JP2005161413A - Body frame structure of anthropomorphic robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To manufacture a frame without increasing manufacturing man-hours in the small number of part items, by securing its rigidity while reducing weight of the frame without impairing its mounting performance and attaching-detaching performance, by securing the superior mounting performance and attaching-detaching performance of an electric equipment apparatus, by securing a sufficient mounting space of the electric equipment apparatus in a body outer shell. <P>SOLUTION: This frame structure constitutes the frame of at least an upper half part of a body of an anthropomorphic robot. The body frame structure of the anthropomorphic robot is characterized by having the body outer shell 5 having a front central opening part 5a and rear left-right opening parts 5b and 5c extending to left-right side parts from a rear part and forming a substantially T shape when viewed from above, a front reinforcing member 6 extending by crossing the front central opening part of the body outer shell and reinforcing its front part by removably joining both end parts to the front part of the body outer shell on both sides of its front central opening part, and two rear reinforcing members 7 respectively extending over the rear part from the left-right side parts of the body outer shell and reinforcing its rear part by respectively removably joining one end part to the side part, and removably joining the other end part to the rear part. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a frame structure constituting a frame of at least an upper half portion of a torso of a humanoid robot.

  A torso frame in a humanoid robot is required to have rigidity for receiving force from legs and arms, a space for storing many electrical components, and a function for easily removing these electrical components.

  When all of the frames of such a body have an outer shell structure formed by casting or the like, it is necessary to close as many faces as possible (preferably the five faces of a hexahedron) in order to reduce the weight and ensure the rigidity. Further, when the body frame has an internal skeleton structure, it is necessary to arrange a bone (structural member) for securing rigidity at the center of the body. When the body frame has a sheet metal structure, the number of parts increases and a complicated assembly of structural members is required.

  However, if many surfaces are closed in the case of the outer shell structure, there is a problem that the mountability (easy to mount) and the detachability of the electrical equipment deteriorate. Further, when the inner skeleton structure is adopted, there is a problem that the structural member enters the mounting space of the electrical equipment and the use of the space becomes inefficient. In the case of the sheet metal structure, there is a problem that the number of manufacturing steps increases.

  SUMMARY OF THE INVENTION An object of the present invention is to advantageously solve the above-described problems, and a humanoid robot torso frame structure according to the present invention is a frame structure that constitutes a frame of at least an upper half of a humanoid robot torso. A trunk outer shell having a front center opening and a rear left and right opening extending from the rear to the left and right sides and having a substantially T-shape when viewed from above; and a front center opening of the trunk outer shell A front reinforcing member that extends across the part and is removably coupled to the front part of the fuselage outer shell on both sides of the front central opening of the front part to reinforce the front part, and the fuselage Two rear portions extending from the left and right side portions of the outer shell to the rear portion, each having one end portion detachably coupled to the side portion and the other end portion detachably coupled to the rear portion to reinforce the rear portion And a reinforcing member. It is intended.

  According to the body frame structure of the humanoid robot of this invention, the body outer shell has the front center opening and the rear left and right openings extending from the rear to the left and right sides. In addition, it is possible to secure a sufficient mounting space for the electrical equipment, and it is possible to secure a good mounting property (easy to perform mounting work) and detachability of the electrical equipment. Moreover, since the vicinity of the opening of the shell outer shell is reinforced by the removable front reinforcing member and the two rear reinforcing members, the rigidity of the frame is ensured while reducing the weight and the mounting property and the detachability. be able to. Since the fuselage frame is mainly composed of the fuselage outer shell, the front reinforcing member, and the two rear reinforcing members, the frame can be manufactured with a small number of parts and without increasing the number of manufacturing steps.

  In the humanoid robot fuselage frame structure according to the present invention, the front reinforcing member may be provided with a cooling fan, and in this way, the front central opening of the fuselage outer shell. Since the cooling air can be taken into the fuselage outer shell from the part by the cooling fan, the cooling can be sufficiently performed when the electrical equipment is mounted in the fuselage outer shell.

  Also, in the frame structure for a torso of a humanoid robot according to the present invention, each of the two rear reinforcing members may be a pipe frame having a substantially L shape and also serving as a roll bar. When the humanoid robot falls or when something collides with the humanoid robot, it is possible to effectively protect the electrical equipment mounted on the outer shell of the body.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an exploded perspective view showing an external appearance of an embodiment of a torso frame structure for a humanoid robot according to the present invention, and FIGS. 2A and 2B are front views showing the entire humanoid robot. FIGS. 3 (a), 3 (b), and 3 (c) are a front view showing a body shell of the frame structure of the embodiment, a side view seen from the left hand side of the humanoid robot, and the person 4A, 4B, and 4C are a plan view, a bottom view, and FIG. 3B showing the body shell of the frame structure of the above embodiment. It is the arrow line view seen from the arrow A direction.

  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 a head 4 on the body 1.

  The fuselage 1 here comprises an upper half 1a and a lower half 1b that are connected to each other at the waist so as to be able to rotate back and forth and to the left and right. As shown in FIG. 1, it comprises a fuselage outer shell 5, a tower bar 6 as a front reinforcing member, and two pipe frames 7 as rear reinforcing members. It is arranged inside the split-type body upper half cover 8.

  The fuselage outer shell 5 in the frame structure of this embodiment is formed by casting an aluminum alloy, and FIGS. 3 (a), (b), (c) and FIGS. 4 (a), (b), (c). As shown in FIG. 2, the front center opening 5a occupying most of the front part and the L-shaped rear left and right openings 5b and 5c as viewed from above from the rear part to the left and right side parts are seen from above. It is substantially T-shaped.

  Further, the tower bar 6 in the frame structure of this embodiment is cut from a thick plate of aluminum alloy as shown in the perspective view of FIG. 5, and has bolt holes 6a at both ends and intermediate portions. Two cooling fans 9 that are directed toward the rear and one cooling fan 9 that is sandwiched between them and that are directed obliquely downward are mounted. As shown in FIG. 5 extends in the left-right direction across the front central opening 5a, and both ends are removably fixed to the front of the fuselage outer shell 5 on both sides of the front central opening 5a with bolts 10. The front part of the body outer shell 5 is reinforced.

  Each of the two pipe frames 7 in the frame structure of this embodiment is bent in a substantially L shape, and the front end of FIG. 6 is taken along the line BB in FIG. As shown in the cross-sectional view, a fixed pipe 7a is fixed in a direction bent at a right angle, and the fixed pipe 7a is attached to the left and right sides of the fuselage outer shell 5 as shown in FIGS. 3 (b) and 3 (c). It fits in the formed cylindrical recessed part 5d, and is detachably fixed to the left and right side parts of the trunk outer shell 5 with bolts 10 inserted into the trunk outer shell 5 from the inside of the trunk outer shell 5.

  Further, the two pipe frames 7 in the frame structure of this embodiment each have the rear end portion thereof directed toward the rear portion of the fuselage outer shell 5 as shown in FIG. As shown in the arrow view of FIG. 7 as viewed from the direction of arrow C in FIG. 3B, the rear end of each is coupled to the rear lower end of the shell outer shell 5 via the clamp 11.

  8A and 8B are a partially cutaway side view and perspective view showing the clamp 11 for the left pipe frame 7, and FIGS. 9A and 9B are for the right pipe frame 7. FIG. FIG. 9 is a partially cutaway side view and perspective view of the clamp 11 shown in FIG. 8. As shown in FIG. 8, the clamp 11 for the left pipe frame 7 is shown in the upper part of FIG. A clamp hole 11a that is elastically reduced in diameter by tightening the bolt 10, and a cylinder that is inserted into a mounting hole 5e formed at the lower end of the rear part of the shell outer shell 5 as shown in FIGS. 3 (b) and 3 (c). On the other hand, as shown in FIG. 9, the clamp 11 for the right pipe frame 7 is elastic when the pipe frame 7 is inserted and the bolt 10 shown in the lower part of FIG. A clamp hole 11a having a diameter reduced to And a tubular portion 11c that is inserted into the hole of the cylindrical portion 11b of the clamp 11 for the left pipe frames 7.

  And here, the cylindrical part 11b of the clamp 11 for the left pipe frame 7 is inserted from the left side into the mounting hole 5e formed in the rear lower end part of the fuselage outer shell 5, and then the cylindrical part of the right clamp 11 is inserted. The portion 11c is inserted into the hole of the cylindrical portion 11b in the mounting hole 5e from the right side of the mounting hole 5e, and then, as shown in the center part of FIG. The bolt 10 is inserted into the bolt hole of the cylindrical portion 11b from the bolt hole of the cylindrical portion and screwed into the female screw in the bolt hole of the cylindrical portion 11c. The left and right pipe frames 7 are finally inserted into the clamp holes 11a of the clamps 11, and the left and right pipe frames 7 are tightened by tightening the bolts 10 shown in the upper and lower parts of FIG. Kula Is removably secured to the rear lower end of the flop 11 thus fuselage shell 5.

  10, FIG. 11 and FIG. 12 are a front view showing the fuselage frame structure of this embodiment configured as described above together with the frame 12 for the lower half 1b of the fuselage, a side view seen from the left side of the robot, FIG. 13 is a perspective view showing the fuselage frame structure of this embodiment together with the frame 12 for the lower half 1b of the fuselage, and FIG. 14 shows the fuselage frame structure of this embodiment. FIG. 15 is a perspective view showing the relationship between the fuselage frame structure and the fuselage upper half cover 8 of this embodiment.

  As shown in FIG. 14, a speaker panel 13 is mounted on the upper side of the tower bar 6 of the fuselage outer shell 5 of the fuselage frame structure of this embodiment, and a large number of motor driver boards 14 are provided in the fuselage outer shell 5. The wireless LAN unit 15 is mounted on the side of the rear part of the shell outer shell 5, and the attitude sensor unit 16 is stored in the rear part of the shell outer shell 5, and is located between the front part and the rear part of the shell outer shell 5. Is mounted with a rear driver board 17, and a drive unit control system and an operation calculation system computer unit 18 are mounted on both sides of the rear part of the body shell 5.

  As shown in these drawings, according to the frame structure for a torso of a humanoid robot of this embodiment, the torso outer shell 5 has a front center opening 5a and a rear left and right opening 5b extending from the rear to the left and right sides, 5c, it is possible to secure a sufficient mounting space for the electrical equipments 13 to 18 in the body outer shell 5, and good mounting properties (ease of mounting work) of the electrical equipments 13 to 18; Detachability can be ensured. In addition, the detachable tower bar 6 and the two pipe frames 7 reinforce the vicinity of each opening of the fuselage outer shell 5, so that the rigidity of the frame is reduced without impairing the mountability and detachability. Can be secured. Since the fuselage frame is mainly composed of the fuselage outer shell 5, the tower bar 6, and the two pipe frames 7, the frame can be manufactured with a small number of parts and without increasing the number of manufacturing steps.

  Furthermore, according to the frame structure for the trunk of the humanoid robot of this embodiment, the cooling fan 9 is attached to the tower bar 6 as shown in FIG. Therefore, the cooling fan 9 can take cooling air into the fuselage outer shell 5, so that the two cooling fans 9 mounted on the rear end of the fuselage outer shell 5 and directed toward the rear are exhausted. Together, the electrical equipment 13 and the like mounted in the body outer shell 5 can be sufficiently cooled.

  Further, according to the frame structure for the trunk of the humanoid robot of this embodiment, each of the two pipe frames 7 is substantially L-shaped and doubles as a roll bar, so when the humanoid robot falls down, When something collides with the humanoid robot, it is possible to effectively protect the electrical equipments 13 to 18 mounted on the trunk outer shell 5.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, the frame structure of the present invention may constitute a frame for the entire body of the humanoid robot. Moreover, you may comprise a front part reinforcement member with a pipe.

  Thus, according to the torso frame structure of the humanoid robot of the present invention, it is possible to secure a sufficient mounting space for the electrical equipment in the shell outer shell, and to provide a good mounting property (easiness for mounting work) of the electrical equipment and Detachability can be secured, and the rigidity can be secured while reducing the weight of the frame without impairing the mountability and detachability, and the frame can be manufactured without increasing the number of manufacturing steps with a small number of parts. be able to.

It is a disassembled perspective view which shows the external appearance of one Example of the frame structure for torso of the humanoid robot of this invention. (A), (b) is the front view and side view which show the whole humanoid robot to which the frame structure of the said Example is applied. (A), (b), (c) is a front view showing the body shell of the frame structure of the above embodiment, a side view seen from the left hand side of the humanoid robot, and a right hand side of the humanoid robot. FIG. (A), (b), (c) is the top view which shows the trunk | drum outer shell of the frame structure of the said Example, a bottom view, and the arrow view seen from the arrow A direction of FIG.3 (b). It is a perspective view which shows the tower bar in the frame structure of the said Example. It is sectional drawing which shows the fixing method to the trunk | drum outer shell of the front end part of the pipe frame in the frame structure of the said Example. It is the arrow line view seen from the arrow C direction of FIG.3 (b) which shows the fixing method to the trunk | drum outer shell of the rear-end part of the pipe frame in the frame structure of the said Example. (A), (b) is the partially notched side view and perspective view which show the clamp for left pipe frames. (A), (b) is a partially cutaway side view and perspective view showing a clamp for the right pipe frame. It is a front view which shows the frame structure for trunk | drums of the said Example with the flame | frame for trunk lower half parts. It is the side view seen from the left side of the robot which shows the frame structure for trunks of the above-mentioned example with the frame for the trunk half lower part. It is the side view seen from the right side of the robot which shows the frame structure for trunks of the above-mentioned example with the frame for lower half of the trunk. It is a perspective view which shows the frame structure for trunk | drums of the said Example with the flame | frame for trunk | drum lower half parts. It is a disassembled perspective view which shows arrangement | positioning of the various electrical equipment to the frame structure for trunk | drum of the said Example. It is a perspective view which shows the relationship between the frame structure for trunk | drums of the said Example, and a trunk | drum upper half cover.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Body upper half 1b Body lower half 2 Leg 3 Arm 4 Head 5 Body outer shell 5a Front center opening 5b Rear left opening 5c Rear right opening 5d Recess 5e Mounting hole 6 Tower bar 7 Pipe frame 7a Fixed pipe 8 Body upper half cover 9 Cooling fan 10 Bolt 11 Clamp 12 Body lower half frame 13 Speaker panel 14 Motor driver board 15 Wireless LAN unit 16 Attitude sensor unit 17 Rear driver board 18 Computer unit

Claims (3)

In the frame structure constituting the frame of at least the upper half part of the body of the humanoid robot,
A fuselage outer shell having a front center opening and a rear left and right opening extending from the rear to the left and right sides and having a substantially T-shape when viewed from above;
Extending across the front central opening of the fuselage outer shell, both ends are detachably coupled to the front of the fuselage outer shell on both sides of the front central opening to reinforce the front A front reinforcing member to
The body shell extends from the left and right side portions to the rear portion, and one end portion is detachably coupled to the side portion and the other end portion is detachably coupled to the rear portion to reinforce the rear portion. Two rear reinforcement members,
A frame structure for a torso of a humanoid robot, characterized by comprising:   The human body robot body frame structure according to claim 1, wherein the front reinforcing member is provided with a cooling fan.   3. The body frame structure for a humanoid robot according to claim 1, wherein each of the two rear reinforcing members is a pipe frame that is substantially L-shaped and also serves as a roll bar.

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