JP2013091145A - Articular structure of robot and humanoid robot with the incorporated articular structure - Google Patents

Articular structure of robot and humanoid robot with the incorporated articular structure Download PDF

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JP2013091145A
JP2013091145A JP2011236312A JP2011236312A JP2013091145A JP 2013091145 A JP2013091145 A JP 2013091145A JP 2011236312 A JP2011236312 A JP 2011236312A JP 2011236312 A JP2011236312 A JP 2011236312A JP 2013091145 A JP2013091145 A JP 2013091145A
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robot
joint structure
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JP5872846B2 (en
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Masaki Nagatsuka
正樹 永塚
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THK Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide an articular structure of a robot which allows construction of the articular structure for relatively rotating a second member with respect to a first member around two orthogonal axes, and allows reduction in weight and size of the articular structure.SOLUTION: The articular structure of the robot includes: a first member 31; a support part 34 supported rotatably around a first axis 52 by the first member 31; a second member 32 supported rotatably around a second axis 54 orthogonal to the first axis 52 by the support part 34; and first and second linearly moving actuators 41a, 41b which run between the first member 31 and the second member 32, and have bodies 42a, 42b and axial parts 43a, 43b linearly moving relative in an axial direction with respect to the body parts 42a, 42b. By extending/retracting the first and second linearly moving actuators 41a, 41b, the second member 32 rotates relatively around two orthogonal axes 52, 54 with respect to the first member 31.

Description

本発明は、ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボットに関し、特に人間型ロボットの首関節に用いるのに好適なロボットの関節構造に関する。   The present invention relates to a joint structure of a robot and a humanoid robot incorporating the joint structure, and more particularly to a joint structure of a robot suitable for use in a neck joint of a humanoid robot.

近年、産業用ロボットだけでなく、民生用として様々な役目を担うロボットの研究開発が盛んになされている。ロボットの中でも直立歩行が可能な人間型ロボット(ヒューマノイドロボット)は、人間の行動を代替できるものとして期待されている。かかる人間型ロボットは、脚部、腕部、首部等に関節を有し、人間に近い動作を可能としている。   In recent years, research and development of not only industrial robots but also robots that have various roles for consumer use have been actively conducted. Among robots, humanoid robots (humanoid robots) that can stand upright are expected to replace human behavior. Such a humanoid robot has joints in the leg portion, arm portion, neck portion, and the like, and can operate close to a human.

ところで、ロボットの関節には、自由度が1のものから3以上のものまで様々なものがある。自由度とは、自由に運動できる方向の個数であり、例えば、ピッチ軸のみの回りを回転できる関節の自由度は1であり、ピッチ軸及びヨー軸の二軸の回りを回転できる関節の自由度は2であり、ピッチ軸、ロール軸及びヨー軸の回りを回転できる関節の自由度は3である。人間型ロボットの首関節には、ピッチ軸及びヨー軸の二軸の回りを回転できる自由度2の関節が用いられたり、ピッチ軸、ロール軸及びヨー軸の回りを回転できる自由度3の関節が用いられたりする。   By the way, there are various types of robot joints ranging from one having one degree of freedom to three or more degrees of freedom. The degree of freedom is the number of directions that can freely move. For example, the degree of freedom of a joint that can rotate only around the pitch axis is 1, and the degree of freedom of the joint that can rotate around two axes, the pitch axis and the yaw axis. The degree is 2, and the degree of freedom of the joint that can rotate around the pitch axis, the roll axis, and the yaw axis is 3. As the neck joint of a humanoid robot, a joint with a degree of freedom 2 that can rotate around two axes of the pitch axis and the yaw axis is used, or a joint with a degree of freedom 3 that can rotate around the pitch axis, the roll axis, and the yaw axis. Is used.

従来のロボットの関節構造においては、自由度が2以上の関節を実現するためには、回転系のサーボモータを2個以上組み合わせるのが一般的であった。すなわち、回転系サーボモータを2個以上用意し、回転系のサーボモータの回転軸が互いに直角になるように組み合わせていた(例えば特許文献1参照)。   In a conventional robot joint structure, in order to realize a joint having two or more degrees of freedom, it is common to combine two or more rotary servomotors. That is, two or more rotary servo motors are prepared and combined such that the rotation axes of the rotary servo motors are perpendicular to each other (see, for example, Patent Document 1).

特開2009−184049号公報JP 2009-184049 A

しかし、従来の回転系のサーボモータを2個組以上み合わせた関節構造にあっては、サーボモータが回転モーメントを受けるので、サーボモータの負荷が大きくなり、よって大出力・大型のサーボモータを要し、それゆえに関節構造を小型化するのが困難になるという課題がある。特に、従来のロボットの関節構造を人間型ロボットの首関節として用いると、頭部の質量が重いので、サーボモータの負荷がより一層大きくなる。   However, if the joint structure is a combination of two or more conventional rotary servo motors, the servo motor receives a rotational moment, which increases the load on the servo motor. Therefore, there is a problem that it is difficult to downsize the joint structure. In particular, when the joint structure of a conventional robot is used as the neck joint of a humanoid robot, the load on the servo motor is further increased because the mass of the head is heavy.

また、自由度が2以上の関節構造を実現するにあたって、回転軸が直交するように2個以上の回転系のサーボモータを配置するのが困難であるという課題がある。なぜならば、回転軸を直交させるためには、第一のサーボモータを中空の第二のサーボモータで包む必要があり、サーボモータの構造が複雑化するからである。   Further, when realizing a joint structure with two or more degrees of freedom, there is a problem that it is difficult to arrange two or more rotary servomotors so that the rotation axes are orthogonal. This is because in order to make the rotation axes orthogonal, it is necessary to wrap the first servo motor with a hollow second servo motor, which complicates the structure of the servo motor.

本発明は従来のロボットの関節構造の上記課題を解決するもので、第一部材に対して第二部材を直角な二軸の回りを相対的に回転させる関節構造を構築できると共に、関節構造の軽量化、小型化を図れるロボットの関節構造及びこのロボットの関節構造を組み込んだ人間型ロボットを提供することを目的とする。   The present invention solves the above-mentioned problems of the joint structure of a conventional robot, and can construct a joint structure in which a second member is relatively rotated around two axes perpendicular to the first member. It is an object to provide a joint structure of a robot that can be reduced in weight and size and a humanoid robot incorporating the joint structure of the robot.

上記課題を解決するために、本発明の一態様は、第一部材に対して第二部材を直角な二軸の回りに相対的に回転させるロボットの関節構造であって、第一部材と、前記第一部材に第一の軸の回りに回転可能に支持される支持部と、前記支持部に前記第一の軸に直角な第二の軸の回りに回転可能に支持される第二部材と、前記第一部材と前記第二部材との間に架け渡され、本体部、及び本体部に対して軸線方向に相対的に直線運動する軸部を有する第一及び第二の直動アクチュエータと、を備え、前記第一及び前記第二の直動アクチュエータのいずれか一方を伸ばし、他方を縮めるとき、前記第二部材が前記第一部材に対して前記第一の軸及び前記第二の軸のいずれか一方の回りを相対的に回転し、前記第一及び前記第二の直動アクチュエータの双方を伸ばし、又は前記第一及び前記第二の直動アクチュエータの双方を縮めるとき、前記第二部材が前記第一部材に対して前記第一の軸及び前記第二の軸の他方の回りを相対的に回転するロボットの関節構造である。   In order to solve the above-described problem, one aspect of the present invention is a joint structure of a robot that rotates a second member relative to a first member relative to two perpendicular axes, A support member rotatably supported around the first axis by the first member; and a second member rotatably supported by the support member around a second axis perpendicular to the first axis. And the first and second linear motion actuators that are spanned between the first member and the second member and have a main body portion and a shaft portion that linearly moves relative to the main body portion in the axial direction. And when the one of the first and second linear actuators is extended and the other is contracted, the second member has the first shaft and the second shaft with respect to the first member. The first and second linear actuators rotate relatively around one of the shafts. When both are extended or both the first and second linear actuators are contracted, the second member moves around the other of the first axis and the second axis relative to the first member. It is a joint structure of a robot that rotates relatively.

本発明の一態様によれば、第一及び第二の直動アクチュエータを用いたシンプルな構造によって、第一部材に対して第二部材が直角な二軸の回りを相対的に回転する関節構造を構築できる。また、第一部材に対して第二部材を相対的に回転させるのにあたって、第一及び第二の直動アクチュエータを同時に作動させているので、従来の回転系のサーボモータを組み合わせた関節構造に比べて、数倍の力を発生させることができる。逆にいえば、必要な力を得るための第一及び第二の直動アクチュエータを小型化することができ、関節構造の軽量化、小型化が図れる。さらに、第一及び第二の直動アクチュエータが関節構造のリンクを兼ねているので、関節構造のさらなる軽量化、小型化を図ることができる。   According to one aspect of the present invention, a joint structure in which the second member rotates relatively around two axes perpendicular to the first member by a simple structure using the first and second linear actuators. Can be built. In addition, when the second member is rotated relative to the first member, the first and second linear actuators are simultaneously operated, so that the joint structure is combined with a conventional rotary servo motor. In comparison, several times the force can be generated. In other words, the first and second linear actuators for obtaining the required force can be reduced in size, and the joint structure can be reduced in weight and size. Furthermore, since the first and second linear actuators also serve as the link of the joint structure, the joint structure can be further reduced in weight and size.

本発明の一実施形態のロボットの関節構造が組み込まれる人間型ロボットの正面図The front view of the humanoid robot in which the joint structure of the robot of one embodiment of the present invention is incorporated 上記人間型ロボットの右側面図Right side view of the above humanoid robot 本発明の一実施形態のロボットの関節構造が適用された首関節の正面図The front view of the neck joint to which the joint structure of the robot of one Embodiment of this invention was applied 上記首関節の左側面図Left side view of the neck joint 水平方向から見たとき、垂直方向を向くヨー軸の軸線、第一及び第二の直動アクチュエータの軸線、及び第一フレームの水平面によって形成される三角形を示す概念図A conceptual diagram showing a triangle formed by the axis of the yaw axis facing the vertical direction when viewed from the horizontal direction, the axes of the first and second linear motion actuators, and the horizontal plane of the first frame 本発明の一実施形態のロボットの関節構造の斜視図The perspective view of the joint structure of the robot of one Embodiment of this invention 本発明の一実施形態のロボットの関節構造の動作図(図中(a)は第二フレームをピッチ軸(y軸)の回りに回転させている状態を示し、図中(b)は第二フレームをヨー軸(z軸)の回りに回転させている状態を示す)FIG. 3A is a diagram illustrating an operation of a joint structure of a robot according to an embodiment of the present invention. FIG. 2A illustrates a state in which a second frame is rotated around a pitch axis (y-axis), and FIG. (Shows the frame rotating around the yaw axis (z axis))

以下添付図面に基づいて、本発明の一実施形態におけるロボットの関節構造を説明する。図1は、ロボットの関節構造が組み込まれた人間型ロボットの全体構成を示す正面図である。図2は人間型ロボットの右側面図である。本実施形態において左右は図に示す人間型ロボット側から見た左右である。また、人間型ロボットの進行方向をx軸正方向、人間型ロボットからみて左手方向をy軸正方向、人間型ロボットの上方をz軸正方向としたとき、x軸をロール軸、y軸をピッチ軸、z軸をヨー軸とする。そして、x軸回りの回転をロール、y軸回りの回転をピッチ、z軸回りの回転をヨーとする。   A robot joint structure according to an embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a front view showing an overall configuration of a humanoid robot in which a robot joint structure is incorporated. FIG. 2 is a right side view of the humanoid robot. In the present embodiment, the left and right are the left and right viewed from the humanoid robot side shown in the figure. Also, assuming that the advancing direction of the humanoid robot is the x axis positive direction, the left hand direction as viewed from the humanoid robot is the y axis positive direction, and the upper part of the humanoid robot is the z axis positive direction, the x axis is the roll axis and the y axis is The pitch axis and z axis are the yaw axes. Then, rotation around the x axis is roll, rotation around the y axis is pitch, and rotation around the z axis is yaw.

人間型ロボット10は、胴体部11の下方に設置された二本の脚部12と、胴体部11の上方左右両側面に設置された二本の腕部13と、胴体部11の上方に設置された一個の頭部14とから構成されており、人間に近い動作を可能としている。   The humanoid robot 10 is installed above the body part 11, with two leg parts 12 installed below the body part 11, two arm parts 13 installed on the upper left and right side surfaces of the body part 11, and the body part 11. It is composed of a single head 14 that is made to operate like a human.

二本の腕部13は、胴体部11の周囲で自在に移動できるようになっている。各腕部13は肘を境に、肩に近い方の上腕部13cと、手部13aに近い方の下腕部13bと、を備える。下腕部13bの先端には手首関節21を介して手部13aが設置されている。手部13aを利用することで物を掴んだり摘まんだりすることが可能となっている。   The two arm portions 13 can move freely around the body portion 11. Each arm portion 13 includes an upper arm portion 13c closer to the shoulder and a lower arm portion 13b closer to the hand portion 13a with the elbow as a boundary. A hand portion 13 a is installed at the tip of the lower arm portion 13 b via a wrist joint 21. By using the hand portion 13a, it is possible to grasp or pick an object.

この人間型ロボット10は、二足歩行ロボットであり、人間のように二本脚でバランスをとりながら歩く。各脚部12は股関節16を介して胴体部11の骨盤に連結されている。股関節16は各脚部12をヨー軸、ピッチ軸、及びロール軸回りに回転させる。   The humanoid robot 10 is a biped walking robot, and walks with a balance between two legs like a human. Each leg portion 12 is connected to the pelvis of the trunk portion 11 via the hip joint 16. The hip joint 16 rotates each leg 12 about the yaw axis, the pitch axis, and the roll axis.

股関節16には大腿部17aが連結される。大腿部17aの下には膝関節18が設けられる。膝関節18の下には脛部17bが連結される。脛部17bの下には足首関節19が設けられる。足首関節19の下には歩行路面と接触する足部20が連結される。   A thigh 17 a is connected to the hip joint 16. A knee joint 18 is provided below the thigh 17a. A shin portion 17 b is connected to the lower side of the knee joint 18. An ankle joint 19 is provided under the shin part 17b. Under the ankle joint 19, a foot 20 that contacts the walking road surface is connected.

頭部14および胴体部11には、それぞれにCCDカメラ15が設置されている。このCCDカメラ15によって、人間型ロボット10の周囲の状況を画像データとして収集することが可能となっている。   A CCD camera 15 is installed on each of the head 14 and the body 11. The CCD camera 15 can collect the situation around the humanoid robot 10 as image data.

この人間型ロボット10は、遠隔操作可能に構成されたロボットであり、離れた位置にある図示しない操作マニピュレータを操作者が操作することで、操作マニピュレータの動きに応じた動作を人間型ロボット10が実行できるようになっている。したがって、操作者は、インターネット回線等の無線通信手段や人間型ロボット10に設置されたCCDカメラ15等を介して、遠隔地に居ながらにして人間型ロボット10の周囲の状況を把握でき、人間型ロボット10の操作ができるようになっている。   This humanoid robot 10 is a robot configured to be remotely operable, and when the operator operates an operation manipulator (not shown) located at a remote position, the humanoid robot 10 performs an operation according to the movement of the operation manipulator. It can be executed. Therefore, the operator can grasp the situation around the humanoid robot 10 while staying at a remote place via the wireless communication means such as the Internet line or the CCD camera 15 installed in the humanoid robot 10. The type robot 10 can be operated.

図3及び図4は、本発明の一実施形態のロボットの関節構造が組み込まれた人間型ロボットの首関節を示す。図3は首関節の正面図を示し、図4は左側面図を示す。本実施形態のロボットの関節構造は、胴体部11と頭部14との間に組み込まれる。胴体部11には、第一部材としての第一フレーム31が取り付けられる。頭部には第二部材としての第二フレーム32が取り付けられる。第一フレーム31と第二フレーム32とは支持部34を介して直角な二軸のみの回り、本実施形態ではピッチ軸(y軸)及びヨー軸(z軸)の回りのみを回転可能に連結される。   3 and 4 show a neck joint of a humanoid robot in which the joint structure of the robot according to one embodiment of the present invention is incorporated. 3 shows a front view of the neck joint, and FIG. 4 shows a left side view. The joint structure of the robot according to the present embodiment is incorporated between the body 11 and the head 14. A first frame 31 as a first member is attached to the body portion 11. A second frame 32 as a second member is attached to the head. The first frame 31 and the second frame 32 rotate only around two axes perpendicular to each other via a support portion 34. In this embodiment, only the rotation around the pitch axis (y axis) and the yaw axis (z axis) is rotatably connected. Is done.

支持部34の左右には、支持部34を挟むように第一及び第二の直動アクチュエータ41a,41bが設けられる。第一及び第二の直動アクチュエータ41a,41bは第一フレーム31と第二フレーム32との間に架け渡される。第一及び第二の直動アクチュエータ41a,41bは、本体部42a,42b及び本体部42a,42bに対して軸線方向に直線運動する軸部43a,43bと、を備える。本体部42a,42bは、一対の第一部材側連結部材としての一対の第一フレーム側連結部材44a,44bを介して第一フレーム31に連結される。軸部43a,43bは、一対の第二部材側連結部材としての一対の第二フレーム側連結部材45a,45bを介して第二フレーム32に連結される。   First and second linear motion actuators 41 a and 41 b are provided on the left and right sides of the support portion 34 so as to sandwich the support portion 34. The first and second linear actuators 41 a and 41 b are bridged between the first frame 31 and the second frame 32. The first and second linear motion actuators 41a and 41b include main body portions 42a and 42b and shaft portions 43a and 43b that linearly move in the axial direction with respect to the main body portions 42a and 42b. The main body portions 42a and 42b are coupled to the first frame 31 via a pair of first frame side coupling members 44a and 44b as a pair of first member side coupling members. The shaft portions 43a and 43b are coupled to the second frame 32 via a pair of second frame side coupling members 45a and 45b as a pair of second member side coupling members.

ここで、第一及び第二の直動アクチュエータ41a,41bは人間の筋肉として機能し、一対の第一フレーム側連結部材44a,44b及び一対の第二フレーム側連結部材45a,45bは人間の腱として機能する。そして、第一及び第二の直動アクチュエータ41a,41bを伸縮させることによって、頭部14がピッチ軸(y軸)及びヨー軸(z軸)の回りを回転する。   Here, the first and second linear actuators 41a and 41b function as human muscles, and the pair of first frame side connecting members 44a and 44b and the pair of second frame side connecting members 45a and 45b are human tendons. Function as. The head 14 rotates about the pitch axis (y axis) and the yaw axis (z axis) by expanding and contracting the first and second linear actuators 41a and 41b.

図6は、本実施形態のロボットの関節構造の斜視図を示す。本実施形態のロボットの関節構造は、第一フレーム31、第二フレーム32、支持部34、第一及び第二の直動アクチュエータ41a,41b、一対の第一フレーム側連結部材44a,44b、一対の第二フレーム側連結部材45a,45bを基本的な構成要素とする。   FIG. 6 is a perspective view of the joint structure of the robot according to the present embodiment. The joint structure of the robot according to the present embodiment includes a first frame 31, a second frame 32, a support portion 34, first and second linear actuators 41a and 41b, a pair of first frame side connecting members 44a and 44b, and a pair. The second frame side connecting members 45a and 45b are the basic components.

第一フレーム31は、前後端を下方に折り曲げた板状に形成され、上面の平面31cを有する。人間型ロボットの首関節に取り付けられたとき、この平面31cは水平面に位置する(図4参照)。第一フレーム31の左右には、前方に向かって突出する一対の支持プレート31a,31bが設けられる。一対の支持プレート31a,31bには、左右方向に伸びる第一連結軸51が通される。第一連結軸51の長さ方向の両端部には、一対の第一フレーム側連結部材44a,44bが第一連結軸51の軸線の回りを回転可能に設けられる。なお、第一連結軸51はピッチ軸(y軸)の方向に伸びているので、一対の第一フレーム側連結部材44a,44bはピッチ軸(y軸)の回りを回転可能となっている。   The first frame 31 is formed in a plate shape whose front and rear ends are bent downward, and has a flat surface 31c on the upper surface. When attached to the neck joint of a humanoid robot, this plane 31c is located on a horizontal plane (see FIG. 4). On the left and right sides of the first frame 31, a pair of support plates 31a and 31b projecting forward are provided. A first connecting shaft 51 extending in the left-right direction is passed through the pair of support plates 31a, 31b. A pair of first frame side connection members 44 a and 44 b are provided at both ends in the length direction of the first connection shaft 51 so as to be rotatable around the axis of the first connection shaft 51. Since the first connecting shaft 51 extends in the direction of the pitch axis (y axis), the pair of first frame side connecting members 44a and 44b can rotate around the pitch axis (y axis).

第一フレーム31の平面31c上には、支持部34が第一の軸としてのヨー軸52の回りを回転可能に設けられる。支持部34は、全体形状がU字形状に形成される支持部本体53と、その下端部に設けられるヨー軸52と、その上端部に設けられるピッチ軸54と、を備える。ヨー軸52は第一フレーム31の平面部31cに直交し、垂直方向を向く。ピッチ軸54はヨー軸52と直角であり、水平方向を向く。ピッチ軸54は、第二フレーム32に回転可能に連結される。支持部34は、第一フレーム31に対して第二フレーム32が直交する二軸(ピッチ軸(y軸)及びヨー軸(z軸))の回りに回転可能になるように第一フレーム31と第二フレーム32とを連結する。   On the flat surface 31c of the first frame 31, a support portion 34 is provided so as to be rotatable around a yaw axis 52 serving as a first axis. The support portion 34 includes a support portion main body 53 whose overall shape is U-shaped, a yaw shaft 52 provided at the lower end portion thereof, and a pitch shaft 54 provided at the upper end portion thereof. The yaw axis 52 is orthogonal to the plane portion 31c of the first frame 31 and faces the vertical direction. The pitch axis 54 is perpendicular to the yaw axis 52 and faces the horizontal direction. The pitch shaft 54 is rotatably connected to the second frame 32. The support portion 34 and the first frame 31 so that the second frame 32 can rotate about two axes (pitch axis (y axis) and yaw axis (z axis)) perpendicular to the first frame 31. The second frame 32 is connected.

なお、本実施形態では、ヨー軸52の軸線とピッチ軸54の軸線とは直交していて、第二フレーム32は直交する二軸(ピッチ軸(y軸)及びヨー軸(z軸))の回りに回転可能になっている。なお、ピッチ軸54の軸線とヨー軸52の軸線とは直角であれば、直交しなくてもよく、ピッチ軸54の軸線とヨー軸52の軸線とが離間していてもよい。   In the present embodiment, the axis of the yaw axis 52 and the axis of the pitch axis 54 are orthogonal to each other, and the second frame 32 has two orthogonal axes (pitch axis (y axis) and yaw axis (z axis)). It can be rotated around. Note that, as long as the axis of the pitch axis 54 and the axis of the yaw axis 52 are at right angles, they may not be orthogonal, and the axis of the pitch axis 54 and the axis of the yaw axis 52 may be separated from each other.

第二フレーム32は、平行な一対の対向プレート56a,56bと、一対の対向プレート56a,56bを連結する連結プレート57と、を備える。一対の対向プレート56a,56bの下端部は、支持部34のピッチ軸54に回転可能に取り付けられる。一対の対向プレート56a,56b間には左右方向に伸びる第二連結軸58が通る。第二連結軸58の長さ方向の両端部には、一対の第二フレーム側連結部材45a,45bが第二連結軸58の軸線の回りを回転可能に設けられる。なお、第二連結軸58はピッチ軸(y軸)の方向に伸びているので、一対の第二フレーム側連結部材45a,45bはピッチ軸(y軸)の回りを回転可能となっている。   The second frame 32 includes a pair of parallel opposing plates 56a and 56b and a connecting plate 57 that connects the pair of opposing plates 56a and 56b. The lower ends of the pair of opposed plates 56a and 56b are rotatably attached to the pitch shaft 54 of the support portion 34. A second connecting shaft 58 extending in the left-right direction passes between the pair of opposed plates 56a, 56b. A pair of second frame side connection members 45 a and 45 b are provided at both ends in the length direction of the second connection shaft 58 so as to be rotatable around the axis of the second connection shaft 58. Since the second connecting shaft 58 extends in the direction of the pitch axis (y axis), the pair of second frame side connecting members 45a and 45b can rotate around the pitch axis (y axis).

第一及び第二の直動アクチュエータ41a,41bそれぞれは、円筒状の本体部42a,42bと、本体部42a,42bに対して軸線方向(軸線をLa,Lbで示す)に直線運動する円筒状の軸部43a,43bと、を備える。第一及び第二の直動アクチュエータ41a,41bの構造は同一である。本体部42a,42bの内部には、ねじ軸及びねじ軸に螺合するボールねじナット、ねじ軸を回転駆動するサーボモータが組み込まれる。サーボモータがねじ軸を回転させると、ねじ軸に螺合するボールねじナットが軸線方向に直線運動する。ボールねじナットには軸部43a,43bが結合されていて、ボールねじナットの直線運動と一緒に軸部43a,43bが直線運動するようになっている。軸部43a,43bは本体部42a,42bに対して回り止めされておらず、本体部42a,42bに対して軸線La,Lbの回りを回転可能である。第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bが本体部42a,42bに対して軸線方向に相対的に直線運動するとき、本体部42a,42bに対して軸線La,Lbの回りを相対的に回転する。なお、この図には軸部43a,43bは本体部42a,42bに対して回り止めされた状態が示されているが、実際には回り止めは除去されている。   Each of the first and second linear motion actuators 41a and 41b has a cylindrical main body 42a and 42b, and a cylindrical shape that linearly moves in the axial direction (the axes are indicated by La and Lb) with respect to the main bodies 42a and 42b. Shaft portions 43a and 43b. The structures of the first and second linear actuators 41a and 41b are the same. Inside the main body portions 42a and 42b, a screw shaft, a ball screw nut that is screwed onto the screw shaft, and a servo motor that rotates the screw shaft are incorporated. When the servo motor rotates the screw shaft, the ball screw nut screwed to the screw shaft moves linearly in the axial direction. Shaft portions 43a and 43b are coupled to the ball screw nut, and the shaft portions 43a and 43b move linearly together with the linear motion of the ball screw nut. The shaft portions 43a and 43b are not prevented from rotating with respect to the main body portions 42a and 42b, and can rotate around the axis lines La and Lb with respect to the main body portions 42a and 42b. When the shaft portions 43a and 43b of the first and second linear actuators 41a and 41b linearly move in the axial direction relative to the main body portions 42a and 42b, the axis lines La and Lb with respect to the main body portions 42a and 42b. Rotate relatively around. In this figure, the shaft portions 43a and 43b are shown as being prevented from rotating with respect to the main body portions 42a and 42b.

第一及び第二の直動アクチュエータ41a,41bの本体部42a,42bは、一対の第一フレーム側連結部材44a,44bを介して第一フレーム31に連結される。第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bは、一対の第二フレーム側連結部材45a,45bを介して第二フレーム32に連結される。第一及び第二の直動アクチュエータ41a,41bの本体部42a,42bの軸線の回り止めは、一対の第一フレーム側連結部材44a,44bによって行われる。第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bの軸線の回り止めは、一対の第二フレーム側連結部材45a,45bによって行われる。   The main body portions 42a and 42b of the first and second linear motion actuators 41a and 41b are coupled to the first frame 31 via a pair of first frame side coupling members 44a and 44b. The shaft portions 43a and 43b of the first and second linear motion actuators 41a and 41b are connected to the second frame 32 via a pair of second frame side connecting members 45a and 45b. The first and second linear actuators 41a and 41b are prevented from rotating about the axis of the main body portions 42a and 42b by the pair of first frame side connecting members 44a and 44b. The shafts 43a and 43b of the first and second linear actuators 41a and 41b are prevented from rotating about the axis by the pair of second frame side connecting members 45a and 45b.

一対の第一フレーム側連結部材44a,44bそれぞれは、長方形の3辺を構成するようなコ字形状に形成される。第一フレーム側連結部材44a,44bは第一連結軸51に回転可能に取り付けられる基部61と、基部に直角な一対のブラケット部62a,62bと、を備える(図3参照)。一対のブラケット部62a,62bには、第一又は第二の直動アクチュエータ41a,41bの本体部42a,42bが第一支持軸64a,64bの回りを回転可能に支持される。第一連結軸51の軸線と第一支持軸64a,64bの軸線とは直交する。また、互いに直交する第一連結軸51の軸線及び第一支持軸64a,64bの軸線は、第一及び第二の直動アクチュエータ41a,41bの軸線La,Lbと直交する。すなわち、一対の第一フレーム側連結部材44a,44bは、第一及び第二の直動アクチュエータ41a,41bの本体部42a,42bを、第一及び第二の直動アクチュエータ41a,41bの軸線La,Lbの回りの回り止めをした状態で、直交する二軸(第一連結軸51及び第一支持軸64a,64b)の回りを回転可能に支持する。   Each of the pair of first frame side connecting members 44a and 44b is formed in a U shape so as to constitute three sides of a rectangle. The first frame side connecting members 44a and 44b include a base portion 61 rotatably attached to the first connecting shaft 51, and a pair of bracket portions 62a and 62b perpendicular to the base portion (see FIG. 3). The pair of bracket portions 62a and 62b support the main body portions 42a and 42b of the first or second linear actuators 41a and 41b so as to be rotatable around the first support shafts 64a and 64b. The axis of the first connecting shaft 51 and the axis of the first support shafts 64a and 64b are orthogonal to each other. Further, the axis of the first connecting shaft 51 and the axes of the first support shafts 64a and 64b that are orthogonal to each other are orthogonal to the axes La and Lb of the first and second linear motion actuators 41a and 41b. That is, the pair of first frame side connecting members 44a and 44b is configured so that the main body portions 42a and 42b of the first and second linear motion actuators 41a and 41b are connected to the axis line La of the first and second linear motion actuators 41a and 41b. , Lb around the two orthogonal shafts (the first connecting shaft 51 and the first support shafts 64a and 64b) are supported rotatably.

第二連結軸58の軸線方向の両端部には、一対の第二フレーム側連結部材45a,45bが第二連結軸58の軸線の回りを回転可能に設けられる。一対の第二フレーム側連結部材45a,45bそれぞれも、長方形の3辺を構成するようなコ字形状に形成される。一対の第二フレーム側連結部材45a,45bは、第一及び第二の直動アクチュエータ41a,41bの本体部42a,42bを支持するか軸部43a,43bを支持するかの違いがあるだけで、一対の第一フレーム側連結部材44a,44bと同一の構成である。一対の第二フレーム側連結部材45a,45bは、第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bを、第一及び第二の直動アクチュエータ41a,41bの軸線La,Lbの回りの回転止めをした状態で、直交する二軸(すなわち第二連結軸58及び第二支持軸66a,66b)の回りを回転可能に支持する。なお、第二支持軸66a,66bは、第一支持軸64a,64bと同様に第一又は第二の直動アクチュエータの軸部43a,43bの回転の支点となる。   A pair of second frame side connecting members 45 a and 45 b are provided at both ends of the second connecting shaft 58 in the axial direction so as to be rotatable around the axis of the second connecting shaft 58. Each of the pair of second frame side connecting members 45a and 45b is also formed in a U-shape that constitutes three sides of a rectangle. The pair of second frame side connecting members 45a and 45b only differ in whether they support the main body portions 42a and 42b of the first and second linear actuators 41a and 41b or the shaft portions 43a and 43b. The configuration is the same as that of the pair of first frame side connecting members 44a and 44b. The pair of second frame side connecting members 45a and 45b are arranged so that the shaft portions 43a and 43b of the first and second linear motion actuators 41a and 41b are connected to the axis lines La and Lb of the first and second linear motion actuators 41a and 41b. In a state in which the rotation around is stopped, the two axes orthogonal to each other (that is, the second connecting shaft 58 and the second support shafts 66a and 66b) are rotatably supported. The second support shafts 66a and 66b serve as fulcrums for the rotation of the shaft portions 43a and 43b of the first or second linear actuator similarly to the first support shafts 64a and 64b.

図5は図4の概念図を示す。図5に示すように、水平方向を向く第二の軸としてのピッチ軸54の軸線方向からみた状態において、垂直方向を向く第一の軸としてのヨー軸52の軸線Vと第一及び第二の直動アクチュエータ41a,41bの軸線La,Lbとのなす角度θは鋭角(すなわち0°よりも大きく90°未満)である。そして、ヨー軸52の軸線V、第一及び第二の直動アクチュエータ41a,41bの軸線La,Lb、及び第一フレーム31の平面31cによって三角形が形成される。第一及び第二の直動アクチュエータ41a,41bは筋交いのように斜めに第一フレーム31と第二フレーム32との間に架け渡される。なお、図5の状態では、第一及び第二の直動アクチュエータ41a,41bの伸縮量を等しくしており、第一及び第二の直動アクチュエータ41a,41bの軸線La,Lbが重なっている。   FIG. 5 shows a conceptual diagram of FIG. As shown in FIG. 5, in the state seen from the axial direction of the pitch axis 54 as the second axis facing the horizontal direction, the axis V of the yaw axis 52 as the first axis facing the vertical direction and the first and second axes The angle θ formed by the axes La and Lb of the linear motion actuators 41a and 41b is an acute angle (that is, greater than 0 ° and less than 90 °). A triangle is formed by the axis V of the yaw axis 52, the axes La and Lb of the first and second linear actuators 41 a and 41 b, and the plane 31 c of the first frame 31. The first and second linear actuators 41a and 41b are bridged between the first frame 31 and the second frame 32 obliquely like a brace. In the state of FIG. 5, the expansion and contraction amounts of the first and second linear motion actuators 41 a and 41 b are equal, and the axis lines La and Lb of the first and second linear motion actuators 41 a and 41 b overlap. .

胴体部11には、第一及び第二の直動アクチュエータ41a,41bのサーボモータを制御する第一及び第二のドライバ(図示せず)が設けられる。第一及び第二のドライバのそれぞれは、サーボモータに電力を供給するPWM(pulse width modulation)インバータ等の電力変換器、サーボモータの出力軸の速度及び位置を検出するセンサ、操作マニピュレータからの指令及びセンサからの情報によって電力変換器を制御する制御器を備える。第一及び第二のドライバは相互に通信し合い、別に制御ボックスが無くても同期した動きが可能となっている。なお、第一及び第二のドライバを統合させた一つのドライバによって二つのサーボモータを制御するようにしてもよい。   The body portion 11 is provided with first and second drivers (not shown) that control the servo motors of the first and second linear actuators 41a and 41b. Each of the first and second drivers includes a power converter such as a PWM (pulse width modulation) inverter that supplies power to the servo motor, a sensor that detects the speed and position of the output shaft of the servo motor, and a command from the operation manipulator. And a controller for controlling the power converter according to information from the sensor. The first and second drivers communicate with each other and can be operated synchronously without a separate control box. Note that the two servo motors may be controlled by a single driver in which the first and second drivers are integrated.

図7は、本実施形態のロボットの関節構造の動作図を示す。図7(a)に示すように、第一及び第二の直動アクチュエータ41a,41bが軸部43a,43bを引き込むようにすると、第一及び第二の直動アクチュエータ41a,41bの全長が縮む。第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bには第二フレーム32が連結されているので、第一及び第二の直動アクチュエータ41a,41bが縮むのに伴って第二フレーム32がピッチ軸54(y軸)のみの回りを回転する。これにより、頭部14が下を向く。逆に、第一及び第二の直動アクチュエータ41a,41bが軸部43a,43bを押し出すようにすると、第一及び第二の直動アクチュエータ41a,41bの全長が伸び、頭部14が上を向く。第一及び第二の直動アクチュエータ41a,41bをさらに伸ばしたとき、図5に示すように、第一及び第二の直動アクチュエータ41a,41bと第二フレーム32との連結位置(すなわち一対の第二フレーム側連結部材45a,45bの位置)が第一の軸としてのヨー軸52の軸線V上に位置する。   FIG. 7 shows an operation diagram of the joint structure of the robot according to the present embodiment. As shown in FIG. 7 (a), when the first and second linear actuators 41a and 41b retract the shaft portions 43a and 43b, the entire lengths of the first and second linear actuators 41a and 41b are reduced. . Since the second frame 32 is connected to the shaft portions 43a and 43b of the first and second linear actuators 41a and 41b, the first and second linear actuators 41a and 41b are contracted as the first and second linear actuators 41a and 41b contract. The two frames 32 rotate only around the pitch axis 54 (y axis). As a result, the head 14 faces downward. Conversely, when the first and second linear actuators 41a and 41b push the shaft portions 43a and 43b, the entire lengths of the first and second linear actuators 41a and 41b extend, and the head 14 moves upward. Turn to. When the first and second linear motion actuators 41a and 41b are further extended, as shown in FIG. 5, the connection position (that is, a pair of the first and second linear motion actuators 41a and 41b and the second frame 32). The position of the second frame side connecting members 45a and 45b) is located on the axis V of the yaw shaft 52 as the first shaft.

図7(b)に示すように、第一の直動アクチュエータ41aが軸部43aを引き込み、第二の直動アクチュエータ41bが軸部43bを押し出すようにすると、第二フレーム32がヨー軸52(z軸)のみの回りを反時計方向に回転する。逆に、第一の直動アクチュエータ41aが軸部43aを押し出し、第二の直動アクチュエータ41bが軸部43bを引き込むようにすると、第二フレーム32がヨー軸52(z軸)のみの回りを時計方向に回転する。   As shown in FIG. 7B, when the first linear actuator 41a pulls the shaft 43a and the second linear actuator 41b pushes the shaft 43b, the second frame 32 moves to the yaw shaft 52 ( Rotate only around the z-axis) counterclockwise. Conversely, when the first linear actuator 41a pushes out the shaft portion 43a and the second linear actuator 41b retracts the shaft portion 43b, the second frame 32 moves only around the yaw shaft 52 (z axis). Rotate clockwise.

第一及び第二の直動アクチュエータ41a,41bの伸縮量を制御することで、第二フレーム32をピッチ軸(y軸)の回りに回転させながらヨー軸(z軸)の回りに回転させることも可能となる。   By controlling the amount of expansion / contraction of the first and second linear actuators 41a and 41b, the second frame 32 is rotated about the yaw axis (z axis) while rotating about the pitch axis (y axis). Is also possible.

本発明の一実施形態のロボットの関節構造によれば、以下の効果を奏する。第一及び第二の直動アクチュエータ41a,41bを用いたシンプルな構造によって、第二フレーム32が第一フレーム31に対して直交する二軸の回りを相対的に回転する関節構造を構築できる。また、第一フレーム31に対して第二フレーム32を回転させるにあたって、第一及び第二の直動アクチュエータ41a,41bを同時に作動させているので、従来の回転系のサーボモータを組み合わせた関節構造に比べて、数倍の力を発生させることができる。逆にいえば、必要な力を得るための第一及び第二の直動アクチュエータ41a,41bを小型化することができ、関節構造の軽量化、小型化が図れる。さらに、第一及び第二の直動アクチュエータ41a,41bが関節構造を構成するリンクを兼ねているので、関節構造の軽量化、小型化を図ることができる。   The joint structure of the robot according to the embodiment of the present invention has the following effects. With a simple structure using the first and second linear actuators 41 a and 41 b, it is possible to construct a joint structure in which the second frame 32 rotates relatively around two axes orthogonal to the first frame 31. Further, when the second frame 32 is rotated with respect to the first frame 31, the first and second linear actuators 41a and 41b are simultaneously operated. Therefore, the joint structure in which a conventional rotary servomotor is combined. Compared to, it is possible to generate several times the force. In other words, the first and second linear actuators 41a and 41b for obtaining the necessary force can be reduced in size, and the joint structure can be reduced in weight and size. Furthermore, since the first and second linear motion actuators 41a and 41b also serve as links constituting the joint structure, the joint structure can be reduced in weight and size.

図5に示すように、支持部34は、平面31cを持つ第一フレーム31上に平面41aと直交するヨー軸52の回りに回転可能に設けられ、ピッチ軸54の軸線方向から見た状態において、ヨー軸52の軸線Vと第一及び第二の直動アクチュエータ41a,41bの軸線とのなす角度が鋭角であるので、第一及び第二のアクチュエータ41a,41bが筋交いのように機能し、関節構造の強度を向させる。   As shown in FIG. 5, the support portion 34 is provided on the first frame 31 having the flat surface 31 c so as to be rotatable around the yaw axis 52 orthogonal to the flat surface 41 a, and viewed in the axial direction of the pitch shaft 54. Since the angle formed between the axis V of the yaw axis 52 and the axes of the first and second linear actuators 41a and 41b is an acute angle, the first and second actuators 41a and 41b function like braces, Increase the strength of the joint structure.

ヨー軸52の軸線Vが垂直方向を向くようにすることで、支持部34が頭部14の質量を支えることができるようになり、第一及び第二のアクチュエータ41a,41bにかかる負荷が低減する。特に、図5に示すように、第一及び第二の直動アクチュエータ41a,41bを伸ばしたとき、一対の第二フレーム側連結部材45a,45bがヨー軸52の軸線V上に位置するようにすることで、第一及び第二の直動アクチュエータ41a,41bにかかる負荷がより一層低減する。さらに、第一及び第二のアクチュエータ41a,41bには逆効率の低いボールねじが組み込まれるので、第一及び第二の直動アクチュエータ41a,41bのサーボモータに供給する電力を低減できる。   By making the axis V of the yaw shaft 52 face the vertical direction, the support portion 34 can support the mass of the head 14 and the load on the first and second actuators 41a and 41b is reduced. To do. In particular, as shown in FIG. 5, when the first and second linear actuators 41 a and 41 b are extended, the pair of second frame side connecting members 45 a and 45 b are positioned on the axis V of the yaw shaft 52. As a result, the load applied to the first and second linear actuators 41a and 41b is further reduced. Furthermore, since a ball screw with low reverse efficiency is incorporated in the first and second actuators 41a and 41b, the power supplied to the servo motors of the first and second linear actuators 41a and 41b can be reduced.

一対の第一フレーム側連結部材44a,44bは、第一及び第二の直動アクチュエータ41a,41bの本体部42a,42bの回り止めをした状態で、本体部42a,42bの軸線に直交する二軸の回りに回転可能に本体部42a,42bを支持する。一対の第二フレーム側連結部材45a,45bは、第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bの回り止めをした状態で、軸部43a,43bの軸線に直交する二軸の回りに回転可能に軸部43a,43bを支持する。このため、第二フレーム32が第一フレーム31に対してピッチ軸(y軸)及びヨー軸(z軸)の回りに2自由度を持って移動しても、第一及び第二の直動アクチュエータ41a,41bに無理な力がかかるのを防止することができる。第一及び第二の直動アクチュエータ41a,41bに、例えば、軸線方向以外のラジアル荷重、モーメント等の無理な力がかかるのを防止できる。   The pair of first frame side connecting members 44a and 44b are two orthogonal to the axis of the main body portions 42a and 42b in a state in which the main body portions 42a and 42b of the first and second linear motion actuators 41a and 41b are prevented from rotating. The main body portions 42a and 42b are supported so as to be rotatable around the shaft. The pair of second frame side connecting members 45a and 45b are two orthogonal to the axis of the shaft portions 43a and 43b in a state where the shaft portions 43a and 43b of the first and second linear motion actuators 41a and 41b are prevented from rotating. The shaft portions 43a and 43b are supported so as to be rotatable around the shaft. For this reason, even if the second frame 32 moves with two degrees of freedom around the pitch axis (y-axis) and the yaw axis (z-axis) with respect to the first frame 31, the first and second linear motions It is possible to prevent an excessive force from being applied to the actuators 41a and 41b. For example, it is possible to prevent the first and second linear actuators 41a and 41b from being subjected to an excessive force such as a radial load or a moment other than the axial direction.

第一及び第二の直動アクチュエータ41a,41bの軸部43a,43bは、本体部42a,42bに対して軸線の回りを相対的に回転することができるので、第一及び第二の直動アクチュエータ41a,41bにねじりの無理な力がかかるのを防止できる。   Since the shaft portions 43a and 43b of the first and second linear motion actuators 41a and 41b can rotate relative to the main body portions 42a and 42b around the axis line, the first and second linear motion actuators It is possible to prevent the actuator 41a and 41b from being applied with an excessive twisting force.

一対の第一フレーム側連結部材44a,44bを第一フレーム31を通る第一連結軸51の両端部に回転可能に設けるので、一対の第一フレーム側連結部材44a,44bを共通の軸線の回りに回転させることができる。同様に、一対の第二フレーム側連結部材45a,45bを第二フレーム32を通る第二連結軸58の両端部に回転可能に設けるので、一対の第二フレーム側連結部材45a,45bを共通の軸線の回りに回転させることができる。   Since the pair of first frame side connection members 44a and 44b are rotatably provided at both ends of the first connection shaft 51 passing through the first frame 31, the pair of first frame side connection members 44a and 44b are arranged around a common axis. Can be rotated. Similarly, since the pair of second frame side connecting members 45a and 45b are rotatably provided at both ends of the second connecting shaft 58 passing through the second frame 32, the pair of second frame side connecting members 45a and 45b are shared. Can be rotated around an axis.

本実施形態のロボットの関節構造は、人間型ロボットの首関節に適している。第一及び第二の直動アクチュエータ41a,41bの内部にはボールねじが組み込まれるので、第一及び第二の直動アクチュエータ41a,41bは大きな圧縮荷重を負荷することができる。このため、頭部14の質量が重くても、第一及び第二の直動アクチュエータ41a,41bは安定して頭部14を支える。これに対して、従来のように回転系のサーボモータ及びギヤを使用した場合には、ギヤのバックラッシに起因して頭部14が揺れ動くおそれがある。   The joint structure of the robot of this embodiment is suitable for the neck joint of a humanoid robot. Since ball screws are incorporated in the first and second linear actuators 41a and 41b, the first and second linear actuators 41a and 41b can apply a large compressive load. For this reason, even if the mass of the head 14 is heavy, the first and second linear actuators 41 a and 41 b stably support the head 14. In contrast, when a rotary servomotor and gear are used as in the prior art, the head 14 may swing due to backlash of the gear.

第一及び第二の直動アクチュエータ41a,41bが第一及びフレームの左右に離れて配置されるので、第一及び第二の直動アクチュエータ41a,41b間に配線を通せるスペースを確保することができる。このため、頭部14に内蔵されるCCDカメラ15、音声ユニット等に配線するのが容易になる。   Since the first and second linear motion actuators 41a and 41b are arranged apart from each other on the left and right of the first and frame, a space for wiring can be secured between the first and second linear motion actuators 41a and 41b. Can do. For this reason, it becomes easy to wire the CCD camera 15 incorporated in the head 14, the audio unit, and the like.

なお、本発明は上記実施形態に具現化されるのに限られることはなく、本発明の要旨を変更しない範囲で様々に変更可能である。例えば、第一及び第二の直動アクチュエータの本体部に対して軸部を回り止めし、第一及び第二の直動アクチュエータの本体部及び軸部を球面軸受けで支持することも可能である。本発明は2自由度の関節構造に限られることはなく、第三の直動アクチュエータを付加することで、自由度が3以上の関節構造にも適用することができる。   The present invention is not limited to being embodied in the above-described embodiment, and can be variously modified without changing the gist of the present invention. For example, the shaft portion can be prevented from rotating with respect to the main body portions of the first and second linear motion actuators, and the main body portion and the shaft portion of the first and second linear motion actuators can be supported by spherical bearings. . The present invention is not limited to a joint structure with two degrees of freedom, and can be applied to a joint structure with three or more degrees of freedom by adding a third linear motion actuator.

上記実施形態では、本発明のロボットの関節構造を、人間型ロボットの首関節に適用した例について説明したが、首関節以外の他の関節にも適用することができる。本発明は人間型ロボットに限られることはなく、垂直多関節ロボット、水平多関節ロボット等の産業用ロボットにも適用することができる。   In the above embodiment, an example in which the joint structure of the robot of the present invention is applied to the neck joint of a humanoid robot has been described. However, the present invention can be applied to other joints other than the neck joint. The present invention is not limited to a humanoid robot, and can also be applied to industrial robots such as vertical articulated robots and horizontal articulated robots.

10…人間型ロボット,31…第一フレーム(第一部材),31c…平面,32…第二フレーム(第二部材),34…支持部,41a,41b…第一及び第二の直動アクチュエータ,42a,42b…第一及び第二の直動アクチュエータの本体部,43a,43b…第一及び第二の直動アクチュエータの軸部,44a,44b…第一フレーム側連結部材(第一部材側連結部材),45a,45b…第二フレーム側連結部材(第二部材側連結部材),51…第一連結軸,52…ヨー軸(第一の軸),54…ピッチ軸(第二の軸),58…第二連結軸,64a,64b…第一支持軸,66a,66b…第二支持軸,La,Lb…第一及び第二の直動アクチュエータの軸線,V…ヨー軸の軸線 DESCRIPTION OF SYMBOLS 10 ... Humanoid robot, 31 ... 1st frame (1st member), 31c ... Plane, 32 ... 2nd frame (2nd member), 34 ... Support part, 41a, 41b ... 1st and 2nd linear motion actuator , 42a, 42b ... main body portions of the first and second linear motion actuators, 43a, 43b ... shaft portions of the first and second linear motion actuators, 44a, 44b ... first frame side connecting member (first member side) Connecting member), 45a, 45b ... second frame side connecting member (second member side connecting member), 51 ... first connecting shaft, 52 ... yaw shaft (first shaft), 54 ... pitch shaft (second shaft) ), 58... Second connecting shaft, 64a, 64b... First support shaft, 66a, 66b... Second support shaft, La, Lb... First and second linear actuator axes, V.

Claims (10)

第一部材に対して第二部材を直角な二軸の回りに相対的に回転させるロボットの関節構造であって、
第一部材と、
前記第一部材に第一の軸の回りに回転可能に支持される支持部と、
前記支持部に前記第一の軸に直角な第二の軸の回りに回転可能に支持される第二部材と、
前記第一部材と前記第二部材との間に架け渡され、本体部、及び本体部に対して軸線方向に相対的に直線運動する軸部を有する第一及び第二の直動アクチュエータと、を備え、
前記第一及び前記第二の直動アクチュエータのいずれか一方を伸ばし、他方を縮めるとき、前記第二部材が前記第一部材に対して前記第一の軸及び前記第二の軸のいずれか一方の回りを相対的に回転し、
前記第一及び前記第二の直動アクチュエータの双方を伸ばし、又は前記第一及び前記第二の直動アクチュエータの双方を縮めるとき、前記第二部材が前記第一部材に対して前記第一の軸及び前記第二の軸の他方の回りを相対的に回転するロボットの関節構造。
A robot joint structure for rotating the second member relative to the first member around two axes perpendicular to each other,
A first member;
A support part rotatably supported about the first axis by the first member;
A second member supported by the support portion so as to be rotatable about a second axis perpendicular to the first axis;
A first linear actuator and a second linear actuator that are bridged between the first member and the second member and have a main body and a shaft that linearly moves relative to the main body in the axial direction; With
When either one of the first and second linear motion actuators is extended and the other is contracted, the second member is either the first shaft or the second shaft with respect to the first member. Relative rotation around
When both the first and second linear actuators are extended or both the first and second linear actuators are contracted, the second member moves the first linear actuator against the first member. A joint structure of a robot that rotates relatively around the other of the axis and the second axis.
前記支持部は、平面を持つ前記第一部材上に前記平面と直交する前記第一の軸の回りに回転可能に設けられ、
前記第二の軸の軸線方向から見た状態において、前記第一の軸の軸線と前記第一及び前記第二の直動アクチュエータの少なくとも一方の軸線とのなす角度が鋭角であることを特徴とする請求項1に記載のロボットの関節構造。
The support portion is provided on the first member having a flat surface so as to be rotatable around the first axis perpendicular to the flat surface,
The angle formed by the axis of the first axis and at least one of the first and second linear actuators is an acute angle when viewed from the axial direction of the second axis. The joint structure of the robot according to claim 1.
前記第一の軸は垂直方向を向き、
前記第二の軸は水平方向を向くことを特徴とする請求項2に記載のロボットの関節構造。
The first axis is oriented vertically;
The robot joint structure according to claim 2, wherein the second axis faces a horizontal direction.
前記第一の軸は垂直方向を向き、
前記第二の軸は水平方向を向き、
前記第二の軸の軸線方向から見た状態において、前記第一の軸の軸線と前記第一及び前記第二の直動アクチュエータの少なくとも一方の軸線とがなす角度が鋭角であることを特徴とする請求項1に記載のロボットの関節構造。
The first axis is oriented vertically;
The second axis is oriented horizontally,
The angle formed by the axis of the first shaft and at least one of the first and second linear actuators is an acute angle when viewed from the axial direction of the second shaft. The joint structure of the robot according to claim 1.
前記第二の軸の軸線方向から見た状態において、
前記第一及び前記第二の直動アクチュエータの少なくとも一方が伸縮することによって、前記第一及び前記第二の直動アクチュエータを前記第二部材に連結する一対の第二部材側連結部材の少なくとも一方と前記第二部材との連結位置が前記第一の軸の軸線上に位置することを特徴とする請求項2ないし4のいずれかに記載のロボットの関節構造。
In the state seen from the axial direction of the second axis,
At least one of a pair of second member-side connecting members that connect the first and second linear motion actuators to the second member by extending and contracting at least one of the first and second linear motion actuators. The joint structure of the robot according to claim 2, wherein a connection position between the first member and the second member is located on an axis of the first axis.
前記第一及び前記第二の直動アクチュエータは、ボールねじを備え、
前記ボールねじのナット及びねじ軸のいずれか一方を他方に対して回転させることによって、前記本体部に対して前記軸部を軸線方向に相対的に直線運動させることを特徴とする請求項2ないし4のいずれかに記載のロボットの関節構造。
The first and second linear motion actuators include ball screws,
The shaft part is linearly moved relative to the main body part in the axial direction by rotating either one of the nut of the ball screw or the screw shaft with respect to the other. 4. The joint structure of the robot according to any one of 4 above.
前記ロボットの関節構造はさらに、
前記第一及び前記第二の直動アクチュエータを前記第一部材に連結する一対の第一部材側連結部材と、
前記第一及び前記第二の直動アクチュエータを前記第二部材に連結する一対の第二部材側連結部材と、を備え、
前記一対の第一部材側連結部材は、前記第一及び前記第二の直動アクチュエータの軸線の回りの回り止めをした状態で、前記第一及び前記第二の直動アクチュエータを前記第一及び前記第二の直動アクチュエータの軸線に直角な二軸の回りに回転可能に支持し、
前記一対の第二部材側連結部材は、前記第一及び前記第二の直動アクチュエータの軸線の回りの回り止めをした状態で、前記第一及び前記第二の直動アクチュエータを前記第一及び前記第二の直動アクチュエータの軸線に直角な二軸の回りに回転可能に支持することを特徴とする請求項1に記載にロボットの関節構造。
The joint structure of the robot is further
A pair of first member side connecting members for connecting the first and second linear motion actuators to the first member;
A pair of second member side connecting members that connect the first and second linear motion actuators to the second member;
The pair of first member side coupling members are configured to prevent the first and second linear motion actuators from being moved in the first and second linear motion actuators in a state in which the first and second linear motion actuators are prevented from rotating about the axis. The second linear actuator is rotatably supported around two axes perpendicular to the axis line,
The pair of second member-side connecting members are configured to prevent the first and second linear motion actuators from being connected to the first and second linear motion actuators in a state where the first and second linear motion actuators are prevented from rotating about the axis. 2. The robot joint structure according to claim 1, wherein the joint structure of the robot is supported so as to be rotatable about two axes perpendicular to an axis of the second linear actuator. 3.
前記第一及び前記第二の直動アクチュエータの前記軸部は、前記本体部に対して前記軸線方向に相対的に直線運動するとき、前記本体部に対して前記軸線の回りを相対的に回転することを特徴とする請求項7に記載のロボットの関節構造。   When the shaft portions of the first and second linear actuators move linearly relative to the main body portion in the axial direction, the shaft portions rotate relatively around the axis line with respect to the main body portion. The joint structure of the robot according to claim 7. 前記ロボットの関節構造はさらに、
前記第一及び前記第二の直動アクチュエータを前記第一部材に連結する一対の第一部材側連結部材と、
前記第一及び前記第二の直動アクチュエータを前記第二部材に連結する一対の第二部材側連結部材と、を備え、
前記一対の第一部材側連結部材は、前記第一部材を通る第一連結軸の両端部に設けられ、
前記一対の第二部材側連結部材は、前記第二部材を通る第二連結軸の両端部に設けられることを特徴とする請求項1に記載のロボットの関節構造。
The joint structure of the robot is further
A pair of first member side connecting members for connecting the first and second linear motion actuators to the first member;
A pair of second member side connecting members that connect the first and second linear motion actuators to the second member;
The pair of first member side connecting members are provided at both ends of the first connecting shaft passing through the first member,
2. The robot joint structure according to claim 1, wherein the pair of second member side connecting members are provided at both ends of a second connecting shaft passing through the second member.
請求項1ないし9のいずれかに記載のロボットの関節構造が首関節に用いられる人間型ロボット。   A humanoid robot in which the joint structure of the robot according to claim 1 is used for a neck joint.
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