JP2008049421A - Robot arm and robot having the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate transportation work of a robot by deflating/inflating body balloons of the robot as the need arises. <P>SOLUTION: The robot 10 comprises robot arms 12, and controls motion of itself from remote control information transmitted from a personal computer 18 or the like. Each robot arm 12 comprises arm balloons 14 and joint members 16, and is connected to the body balloon 58 via the joint member 16a, for instance. The arm balloons 14 and the body balloon 58 are each formed of a flexible airtight sheet, and provided with an air plug 20 via which gas is filled/released. By filling/releasing air via the air plug 20, the arm balloons 14 etc. can be inflated/deflated. When the robot 10 is transported, air in the arm balloons 14 and the body balloon 58 is released. That is, the robot 10 is transported in a folded state or the like by deflating component portions which are formed by the balloons. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot arm and a robot including the robot arm, and more particularly to a robot arm and a robot including the robot arm that present information to a human or perform communication with the human.

In recent years, robots have been active in various scenes and situations, and opportunities to interact with humans are increasing. For example, many robots have been developed that are arranged at event venues and that present information to humans or communicate with humans using speech or body movements. For example, in the robot remote control system developed by the applicant of the present application disclosed in Patent Document 1, an omnidirectional image around the robot is displayed on the inner surface of the spherical screen, and the operator can view the omnidirectional image inside the spherical screen. Is operated to operate the operation unit, and operation input information is transmitted to the robot. The robot controls its own operation based on the received operation input information, and executes communication with humans.
JP-A-2005-271094 [B25J 13/00]

  By the way, some robots that communicate with human beings are larger than, for example, the size of a human child, and when this large robot is transported to an event venue or the like, the transport work becomes large due to its size and weight. In addition, since a dedicated package for protecting the robot is required, labor and cost are required.

  Therefore, a main object of the present invention is to provide a robot arm and a robot including the robot arm that are easy to carry.

  The present invention employs the following configuration in order to solve the above problems. Note that reference numerals in parentheses, supplementary explanations, and the like indicate correspondence relationships with embodiments described later to help understanding of the present invention, and do not limit the present invention in any way.

  An invention according to claim 1 is provided with an arm balloon formed of a flexible airtight sheet and having a stopper for taking in and out the gas, and a joint member connected to the arm balloon to change the direction of the arm balloon It is an arm.

  In the invention of claim 1, the robot arm (12) is used as an arm of a robot (10) or a mascot doll placed at an event venue, for example. The arm balloon (14) is formed of a flexible airtight sheet such as soft vinyl chloride or rubber. Further, the arm balloon has a stopper (20; air stopper), and the arm balloon can be inflated and contracted by taking in and out a gas such as air from the air stopper. The joint member (16) is connected to the arm balloon to change the direction of the arm balloon. When the robot arm is transported, the arm balloon is brought into a state in which the gas inside the balloon is deflated, that is, in a contracted state. Then, after arriving at a site such as an event venue, gas is injected into the arm balloon, and the robot arm is used as an arm of a robot or the like.

  According to the first aspect of the present invention, the arm balloon can be deflated and inflated as necessary, so that the robot arm can be easily transported.

  The invention of claim 2 is dependent on the invention of claim 1, and the joint member is received by the joint shaft coupled to the arm balloon, the receiving means for receiving remote operation information transmitted from the outside, and the receiving means. Control means for controlling the movement of the joint axis based on the remote operation information is provided.

  In the invention of claim 2, the joint member (16) is a receiving means for receiving remote operation information transmitted from the joint shafts (32, 42) connected to the arm balloon and a personal computer (18) provided outside. 54). The control means (52, 56) outputs to the motor (38, 46) provided on the joint shaft based on the remote operation information received by the receiving means, and controls the operation of the joint shaft. Therefore, the direction of the arm balloon can be changed by remote operation from a personal computer or the like.

  The invention of claim 3 is dependent on the invention of claim 1 or 2, and the arm balloon and the joint member are detachably connected.

  In the invention of claim 3, for example, the convex portions (24, 26) provided in the joint member (16) are fitted into the concave portions (22) provided in the arm balloon (14) and fixed with an adhesive tape or the like. Thus, the arm balloon and the joint member are connected. Further, the arm balloon and the joint member can be separated by removing the adhesive tape or the like. Therefore, the arm balloon and the joint member can be transported separately, and the robot arm and the robot to which the robot arm is connected can be transported separately. Is easier to transport.

  The invention of claim 4 is a body balloon formed of a flexible airtight sheet and having a stopper for taking in and out the gas, a first arm balloon formed of a flexible airtight sheet and having a stopper for taking in and out the gas, and A robot comprising a first joint member for connecting a body balloon and one end of a first arm balloon to change the direction of the first arm balloon.

  In the invention of claim 4, the robot (10) includes a body balloon (58), and the first balloon (14a) is connected to the body balloon via the first joint member (16a). The body balloon and the first arm balloon are formed by a flexible airtight sheet such as soft vinyl chloride or rubber. The body balloon and the first arm balloon each have a stopper (20; air stopper), and can be inflated and contracted by taking in and out a gas such as air from the air stopper. The first joint member changes the direction of the arm balloon. When the robot is transported, the body balloon and the arm balloon are brought into a state where the gas inside the balloon is deflated, that is, in a contracted state. Then, after arriving at a site such as an event venue, gas is injected into these, and the robot performs communication with humans.

  According to the invention of claim 4, since the body balloon and the arm balloon can be deflated and inflated as necessary, the robot can be easily transported. In addition, body balloons and arm balloons are flexible, so that, for example, when a robot is communicating with a human, even if the human or surrounding objects come into contact with the body balloon or arm balloon, the human or the like will be damaged. Risk is low.

  The invention of claim 5 is dependent on the invention of claim 4, and is a second arm balloon formed of a flexible airtight sheet and having a stopper for taking in and out the gas, and the other end of the first arm balloon and the second arm A second joint member is provided for connecting the balloon and changing the direction of the second arm balloon.

  In the invention of claim 5, the robot (10) further includes a second arm balloon (14b) at the other end of the first arm balloon (14a) via a second joint member (16b). Therefore, the robot can realize the movement of the arm with a higher degree of freedom.

  According to this invention, since it can be contracted or expanded as necessary, it is possible to easily carry a robot or the like.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  With reference to FIG. 1, the robot 10 of this embodiment includes a robot arm 12. For example, the robot 10 is arranged at an event venue, a storefront, or the like, and controls its own movement (for example, movement of the robot arm 12) based on remote operation information transmitted from the personal computer 18 or a mobile phone. Present information to and communicate with humans.

  As shown in FIGS. 1 and 2, the robot arm 12 includes an arm balloon 14, that is, a first arm balloon (upper arm) 14a and a second arm balloon (forearm) 14b. The upper arm portion 14a and the forearm portion 14b are each formed in a substantially cylindrical shape by a soft material (soft airtight sheet) having airtightness and flexibility such as soft polyvinyl chloride and rubber. The upper arm portion 14a and the forearm portion 14b are respectively provided with air plugs 20 for taking in and out gases such as air, nitrogen and helium. The air plug 20 may be one normally used for a floating ring, for example, and will not be described in detail. However, the air plug 20 includes a plug and a valve, and leaks the gas filled therein by their double structure. prevent. The arm balloon 14 is expanded from the air plug 20 by introducing a gas therein, and contracted by extracting the gas from the inside thereof. That is, the arm balloon 14 can be inflated and deflated.

  The arm balloon 14 is provided with a joint connection portion 22, and the arm balloon 14 is connected to the joint member 16 via the joint connection portion 22. The joint connecting portion 22 is, for example, a receiving structure (concave portion) of an appropriate size in which a first balloon connecting portion (convex portion) 24 or a second balloon connecting portion (convex portion) 26 of the joint member 16 described later is fitted. Formed.

  For example, the upper arm portion 14a is provided with joint connection portions 22 at both ends thereof, and the joint member 16 is connected to each. Specifically, a first joint connection portion 22a is provided at one end of the upper arm portion 14a, and the first joint connection portion 22a and the second balloon connection portion 26 are connected. A second joint connection portion 22b is provided at the other end of the upper arm portion 14a, and the second joint connection portion 22b and the first balloon connection portion 24 are connected. Further, one joint connecting portion 22 is provided in the forearm portion 14b. Specifically, a first joint connection portion 22a is provided at one end of the forearm portion 14b, and the first joint connection portion 22a and the second balloon connection portion 26 are connected.

  In addition, the arm balloon 14 (joint connection part 22) and the joint member 16 (balloon connection parts 24 and 26) may be detachably connected or may be detachably connected. When connecting in a detachable manner, for example, the balloon connecting portions 24 and 26 may be fitted into the joint connecting portion 22 and fixed using an adhesive tape or the like. When the adhesive tape or the like is peeled off, the arm balloon 14 and the joint member 16 can be separated. Further, for example, the joint connection portion 22 may be formed as a female screw and the balloon connection portions 24 and 26 may be formed as a male screw, and may be detachably connected by a screw-in type. Furthermore, the joint connection part 22 and the balloon connection parts 24 and 26 can be formed in a joint type that can be connected with one touch, and can be detachably connected. In the case of non-removable connection, the balloon connection portions 24 and 26 may be fitted into the joint connection portion 22 and connected using an adhesive or the like. However, the connection method of the arm balloon 14 and the joint member 16 is not limited to these, and an appropriate method can be adopted. Further, since the joint connecting portion 22 is connected to the balloon connecting portions 24 and 26 and is formed in a receiving structure or the like, an appropriate strength and molding processability are required. May be formed of FRP (fiber reinforced plastic), aluminum or the like instead of a soft material such as soft polyvinyl chloride or rubber.

  1-4, the joint member 16 includes a first joint member (shoulder joint) 16a that connects the body balloon 58 and one end of the upper arm portion 14a to change the direction of the upper arm portion 14a, and the upper arm portion. It includes a second joint member (elbow joint) 16b that connects the other end of 14a and one end of the forearm portion 14b to change the direction of the forearm portion 14b. Each joint member 16 is formed of, for example, FRP, aluminum, etc., is formed in a columnar shape, and is connected to the arm balloon 14 or the body balloon 58. The first balloon connection portion 24, and the swivel portion formed in a spherical shape having a recess. 28, and a bent portion 30 which is formed in a cylindrical shape (bar shape) and protrudes from the concave portion of the turning portion 28. The end of the bent portion 30 is also a second balloon connecting portion 26 connected to the arm balloon 14.

  As shown in FIG. 4, a first joint shaft 32 is provided inside the first balloon connection portion 24. The first joint shaft 32 is provided with a rotating plate 34, and the rotating plate 34 is connected to the bottom of the turning unit 28. The first joint shaft 32 is provided with a motor 38 via a gear 36. The rotation of the motor 38 is transmitted to the rotating plate 34 via the gear 36 and the first joint shaft 32, and the rotating plate 34 turns the turning unit 28. Further, a potentiometer 40 is provided at the end of the first joint shaft 32, and the turning angle of the first joint shaft 32, that is, the turning portion 28 is detected by the potentiometer 40.

  In addition, a second joint shaft 42 is provided inside the turning portion 28 in a direction orthogonal to the first joint shaft 32, and the bent portion 30 is connected to one end of the second joint shaft 42. Further, the second joint shaft 42 is provided with a motor 46 via a gear 44. The rotation of the motor 46 is transmitted to the bent portion 30 via the gear 44 and the second joint shaft 42 to rotate the bent portion 30. Further, a potentiometer 48 is provided at the other end of the second joint shaft 42, and the rotation angle of the second joint shaft 42, that is, the bent portion 30 is detected by the potentiometer 48.

  As described above, the arm balloon 14 is connected to the second balloon connecting portion 26 (that is, the end of the bent portion 30), that is, the first joint shaft 32, the second joint shaft 42, and the arm balloon. 14 is connected via a rotating plate 34, a bent portion 30 and the like, so that the rotation (turning) of each joint shaft 32, 42 is transmitted to the arm balloon 14, whereby the arm balloon 14 has a degree of freedom of two axes. The direction can be changed with.

  Further, although not shown in FIG. 4, a control mechanism 50 such as a CPU 52 that controls the operation of each joint member 16 and a power source such as a battery are provided inside each indirect member 16.

  FIG. 5 is a block diagram showing an electrical configuration of the robot arm 12, that is, the joint member 16, and each joint member 16 includes a CPU 52 for controlling its own movement. Each CPU 52 includes, for example, a Bluetooth receiver 54 that receives remote operation information from an external personal computer 18, a motor control unit 56 that controls driving of the motors 38 and 46, and rotation angles of the joint shafts 32 and 42. Are connected to potentiometers 40, 48, and the like. For example, when the CPU 52 receives remote operation information such as the target angle of each joint shaft 32, 42 from the external personal computer 18 or the like via the Bluetooth receiving device 54, the CPU 52 receives each joint shaft 32, 42 from the motor control unit 54. Are sent to drive the motors 38 and 46. Then, the values of the potentiometers 40 and 48 provided on the joint shafts 32 and 42 are fed back, compared with the target angle, and the motors 38 and 46 are controlled so that the values of the potentiometers 40 and 48 are equal to the target angle. .

  Returning to FIG. 1, the robot arm 12 is connected to the body balloon 58. The body balloon 58 includes, for example, a body portion 58a and a head portion 58b each formed in a substantially spherical shape, and these are connected via a neck joint 60. Like the arm balloon 14, the body portion 58a and the head portion 58b are each formed of a soft material having airtightness and flexibility such as soft polyvinyl chloride and rubber, and each has an air plug 20 for taking in and out the gas. That is, the body balloon 58 (the trunk portion 58 a and the head portion 58 b) can be inflated and deflated similarly to the arm balloon 14.

  Connection portions (not shown) similar to the joint member connection portions 22 of the arm balloon 16 are provided at positions corresponding to the right shoulder and the left shoulder of the body portion 58a, and the first connection portion of the joint member 16a is provided at these connection portions. By connecting the balloon connecting portions 24 to each other, the two robot arms 12 are connected to the body balloon 58 (body portion 58a).

  In addition, an LED 62 is provided at a position corresponding to the eyes of the head 58b, and can blink appropriately. In addition, a speaker 64 is provided at a position corresponding to the mouth, and the speaker 64 is used for the robot 10 to present certain information to a human by voice or to communicate with a human. .

  For example, the neck joint 60 may be the same as the joint member 16, and the neck joint 60 changes the direction of the head 58b. Since the connection between the neck joint 60 and the body portion 58a and the head 58b, the control of the neck joint 60, and the like can be performed in the same manner as the robot arm 12 (or the joint member 16), a duplicate description is omitted.

  In addition, a carriage 66 formed of aluminum or the like is provided below the body portion 58a, and two wheels 68 are provided on the lower surface of the carriage 66. The two wheels 68 are independently driven by a wheel motor (not shown), and the carriage 66, that is, the robot 10 can be moved in any direction, front, back, left, and right. Further, as shown in FIG. 6, the carriage 66 includes a base part 70 and an elevating part 72, and an elevating mechanism 74 such as a jack is provided at the rear part of the carriage 66, and the rear part of the elevating part 72 is provided by the elevating mechanism 74. Go up and down. For example, the elevating mechanism 74 is provided with a motor 76 and a potentiometer 78, and the elevating mechanism 74 is driven by the motor 76, and the raised height is detected by the potentiometer 78. Thus, when the rear part of the raising / lowering part 72 rises, the trunk | drum 58a etc. which were provided on it tilt forward. As a result, the robot 10 can bow.

  Although illustration is omitted, the electrical configuration of the carriage 66 is the same as that of each joint member 16, and the CPU provided in the carriage 66 is based on the remote operation information received from the external personal computer 18 by the Bluetooth receiving device. The operation of the wheels 68 and the lifting mechanism 74 is controlled.

  The robot 10 configured as described above is in a state in which the gas in the arm balloon 14 and the body balloon 58 has been removed during transportation. That is, the robot 10 is transported by contracting a part formed by the balloon and folding the contracted part. Then, after the gas is filled in the arm balloon 14 and the body balloon 58 in the event venue or the like, the robot 10 operates the robot arm 12 or the like based on the remote operation information transmitted from the personal computer 18 or the like. And utterances from the speaker 64, etc., to present information to humans and to communicate with humans.

  According to this embodiment, the arm balloon 14 and the body balloon 58 can be contracted when the robot 10 is transported, and the volume of the robot 10 can be reduced, for example, by folding. In addition, the robot 10 can be reduced in weight compared to forming each member with FRP, aluminum, or the like. Therefore, the robot 10 can be easily transported.

  Further, when the joint member 16 and the arm balloon 14 or the body balloon 58 are detachably connected, each member can be separated and transported individually, so that the robot 10 can be transported more easily. .

  Further, since the arm balloon 14 and the body balloon 58 have flexibility, even when the robot 10 is communicating with a human, for example, even if a human or a surrounding object contacts the arm 10 or the body of the robot 10. The risk of hurting humans is low.

  Further, since each joint member 16 is provided with a control mechanism 50 such as a CPU 52 or a Bluetooth receiver 54, each joint member 16 can be remotely operated individually from the personal computer 18 or the like. By simply connecting the balloon 14, the body balloon 58, and the like, the robot 10 that performs communication and the like with a human can be easily realized.

  In the above-described embodiment, the joint member 16 having a biaxial degree of freedom is used. However, the shape and configuration of the joint member 16 are not limited to this, and may be changed as appropriate. For example, the joint member 16 having one or three degrees of freedom can be used. When the robot 10 or the robot arm 12 includes a plurality of joint members 16, the joint members 16 may have different shapes and configurations.

  Further, in the above-described embodiment, the arm balloon 14 is divided into the upper arm portion 14a and the forearm portion 14b, and these are connected by the elbow joint 16b. However, the present embodiment is not limited thereto, and as shown in FIG. It may be formed by a single balloon. In this case, the robot arm 12 is formed by one joint member 16 and one arm balloon 14. The robot arm 12 can also include three or more joint members 16. For example, a wrist joint may be connected to the other end of the forearm portion 14b, and a sphere corresponding to a hand (that is, a hand balloon) may be provided at the wrist joint. The robot arm 12 is not limited to an arm shape resembling the structure of a human arm. For example, the arm balloon 14 may be formed in a shape resembling a bird wing, and the arm balloon 14 may be moved by the joint member 16 so that the wing flaps.

  Furthermore, in the above-described embodiment, the arm balloon 14 and the body balloon 58 formed of a flexible airtight sheet are used. However, instead of these, an arm or a body formed of paper, cardboard, or the like can be used. In this case, it is preferable to form an arm or a body that can be folded with paper or the like, and this also facilitates carrying of the robot 10.

  In the above-described embodiment, the body balloon 58 is divided into the body portion 58a and the head portion 58b, and these are connected by the neck joint 60 to change the direction of the head portion 58b. However, the present invention is not limited to this. For example, the neck joint 60 (neck portion) may be formed by a balloon similar to the body portion 58a or the like, and the body balloon 58 may be formed by a single balloon having, for example, a dharma shape.

  Further, the body of the robot 10 to which the robot arm 12 is connected is not necessarily formed by a balloon, and for example, a body formed by FRP or the like can be used. Alternatively, a body in which a part of the body, for example, only the body portion 58a or only the head portion 58b is formed by a balloon can be used.

  Furthermore, the robot arm 12 can be used not only as an arm of the robot 10 but also connected to a mannequin, a mascot doll, a signboard, and the like. Thereby, a moving mannequin or the like can be easily realized.

  In the above-described embodiment, the LED 62 is provided at a position corresponding to the eyes of the robot 10 and the speaker 64 is provided at a position corresponding to the mouth. However, the robot 10 is not necessarily provided with these. Further, the robot 10 can further be provided with various sensors. For example, an omnidirectional camera may be provided in the robot 10 so that the surrounding situation photographed by the omnidirectional camera can be confirmed by the personal computer 18 that remotely controls the robot 10 (such as the joint member 16 and the carriage 66). Further, for example, a contact sensor may be provided in the robot 10 so that contact between the robot 10 and a human being or other obstacles can be detected. Thus, the robot 10 can easily perform various customizations by attaching various sensors.

  In the above-described embodiment, the robot 66 is provided with the carriage 66 so that the robot 10 can be moved. However, the present invention is not limited to this, and the robot 10 may be fixedly arranged at a certain place.

  In the above-described embodiment, the remote operation information is received from the personal computer 18 using the Bluetooth receiving device 52. However, the present invention is not limited to this, and the robot 10 (or the robot arm 12) is connected to another wireless communication device. It can also be used. Further, for example, the robot 10 may be remotely operated by a radio control operation from a propo or the like. Further, the robot 10 and the personal computer 18 or the like can be connected by wire instead of wirelessly for remote operation. Further, the robot 10 may control its own operation by autonomous control instead of or together with the remote operation.

  In the above-described embodiment, each joint member 16 is provided with the CPU 50 (control mechanism 80) for controlling its own operation. However, the present invention is not limited to this. For example, the entire operation of the robot 10 is provided on the body portion 58a of the robot 10. The CPU 50 may be provided, and the CPU 50 and each joint member 16 may be connected by wire to control the operation of each joint member 16 or the like. Similarly, each joint member 16 is provided with a power source for operating the motors 38, 46, etc. For example, one power source is provided for the body portion 58a, and power is supplied to each motor 38, 46, etc. from there. You may make it supply.

It is an illustration figure which shows application of the robot arm of one Example of this invention, and a robot provided with the same. It is an illustration figure which shows the external appearance of the robot arm of FIG. It is an illustration figure which shows the external appearance of an example of the joint member with which the robot arm of FIG. 1 is provided. It is an illustration figure which shows the internal structure of the joint member of FIG. It is a block diagram which shows the electrical structure of the joint member of FIG. It is an illustration figure which shows the outline | summary of the trolley | bogie with which the robot of FIG. 1 is provided. It is an illustration figure which shows another example of a robot arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Robot 12 ... Robot arm 14, 14a, 14b ... Arm balloon 16, 16a, 16b ... Joint member 22, 22a, 22b ... Joint connection part 24, 26 ... Balloon connection part 32, 42 ... Joint axis 38, 46 ... Motor 40, 48 ... potentiometer 52 ... CPU
54 ... Receiver 56 ... Motor controller 58, 58a, 58b ... Body balloon

Claims (5)

A robot arm comprising: an arm balloon formed of a flexible airtight sheet and having a stopper for taking in and out gas; and an articulated member connected to the arm balloon to change the direction of the arm balloon. The joint member is
A joint shaft coupled to the arm balloon;
The robot arm according to claim 1, further comprising: a receiving unit that receives remote operation information transmitted from outside; and a control unit that controls the operation of the joint axis based on the remote operation information received by the receiving unit.   The robot arm according to claim 1, wherein the arm balloon and the joint member are detachably connected. A body balloon formed of a flexible airtight sheet and having a stopper for taking gas in and out,
A first arm balloon formed of a flexible air-tight sheet and having a stopper for taking in and out of the gas; and connecting the body balloon and one end of the first arm balloon to change the direction of the first arm balloon. A robot comprising a first joint member for changing. A second arm balloon formed of a flexible airtight sheet and having a stopper for taking in and out of gas; and connecting the other end of the first arm balloon to the second arm balloon, The robot according to claim 4, further comprising a second joint member for changing a direction.

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