposed inside said first cover member so as to be movable relative to said first cover member; Since the long hole is covered from the inside and has a hole through which the neck frame is inserted, and is fixed to the neck frame, when the swing mechanism tilts the neck frame back and forth around the pitch axis, the long hole of the first cover member The second cover member that is allowed to tilt forward and backward of the neck frame and the second cover member fixed to the neck frame moves relative to the first cover member inside the first cover member, and is a long hole in the first cover member The Cover from the side. When the swing mechanism further rotates the neck frame about the yaw axis in the tilted state, the first cover member is rotated about the yaw axis together with the neck frame.

  Therefore, according to the swing mechanism cover of the humanoid robot of the present invention, even if each cover member maintains the predetermined shape, the neck frame and thus the tilting of the head in front and back and the tilting state while covering the swing mechanism Since the swing mechanism allows left and right pivoting at the same time, it is possible to improve the aesthetics while ensuring dust resistance, to unify the shape among multiple robots, and to move the head because it does not narrow the movable range. It can be as natural as a person.

  In the swing mechanism cover of the humanoid robot according to the present invention, the swing mechanism also causes the neck frame to tilt left and right around the roll axis with respect to the body, and the swing mechanism cover Has a hole that is inserted through the neck frame and allows right and left tilting around the roll axis of the neck frame and tilting around the pitch axis with respect to the body, so that at least the lower part of the first cover member can be moved from the outside. A third cover member that covers and is fixed to the body may be provided, and in this way, the third cover member is inserted into the neck frame and tilted left and right around the roll axis of the neck frame with respect to the body. And a hole allowing tilting back and forth around the pitch axis, and at least the lower part of the first cover member is movably covered from the outside and fixed to the body. In, while exhibit the above effects, it is possible to further increase the degree of freedom of movement of the head.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing the external appearance of the first embodiment of the swing mechanism cover of the humanoid robot according to the present invention, and FIGS. 2A and 2B are front views showing the entire humanoid robot. 3 (a) and 3 (b) are cross-sectional views seen from the front side and the side showing the cover of the first embodiment together with the swing mechanism covered by the cover, respectively, and FIG. It is sectional drawing which follows the AA line of FIG.3 (b) of the said swing mechanism except the cover.

  As shown in FIGS. 2 (a) and 2 (b), the humanoid robot has two legs 2 under the body 1, and these legs 2 balance the dynamics in an inverted pendulum by a known method. While walking. This humanoid robot also has arms 3 on the left and right as viewed from the robot itself of the body 1, and has a head 4 on the body 1, and can tilt the head 4 back and forth around the pitch axis P. At the same time, the head 4 can be rotated left and right around the yaw axis Y while the tilted state is such that the head 4 is tilted forward and backward and left and right as shown in FIGS. A swing mechanism 5 is provided via a cylindrical neck frame 6 that supports the head 4.

  The head swing mechanism 5 includes a front / rear tilting part 5a that tilts the neck frame 6 back and forth around the pitch axis P with respect to the body 1 and a yaw axis Y with respect to the body 1 through the front / rear tilting part 5a. The front / rear tilting part 5a supports the upper frame 5c supporting the neck frame 6 so as to be rotatable around the pitch axis P by the middle frame 5d. At the same time, the servo motor 5e fixed to the middle frame 5d is rotated around the pitch axis P at a high reduction ratio via a harmonic drive (product name) 5f, and the left / right rotation unit 5b The cylindrical lower frame 5g protruding from the upper surface of the box-shaped body frame 1a in the cover of the body 1 is supported so as to be rotatable around the yaw axis Y, and the body frame is located behind the lower frame 5g. Is intended to rotate around the yaw axis Y with a high reduction ratio through the over arm belt transmission mechanism 5i in fixed servo motor 5h to 1a and harmonic drive 5j.

  The cover of the first embodiment indicated by reference numeral 7 in the figure is for covering the swing mechanism 5, and as shown in FIGS. 1 to 3, the first cover member 7a, the second cover member 7b, The first cover member 7a has a substantially dome shape, and the neck frame 6 is inserted into the upper portion of the first cover member 7a around the pitch axis P of the neck frame 6. 7d, which is fixed to the middle frame 5d of the swing mechanism 5 and rotated around the yaw axis Y together with the neck frame 6. The second cover member 7b has a generally arcuate shape, and is disposed inside the first cover member 7a so as to be movable along the long hole 7d with respect to the first cover member 7a. The hole 7d is covered from the inside and has a hole 7e through which the neck frame 6 is inserted, and is fixed to the neck frame 6. In this embodiment, the lower cover member 7c is fixed on the upper surface of the body frame 1a, is inserted through the lower frame 5g and the servo motor 5h, and covers the lower end opening of the first cover member 7a from below. .

  In such a swing mechanism cover of the first embodiment, when the swing mechanism 5 tilts the neck frame 6 forward around the pitch axis P as shown by an arrow F in FIGS. 5 and 6, for example, The long hole 7d of the first cover member 7a allows the neck frame 6 to tilt forward, and the second cover member 7b fixed to the neck frame 6 has its first inside the first cover member 7a. The long hole 7d of the first cover member 7a is covered from the inside while moving with respect to the one cover member 7a, and the lower cover member 7c is fixed to the body frame 1a, and the lower end of the first cover member 7a as shown in FIG. Covers the opening. The same applies when the head swing mechanism 5 tilts the neck frame 6 backward about the pitch axis P as shown in FIG.

  For example, as shown by an arrow L in FIGS. 9 and 10, the head swing mechanism 5 moves the neck frame 6 in the tilted state (tilted forward in the figure) and further to the left when viewed from the robot itself around the yaw axis Y. When rotated in the direction, the first cover member 7a and the second cover member 7b are rotated around the yaw axis Y together with the neck frame 6, and the lower cover member 7c is fixed to the body frame 1a. The same applies when the head swing mechanism 5 rotates the neck frame 6 to the right around the yaw axis Y.

  As shown in FIG. 11, the head swing mechanism 5 is configured so that the neck frame 6 and thus the head 4 are moved in the yaw axis line even when the neck frame 6 is not tilted as described above but is upright along the yaw axis line Y. The head swing mechanism cover 7 according to the first embodiment effectively covers the head swing mechanism 5 as shown in FIG. 11 even in this case. Yes.

  Therefore, according to the swing mechanism cover 7 of the humanoid robot of the first embodiment, the first, second and lower cover members 7a to 7c may be formed of hard plastic or the like so as to maintain a predetermined shape. Since the head swing mechanism 5 is allowed (allowed) to cover the head swing mechanism 5 and to allow the head frame 6 and thus the head 4 to tilt back and forth and to turn left and right in the tilted state, it is dust resistant. In addition, it is possible to improve the aesthetics, unify the shape among the plurality of robots, and not to narrow the movable range, so that the movement of the head 4 can be as natural as a person.

  FIG. 12 is a sectional view showing a second embodiment of the swing mechanism cover of the humanoid robot according to the present invention. In the figure, the same parts as those in the previous embodiment are denoted by the same reference numerals. The second embodiment is applied to the case where the swing mechanism 5 further includes a left and right tilting portion 5k for tilting the neck frame 6 around the roll axis R with respect to the body 1 in addition to the above configuration. In the second embodiment, the lower cover member 7c is not fixed to the body frame 1a, and is tilted left and right together with the lower frame 5g by the left and right tilt portion 5k. The upper part of the cover 1b of the body 1 serves as a third cover member that forms a part of the swing mechanism cover, covers the lower part of the first cover member 7a and the outer peripheral part of the lower cover member 7c, and the upper hole 1c of the cover 1b. However, the neck frame 6 is allowed to tilt left and right and right and left and right and left and to move the first, second and lower cover members 7a to 7c.

  Therefore, according to the swing mechanism cover 7 of the humanoid robot of the second embodiment, the cover 1b as the third cover member is inserted through the neck frame 6 and around the roll axis R of the neck frame 6 with respect to the body 1. The first embodiment is provided with a hole 1c that allows left and right tilting and forward / backward tilting around the pitch axis P, and movably covers the lower portion of the first cover member 7a from the outside and is fixed to the body 1. The degree of freedom of movement of the head 4 can be further increased while producing the same effect as.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, a gap between the first and second cover members and between the second and lower cover members is filled with a soft member. In addition, it may be possible to more reliably prevent dust and the like from entering between the gaps, and the gaps are sealed in a liquid-tight or air-tight manner while allowing the relative movement of the cover members. You may make it improve airtightness etc. further. Further, the specific configuration of the swing mechanism is not limited to the above example.

  Thus, according to the swing mechanism cover of the humanoid robot of the present invention, it is possible to improve the aesthetics while ensuring dust resistance, to unify the shape among multiple robots, and to move the head because it does not narrow the movable range. It can be as natural as a person.

It is a perspective view which shows the external appearance of 1st Example of the swing mechanism cover of the humanoid robot of this invention. (A), (b) is the front view and side view which show the whole said humanoid robot. (A), (b) is sectional drawing seen from the front side and side which show the cover of the said 1st Example with the swing mechanism which the cover covers, respectively. It is sectional drawing which follows the AA line of FIG.3 (b) of the said swing mechanism except the cover. It is a perspective view which shows the action | operation around the pitch axis line of the said swing mechanism and the cover of the said 1st Example. It is a perspective view which shows the action | operation around the pitch axis line of the said swing mechanism and the cover of the said 1st Example with a motion of a head. It is sectional drawing which shows the action | operation around the pitch axis line of the said swing mechanism and the cover of the said 1st Example with a motion of a head. It is sectional drawing which shows the action | operation around the pitch axis line of the said swing mechanism and the cover of the said 1st Example with a motion of a head. It is a perspective view which shows the action | operation around the yaw axis line of the said swing mechanism and the cover of the said 1st Example. It is a perspective view which shows the action | operation around the yaw axis of the said swing mechanism and the cover of the said 1st Example with a motion of a head. It is a top view which shows the action | operation around the yaw axis line of the said swing mechanism and the cover of the said 1st Example with a motion of a head. It is sectional drawing which shows 2nd Example of the swing mechanism cover of the humanoid robot of this invention. It is sectional drawing which shows the action | operation around the roll axis line of the swing mechanism and the cover of the said 2nd Example with a motion of a head.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Body frame 1b Cover 1c Upper hole 2 Leg 3 Arm 4 Head 5 Swing mechanism 5a Back and forth tilting part 5b Left and right turning part 5c Upper frame 5d Middle frame 5e, 5h Servo motor 5f, 5j Harmonic drive 5g Lower frame 5i Belt Transmission mechanism 5k Left / right tilting part 6 Neck frame 7 Swing mechanism cover 7a First cover member 7b Second cover member 7c Lower cover member 7d Long hole 7e Hole P Pitch axis R Roll axis Y Yaw axis

Claims (2)

In a cover that covers a swing mechanism for performing a tilting of the neck frame supporting the head of the humanoid robot with respect to the body at least around the pitch axis and turning left and right around the yaw axis,
A first cover member that is inserted through the neck frame and has a long hole that allows tilting of the neck frame around the pitch axis, and is rotated around the yaw axis together with the neck frame;
A second cover member, which is disposed inside the first cover member so as to be movable with respect to the first cover member, covers the elongated hole from the inside, has a hole inserted through the neck frame, and is fixed to the neck frame. When,
A swing mechanism cover for a humanoid robot, characterized by comprising: The head swing mechanism also causes the neck frame to tilt left and right around the roll axis with respect to the body,
The swing mechanism cover has a hole that is inserted through the neck frame and allows right and left tilting around the roll axis of the neck frame and tilting around the pitch axis with respect to the body, and at least a lower portion of the first cover member. The neck cover of a humanoid robot according to claim 1, further comprising a third cover member that is movably covered and fixed to the body.

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