JP2014050944A - Extremities of humanoid robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide extremities of a humanoid robot.SOLUTION: A link device with a five-bar linkage and a four-bar linkage is served as a main body. A first link (1) is served as a thigh or an upper arm of extremities. An arm (17) provided in a fourth link (4) is served as a lower thigh or a forearm of the extremities. They are linked to a body part (22) by a support device (18) to constitute extremities of a humanoid robot.

Description

  The present invention relates to a limb of a robot that moves a human limb.

  The extremities of conventional humanoid robots are the upper arms and forearms and body parts in the upper limbs, or the thighs and lower legs in the lower limbs by driving with electric motors installed at each joint or hydraulic or pneumatic pressure. And body parts are linked.

  The goal is to develop a limb with a mechanism completely different from that of a conventional humanoid robot.

  For that purpose, the configuration of the present invention is a support device for connecting a body part and limbs, a five-bar rotation chain functioning as a thigh and an upper arm, or a link device of a four-bar rotation chain (hereinafter referred to as a link device). And the arm placed on the forearm or the fourth longest link that acts as the lower leg. Then, two devices as upper limbs and two as lower limbs are installed on an appropriate body part to cause the human limbs to work.

  The link device of the present invention has two longest links of equal length (hereinafter referred to as the first link and the second link), and the second of three-tenths to five-tenths of the length. One long link (hereinafter referred to as the third link), one link having a length that is 1/10 to 3/10 of the longest link (hereinafter referred to as the fourth link), and the longest The link is composed of five links, one link having a length of 1/20 to 2/10 (hereinafter referred to as a fifth link). Moreover, it can be set as a four-bar rotation chain by making the connecting shaft of the both ends of a 5th link correspond.

  In the link device of the present invention, the links are connected in pairs, one end of the first link and one end of the fourth link are connected, and the other end of the fourth link and one end of the second link are connected. The other end of the second link and one end of the third link are connected, the other end of the third link and one end of the fifth link are connected, and the other end of the fifth link and the other end of the first link are connected. It consists of

  The first link of the link device is the upper arm in the upper limb and the thigh in the lower limb.

  In the fourth link of the link device, an arm is provided at either end of the link device so that the upper limb is a forearm and the lower limb is a lower leg.

  The fifth link also serves as a support device for connecting the link device of the present invention to the body part. Inside, there is a driving shaft that is connected to one end of the first link and one end of the third link to operate the limbs, and an electric motor and a worm gear are installed as power sources.

  By rotation of the power shaft of the support device, the first link reciprocates in the range of 0 ° to 180 ° in angle, and the third link reciprocates in the range of 0 ° to 180 ° in angle.

  In order to ensure the operation, the first link is provided with a stopper for controlling the operation.

  The shaft connecting the body part and the support device is a power shaft that can reciprocate and rotate the support device in an angle range of 0 ° to 180 °.

  By operating the first link coupled to the power shaft of the support device, the thigh and the lower leg can bend and stretch in the lower limbs, and the body can be moved up and down in the vertical direction. In the upper limb, the upper arm and the forearm can be bent and extended linearly.

  When the third link coupled to the power shaft of the support device operates, the arm installed on the fourth link is the lower leg when it is in the lower limb, and the forearm when it is in the upper limb. An oscillating motion can be performed by drawing an arc with an angle in the range of 0 ° to 180 ° around the connecting axis.

  By combining the above operations, the human limbs can be operated.

The fragmentary sectional perspective view which shows embodiment of this invention

  Hereinafter, an embodiment of the present invention will be described with reference to FIG.

  In the figure, the configuration of the limbs will be described. The first link 1 is connected to the fifth link 5 that also serves as the support device 18 by the connecting shaft 6. The first link is reciprocally rotated by an electric motor 8 and a worm gear 9 installed in the support device 18 in an angle range of 0 ° to 180 °. The first link 1 is the upper arm in the upper limbs and the thigh in the lower limbs.

  The third link 3 is connected to the other end of the fifth link 5 by a connecting shaft 7. The third link is an electric motor 10 and a worm gear 11 installed in the support device 18 and reciprocates in an angle range of 0 ° to 180 °.

  The multiple ends of the first link are connected to the fourth link 4 by the connecting shaft 12, the multiple ends of the fourth link 4 are connected to the second link by the connecting shaft 13, and the multiple ends of the second link are connected to the third link 3 and the connecting shaft 14. A link of five-bar rotation chain is formed by connecting with.

  By making the rotation centers of the connecting shaft 6 and the connecting shaft 7 coincide with each other, a four-node rotating chain link device is obtained.

  In order to ensure the rotation range of the first link 1 and the third link 3, a stopper 15 and a stopper 16 are installed on the first link 1.

  An arm 17 is installed on the fourth link 4. This arm is the forearm for the upper limbs and the lower leg for the lower limbs. In FIG. 1, the arm 17 is installed in the extending direction of the connecting shaft 13, but can be installed in the extending direction of the connecting shaft 12.

  The support device 18 is connected to the body part 22 by a connecting shaft 19, and reciprocally rotates in an angle range of 0 ° to 180 ° by an electric motor 20 and a worm gear 21.

  Next, the operation will be described. When the third link 3 is fixed and the first link 1 is reciprocated, the tip 23 of the arm 17 can be reciprocated linearly.

  When the first link 1 is fixed and the third link 3 is reciprocatingly rotated, the arm 17 can be vibrated around the connecting shaft 12.

  By rotating the support device 18 around the connecting shaft 19, the upper limb or the lower limb can be vibrated.

  By installing two mechanisms as the upper limbs and two lower limbs and operating at the appropriate positions on the body part, the human limb can be operated.

  What is necessary is just to install a hand or a leg having a shape and a function matching the purpose at the distal end portion 23 of the arm 17.

  Although an electric motor and a worm gear are used as a power source for operating the configuration of the present invention, a power source such as hydraulic pressure, water pressure, air pressure, or the like may be used.

1, 1st link 2, 2nd link 3, 3rd link 4, 4th link 5, 5th link 6, connecting shaft 7, connecting shaft 8, electric motor 9, worm gear 10, electric motor 11, worm gear 12, connection Shaft 13, connecting shaft 14, connecting shaft 15, stopper 16, stopper 17, arm 18, support device 19, connecting shaft 20, electric motor 21, worm gear 22, body part 23, arm tip

Claims (1)

  Based on the link device of the five-node rotation chain and the four-node rotation chain, the first link (1) is the thigh or upper arm of the limb, and the arm (17) placed on the fourth link (4) is the limb of the limb. Humanoid robot limbs with lower leg or forearm.

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