JP2007319946A - Balance structure for walking type robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate the control over a robot by taking long a moment arm from a leg root part to a ballast for balancing without any increase in weight of the robot as much as possible, and preventing the ballast from being swung around even if a frame rather closer to the distal end is moved. <P>SOLUTION: In this balance structure for a walking type robot, in a dinosaur type robot, which is a walking type robot having the body extending in the horizontal direction, ballasts 9, 10 for adjusting a balance are mounted on the front and rear end parts of the frame 3b directly supported by the right and left rear legs. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a structure for balancing a walking robot having a body extending in a horizontal direction, such as a dinosaur robot.

  In general, a walking robot must mount a plurality of heavy objects such as a control device and a joint axis drive motor in a limited space at high density. For this reason, it may be difficult to mount a heavy object so as to be symmetrical in the front-rear and left-right directions. In such a case, it is a general method to finally add a ballast (weight) to balance the whole.

On the other hand, in general, a walking robot is required to be balanced without increasing the weight as much as possible (see, for example, Patent Document 1).
Japanese Patent No. 2592340

  Incidentally, like the robot described in Patent Document 1, generally, a walking robot walks according to the principle of an inverted pendulum, and thus is a walking robot having a body extending in the front-rear direction which is a horizontal direction, for example, a dinosaur type In order to balance the robot without increasing the weight of the robot as much as possible, the ballast is as far as possible from the base of the leg to take a long moment arm from the base of the leg to the ballast, which is the support point of the dinosaur type robot. Is more advantageous.

  7 and 8 are a side view and a plan view showing the dinosaur type robot developed by the applicant of the present application in a state where the internal structure is seen through. In this dinosaur type robot, an internal structure 2 having a so-called endoskeleton-like frame in which a driving mechanism is arranged at a necessary position corresponding to the function of a biped robot is covered with a dinosaur type exterior 1. The exterior 1 here is composed of a head H, left and right body parts B, and a tail T, and is configured to cover the internal structure 2. A foamed urethane foam that forms the external shape of the exterior 1 A silicon outer skin is provided on the outer surface of the manufactured meat portion.

  The internal structure 2 here includes a chest frame 3a, a torso frame 3b, a neck frame 3c, a head frame 3d, a lower jaw frame 3e, left and right front leg frames 3f, and left and right rear leg frame upper parts 3g. The left and right rear leg frame lower part 3h, the left and right ankle frame 3i, the left and right foot frame 3j, the tail frame base 3k, the tail frame intermediate part 3l, and the frame 3 composed of the tail frame tip part 3m, It has a number of motors 4 that drive the joints connecting the frames 3 by belt transmission or the like.

  In this dinosaur-type robot, in order to place the ballast as far as possible from the base part of the leg as described above, the ballast is mounted on the front end of the chest frame 3a and the middle part of the tail frame 3l (not shown). is doing.

  However, like the above-mentioned conventional dinosaur-type robot, when a ballast is placed at the end of the body in consideration of only gaining distance, the robot shakes the chest and tail as shown by arrows in FIG. When operating, there is a problem that the ballast is swung around, which makes the robot difficult to control.

  An object of the present invention is to advantageously solve the above-described problem. A balance structure for a walking robot according to the present invention is a walking robot having a body extending in a horizontal direction. The ballast for balance adjustment is mounted on the horizontal end of the frame that is directly supported by.

  In the walking robot balance structure of the present invention, since the ballast (weight) for balance adjustment is mounted on the horizontal end of the frame that is directly supported by the legs, it is directly supported by the legs. The ballast is not swung even if the frame closer to the end, which is supported by the frame to be moved, is moved.

  Therefore, according to the balance structure for a walking robot of the present invention, in order to balance without increasing the weight of the robot as much as possible, it is within the range of the frame directly supported by the leg from the base of the leg that is the support point of the robot. The ballast can be placed as far as possible, and the moment arm from the base of the leg to the ballast can be taken longer, and the ballast is not swung even if the frame near the end is moved. Therefore, the robot can be controlled easily.

  In the balance structure for a walking robot according to the present invention, the ballast may be disposed under the hanging brackets provided at both ends in the horizontal direction of the frame directly supported by the legs. For example, the robot can be lifted with a stable balance even when the robot is lifted.

  Further, in the balance structure for a walking robot according to the present invention, the walking robot includes a body frame on the body, a chest frame swingably provided at a front end portion of the body frame, and a body frame. In the case of a dinosaur-type robot having a tail frame swingably provided at the rear end, the ballast is mounted on the front and rear ends of the body frame as a frame directly supported by the legs. In this way, even when the dinosaur-type robot swings its chest and tail, the ballast is not swung around, so that the robot can be controlled easily.

  Furthermore, in the balance structure for a walking robot according to the present invention, the ballast may be a bowl-shaped object or a liquid or granular heavy object contained in a container.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIGS. 1 and 2 show FIGS. 7 and 8 as an example of a walking robot having a body extending in the horizontal direction, to which one embodiment of the balance structure for a walking robot of the present invention is applied. 3 is a side view and a plan view showing a dinosaur type robot similar to that shown in a state in which the internal structure is seen through, and FIG. 3 is a perspective view showing the internal structure of the dinosaur type robot. Portions similar to those in the example are denoted by the same reference numerals.

  That is, the dinosaur-type robot having the balance structure of this embodiment is a so-called shape in which a drive mechanism is arranged at a required position corresponding to the function of the biped robot, as in the conventional examples shown in FIGS. An internal structure 2 having an internal skeleton-like frame is covered with a dinosaur-type exterior 1, and the exterior 1 also includes a head H, a left and right body part B, and a tail part T. It is comprised so that it may cover, and it is comprised by providing the outer skin made from a silicon | silicone on the outer surface of the meat | flour part made from a urethane foam which forms the external shape of the said exterior 1 concerned.

  The internal structure 2 here also includes a chest frame 3a, a torso frame 3b, a neck frame 3c, a head frame 3d, a lower jaw frame 3e, left and right front leg frames 3f, and left and right rear leg frame upper parts 3g. The left and right rear leg frame lower part 3h, the left and right ankle frame 3i, the left and right foot frame 3j, the tail frame base 3k, the tail frame intermediate part 3l, and the frame 3 composed of the tail frame tip part 3m, It has a number of motors 4 that drive the joints connecting the frames 3 by belt transmission or the like.

  Thus, in the balance structure of this embodiment, the dinosaur type robot is directly supported by the left and right rear legs through the left and right rear leg frame upper parts 3g from the joints of the left and right rear leg frame upper parts 3g as the leg bases. In order to dispose the ballast as far as possible within the range of the body frame 3b, which is a frame, ballasts 9 and 10 are mounted on the front end portion and the rear end portion of the body frame 3b as described later, respectively. .

  That is, in this dinosaur type robot, as shown in FIG. 4, the chest joint 5 that connects the front end of the torso frame 3b and the rear end of the chest frame 3a so as to be able to swing horizontally, and the rear of the torso frame 3b. A tail first joint 6 that connects the end and the tail frame base 3k so as to be horizontally swingable is formed hollow around the swing axis, and is suspended from the upper ends of the joints 5 and 6 respectively. The lids 7 and 8 with the metal fittings 7a and 8a are fixed. In the balance structure of this embodiment, the ballasts 9 and 10 are accommodated in the hollow chest joint 5 and the tail first joint 6, respectively. Yes.

  Here, the ballast 9 accommodated in the chest joint 5 is, as shown in FIGS. 5 (a) and 5 (b) in a perspective view and a half cross-sectional side view, an upper end portion of an iron round bar 9a as a bowl-shaped object. 6 is provided with a relief recess 9b for a hanging metal fitting and a flange 9c at the lower end of the iron round bar 9a. The ballast 10 accommodated in the tail first joint 6 is shown in FIG. ), (B), as shown in a perspective view and a half cross-sectional side view, is made of an iron round bar as a bowl-like object, and is provided with a relief recess 10a for a hanging metal fitting at its upper end.

  The ballast 9 is disposed inside the chest joint 5 concentrically with the swing axis thereof, and is positioned directly below the hanging bracket 7a, and the flange 9c is fixed to the chest frame 3a. The joint 6 is disposed concentrically with the swing axis thereof and is located directly below the suspension fitting 8a, and is fixed to the trunk frame 3b by the lid 8.

  In the balance structure of this embodiment, the ballasts 9 and 10 for balance adjustment are provided at both ends in the horizontal direction of the trunk frame 3b which is a frame directly supported by the left and right rear legs via the left and right rear leg frame upper part 3g. Even if the chest frame 3a and the frame ahead thereof, the tail frame base 3k and the frame behind it are moved, the ballast 9, 10 is not swung.

  Therefore, according to the balance structure for walking robot of this embodiment, in order to balance without increasing the weight of the dinosaur robot as much as possible, the left and right hind leg frames as the root part of the leg that is the support point of the dinosaur robot The ballasts 9 and 10 are arranged as far as possible from the joints of the upper 3g and within the body frame 3b supported directly by the left and right rear legs, and the ballasts 9 and 10 from the joints of the upper and lower rear leg frames 3g. In addition, the ballast is not swung even if the frame near the end is moved, and the influence of the reaction due to inertia can be reduced, making it easy to control the dinosaur robot Can be.

  In addition, according to the walking robot balance structure of this embodiment, the ballasts 9 and 10 are directly below the suspension brackets 7a and 8a provided at both ends in the horizontal direction of the body frame 3b that is directly supported by the left and right rear legs. Therefore, even when a dinosaur-type robot is lifted, the balance can be stabilized and lifted.

  Furthermore, according to the balance structure for a walking robot of this embodiment, the dinosaur type robot has a body frame 3b on its body, a chest frame 3a swingably provided at the front end of the body frame 3b, and The dinosaur is provided with a tail frame base 3k swingably provided at the rear end of the body frame 3b, and the ballasts 9 and 10 are mounted on the front and rear ends of the body frame 3b. Since the ballasts 9 and 10 are not swung even when the robot moves such as swinging the chest and tail, the control of the dinosaur robot can be facilitated.

  Furthermore, according to the walking robot balance structure of this embodiment, since the ballasts 9 and 10 are made of bowl-shaped objects, the desired shape and weight can be easily obtained by shaving.

  As mentioned above, although demonstrated based on the example of illustration, this invention is not limited to the above-mentioned example, For example, a ballast may be an iron cage-like thing of shapes other than a round bar shape, metals other than iron, clay, etc. It may be a bowl-shaped object. Further, the ballast may be one in which a liquid or granular heavy object is contained in a container having a desired shape, and in this way, a ballast having a desired shape and weight can be manufactured at low cost.

  Further, the balance structure of the present invention is not limited to a body having a body extending in the front-rear direction, such as a dinosaur-type robot, and can be applied to, for example, a work robot having a long arm extending in the left-right direction.

  Thus, according to the balance structure for a walking robot of the present invention, in order to balance without increasing the weight of the robot as much as possible, within the range of the frame that is directly supported by the leg from the base of the leg that is the support point of the robot. The ballast can be placed as far as possible, and the moment arm from the base of the leg to the ballast can be taken longer, and the ballast will not be swung even if the frame near the end is moved. Thus, the robot can be easily controlled.

A dinosaur-type robot similar to that shown in FIGS. 7 and 8 as an example of a walking robot having a body extending in the horizontal direction, to which an embodiment of the balance structure for a walking robot of the present invention is applied. It is a side view shown in the state which saw through an internal structure. A dinosaur type robot similar to that shown in FIGS. 7 and 8 as an example of a walking type robot having a body extending in the horizontal direction, to which the balance structure for a walking type robot of the above embodiment is applied. It is a top view shown in the state which saw through. The internal structure of the dinosaur robot similar to that shown in FIGS. 7 and 8 as an example of a walking robot having a body extending in the horizontal direction to which the balance structure for walking robot of the above embodiment is applied. It is a perspective view shown. It is sectional drawing which shows the balance structure for walking type robots of the said Example. (A), (b) is the perspective view and half sectional side view which show one of the ballasts used for the balance structure for walking type robots of the said Example. (A), (b) is the perspective view and half sectional side view which show another one of the ballasts used for the balance structure for walking type robots of the said Example. It is a side view which shows the conventional dinosaur type robot in the state which saw through the internal structure. It is a top view which shows the said conventional dinosaur type robot in the state which looked through the internal structure.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Exterior 2 Internal structure 3 Frame 3a Chest frame 3b Torso frame 3c Neck frame 3d Head frame 3e Lower jaw frame 3f Left and right front leg frame 3g Left and right rear leg frame upper part 3h Left and right rear leg frame lower part 3i Left and right ankle frame 3j Left and right foot frame 3k Tail frame base 3l Tail frame middle 3m Tail frame tip 4 Motor 5 Thorax joint 6 Tail first joint 7, 8 Lid 7a, 8a Suspension fitting 9, 10 Ballast 9a Iron round bar 9b, 10a Escape recess 9c Flange H Head B body part T tail part

Claims (4)

In a walking robot with a body extending horizontally,
A balance structure for a walking robot, wherein a balance adjusting ballast is mounted on a horizontal end of a frame directly supported by a leg of the body.   The balance structure for a walking robot according to claim 1, wherein the ballast is disposed under a hanging bracket provided at both ends in a horizontal direction of a frame directly supported by the legs. The walking robot includes a body frame, a chest frame swingably provided at a front end portion of the body frame, and a tail frame swingably provided at a rear end portion of the body frame. A dinosaur-type robot with
The balance structure for a walking robot according to claim 1 or 2, wherein the ballast is mounted on front and rear ends of the body frame as a frame directly supported by the legs. The balance structure for a walking robot according to any one of claims 1 to 3, wherein the ballast is a bowl-shaped object or a container containing a liquid or granular heavy object in a container.

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